Function compute

tools/uniform_sampling.cpp:84–121

}

void
compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output,
         double radius)
{
  // Convert data to PointCloud<T>
  PointCloud<PointXYZ>::Ptr xyz (new PointCloud<PointXYZ>);
  fromPCLPointCloud2 (*input, *xyz);

  // Estimate
  TicToc tt;
  tt.tic ();

  print_highlight (stderr, "Computing ");

  UniformSampling<PointXYZ> us(true); // extract removed indices
  us.setInputCloud(xyz);
  us.setRadiusSearch(radius);
  PointCloud<PointXYZ> temp;
  us.filter(temp);

  pcl::PointIndices removed_indices;
  // These are "fake" indices generated by initCompute(), already sorted
  auto input_indices = us.getIndices();
  // Removed indices, not guaranteed to be sorted
  us.getRemovedIndices(removed_indices);
  std::sort(removed_indices.indices.begin(), removed_indices.indices.end());
  // Compute retained indices as a set difference between all and removed
  pcl::Indices retained;
  std::set_difference(input_indices->begin(),
                      input_indices->end(),
                      removed_indices.indices.begin(),
                      removed_indices.indices.end(),
                      std::inserter(retained, retained.begin()));
  pcl::copyPointCloud(*input, retained, output);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : ");
  print_value ("%d", retained.size()); print_info (" points]\n");
}

void
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output)