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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>
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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&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::randomSampling</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, int samples)</td></tr>
<tr class="memdesc:ga8dadcd7fb9beedc839b54079c6e84701"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:gaf323d2f6db341f7dd83893297b1f9693" id="r_gaf323d2f6db341f7dd83893297b1f9693"><td class="memItemLeft" align="right" valign="top"><a id="gaf323d2f6db341f7dd83893297b1f9693" name="gaf323d2f6db341f7dd83893297b1f9693"></a>
pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::randomSampling</b> (const pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr &amp;cloud, int samples)</td></tr>
<tr class="memdesc:gaf323d2f6db341f7dd83893297b1f9693"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:gac4f1ee370a918987a847d5d604601837" id="r_gac4f1ee370a918987a847d5d604601837"><td class="memItemLeft" align="right" valign="top"><a id="gac4f1ee370a918987a847d5d604601837" name="gac4f1ee370a918987a847d5d604601837"></a>
pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::randomSampling</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr &amp;cloud, int samples)</td></tr>
<tr class="memdesc:gac4f1ee370a918987a847d5d604601837"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:ga7738134d7dec8f178a927dfe69fcb15a" id="r_ga7738134d7dec8f178a927dfe69fcb15a"><td class="memItemLeft" align="right" valign="top"><a id="ga7738134d7dec8f178a927dfe69fcb15a" name="ga7738134d7dec8f178a927dfe69fcb15a"></a>
pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::randomSampling</b> (const pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt;::Ptr &amp;cloud, int samples)</td></tr>
<tr class="memdesc:ga7738134d7dec8f178a927dfe69fcb15a"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:gad6269088b589b735fd87e07d11bf2547" id="r_gad6269088b589b735fd87e07d11bf2547"><td class="memItemLeft" align="right" valign="top"><a id="gad6269088b589b735fd87e07d11bf2547" name="gad6269088b589b735fd87e07d11bf2547"></a>
pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::randomSampling</b> (const pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;cloud, int samples)</td></tr>
<tr class="memdesc:gad6269088b589b735fd87e07d11bf2547"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs random sampling on a point cloud of type <code>pcl::PointXYZI</code>. <br /></td></tr>
<tr class="separator:gad6269088b589b735fd87e07d11bf2547"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga5e31a5d57029fddd20e5d57ecdfb1184" id="r_ga5e31a5d57029fddd20e5d57ecdfb1184"><td class="memItemLeft" align="right" valign="top"><a id="ga5e31a5d57029fddd20e5d57ecdfb1184" name="ga5e31a5d57029fddd20e5d57ecdfb1184"></a>
pcl::PointCloud&lt; pcl::PointXYZINormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::randomSampling</b> (const pcl::PointCloud&lt; pcl::PointXYZINormal &gt;::Ptr &amp;cloud, int samples)</td></tr>
<tr class="memdesc:ga5e31a5d57029fddd20e5d57ecdfb1184"><td class="mdescLeft">&#160;</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">&#160;</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 &gt; 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 &lt;= 0</code>. </td></tr>
</table>
</dd>
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