Class PointSampler

• Defined in File point_sampler.h

Class Documentation

class PointSampler

Public Functions

inline explicit PointSampler(ClassifiedMap::ConstPtr classified_map, size_t random_seed = std::random_device()())

std::optional<Index3D> getRandomBlock()

inline std::optional<Point3D> getRandomPoint(Occupancy::Id occupancy_type, const std::optional<AABB<Point3D>> &aabb = std::nullopt, size_t max_attempts = 1000)

inline std::optional<Point3D> getRandomPoint(Occupancy::Mask occupancy_mask, const std::optional<AABB<Point3D>> &aabb = std::nullopt, size_t max_attempts = 1000)