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2026-09-20 06:51:14 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
2026-08-06 22:56:24 +00:00
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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< a href = "#func-members" > Functions</ a > </ div >
< div class = "headertitle" >< div class = "title" > Random Sampling</ div ></ div >
</ div > <!--header-->
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< p > Randomly samples a subset of points from the input point cloud.
< a href = "#details" > More...</ a ></ p >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "func-members" name = "func-members" ></ a >
Functions</ h2 ></ td ></ tr >
< tr class = "memitem:ga8dadcd7fb9beedc839b54079c6e84701" id = "r_ga8dadcd7fb9beedc839b54079c6e84701" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ga8dadcd7fb9beedc839b54079c6e84701" name = "ga8dadcd7fb9beedc839b54079c6e84701" ></ a >
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::randomSampling</ b > (const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, int samples)</ td ></ tr >
< tr class = "memdesc:ga8dadcd7fb9beedc839b54079c6e84701" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs random sampling on a point cloud of type < code > pcl::PointXYZ</ code > . < br /></ td ></ tr >
< tr class = "separator:ga8dadcd7fb9beedc839b54079c6e84701" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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pcl::PointCloud< pcl::PointNormal > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::randomSampling</ b > (const pcl::PointCloud< pcl::PointNormal > ::Ptr & cloud, int samples)</ td ></ tr >
< tr class = "memdesc:gaf323d2f6db341f7dd83893297b1f9693" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs random sampling on a point cloud of type < code > pcl::PointNormal</ code > . < br /></ td ></ tr >
< tr class = "separator:gaf323d2f6db341f7dd83893297b1f9693" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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pcl::PointCloud< pcl::PointXYZRGB > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::randomSampling</ b > (const pcl::PointCloud< pcl::PointXYZRGB > ::Ptr & cloud, int samples)</ td ></ tr >
< tr class = "memdesc:gac4f1ee370a918987a847d5d604601837" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs random sampling on a point cloud of type < code > pcl::PointXYZRGB</ code > . < br /></ td ></ tr >
< tr class = "separator:gac4f1ee370a918987a847d5d604601837" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ga7738134d7dec8f178a927dfe69fcb15a" id = "r_ga7738134d7dec8f178a927dfe69fcb15a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ga7738134d7dec8f178a927dfe69fcb15a" name = "ga7738134d7dec8f178a927dfe69fcb15a" ></ a >
pcl::PointCloud< pcl::PointXYZRGBNormal > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::randomSampling</ b > (const pcl::PointCloud< pcl::PointXYZRGBNormal > ::Ptr & cloud, int samples)</ td ></ tr >
< tr class = "memdesc:ga7738134d7dec8f178a927dfe69fcb15a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs random sampling on a point cloud of type < code > pcl::PointXYZRGBNormal</ code > . < br /></ td ></ tr >
< tr class = "separator:ga7738134d7dec8f178a927dfe69fcb15a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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pcl::PointCloud< pcl::PointXYZI > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::randomSampling</ b > (const pcl::PointCloud< pcl::PointXYZI > ::Ptr & cloud, int samples)</ td ></ tr >
< tr class = "memdesc:gad6269088b589b735fd87e07d11bf2547" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs random sampling on a point cloud of type < code > pcl::PointXYZI</ code > . < br /></ td ></ tr >
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pcl::PointCloud< pcl::PointXYZINormal > ::Ptr RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > rtabmap::util3d::randomSampling</ b > (const pcl::PointCloud< pcl::PointXYZINormal > ::Ptr & cloud, int samples)</ td ></ tr >
< tr class = "memdesc:ga5e31a5d57029fddd20e5d57ecdfb1184" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Performs random sampling on a point cloud of type < code > pcl::PointXYZINormal</ code > . < br /></ td ></ tr >
< tr class = "separator:ga5e31a5d57029fddd20e5d57ecdfb1184" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< p > Randomly samples a subset of points from the input point cloud. </ p >
< p > This function uses the PCL (Point Cloud Library) < code > RandomSample</ code > filter to randomly select a specified number of points from the input cloud. It ensures the number of samples is greater than zero and returns a new point cloud containing the sampled points.</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > cloud</ td >< td > A pointer to the input point cloud from which to sample points. </ td ></ tr >
< tr >< td class = "paramname" > samples</ td >< td > The number of points to randomly sample from the input cloud. Must be > 0. </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > A pointer to a new point cloud containing the randomly sampled points.</ dd ></ dl >
< dl class = "exception" >< dt > Exceptions</ dt >< dd >
< table class = "exception" >
< tr >< td class = "paramname" > Assertion</ td >< td > failure if < code > samples < = 0</ code > . </ td ></ tr >
</ table >
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