Point Cloud Library (PCL)
1.9.1
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SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N points, and samples points randomly within each grid. More...
#include <pcl/filters/sampling_surface_normal.h>
Public Types | |
typedef boost::shared_ptr < SamplingSurfaceNormal < PointT > > | Ptr |
typedef boost::shared_ptr < const SamplingSurfaceNormal < PointT > > | ConstPtr |
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typedef boost::shared_ptr < Filter< PointT > > | Ptr |
typedef boost::shared_ptr < const Filter< PointT > > | ConstPtr |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
SamplingSurfaceNormal () | |
Empty constructor. More... | |
void | setSample (unsigned int sample) |
Set maximum number of samples in each grid. More... | |
unsigned int | getSample () const |
Get the value of the internal sample parameter. More... | |
void | setSeed (unsigned int seed) |
Set seed of random function. More... | |
unsigned int | getSeed () const |
Get the value of the internal seed parameter. More... | |
void | setRatio (float ratio) |
Set ratio of points to be sampled in each grid. More... | |
float | getRatio () const |
Get the value of the internal ratio parameter. More... | |
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Filter (bool extract_removed_indices=false) | |
Empty constructor. More... | |
virtual | ~Filter () |
Empty destructor. More... | |
IndicesConstPtr const | getRemovedIndices () const |
Get the point indices being removed. More... | |
void | getRemovedIndices (PointIndices &pi) |
Get the point indices being removed. More... | |
void | filter (PointCloud &output) |
Calls the filtering method and returns the filtered dataset in output. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
void | applyFilter (PointCloud &output) |
Sample of point indices into a separate PointCloud. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Protected Attributes | |
unsigned int | sample_ |
Maximum number of samples in each grid. More... | |
unsigned int | seed_ |
Random number seed. More... | |
float | ratio_ |
Ratio of points to be sampled in each grid. More... | |
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IndicesPtr | removed_indices_ |
Indices of the points that are removed. More... | |
std::string | filter_name_ |
The filter name. More... | |
bool | extract_removed_indices_ |
Set to true if we want to return the indices of the removed points. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N points, and samples points randomly within each grid.
Normal is computed using the N points of each grid. All points sampled within a grid are assigned the same normal.
Definition at line 55 of file sampling_surface_normal.h.
typedef boost::shared_ptr< const SamplingSurfaceNormal<PointT> > pcl::SamplingSurfaceNormal< PointT >::ConstPtr |
Definition at line 71 of file sampling_surface_normal.h.
typedef boost::shared_ptr< SamplingSurfaceNormal<PointT> > pcl::SamplingSurfaceNormal< PointT >::Ptr |
Definition at line 70 of file sampling_surface_normal.h.
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inline |
Empty constructor.
Definition at line 74 of file sampling_surface_normal.h.
References pcl::Filter< PointT >::filter_name_, and pcl::SamplingSurfaceNormal< PointT >::seed_.
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protectedvirtual |
Sample of point indices into a separate PointCloud.
[out] | output | the resultant point cloud |
Implements pcl::Filter< PointT >.
Definition at line 48 of file sampling_surface_normal.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
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Get the value of the internal ratio parameter.
Definition at line 125 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::ratio_.
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Get the value of the internal sample parameter.
Definition at line 92 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::sample_.
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Get the value of the internal seed parameter.
Definition at line 109 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::seed_.
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Set ratio of points to be sampled in each grid.
[in] | ratio | sample the ratio of points to be sampled in each grid |
Definition at line 118 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::ratio_.
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Set maximum number of samples in each grid.
[in] | sample | maximum number of samples in each grid |
Definition at line 85 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::sample_.
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Set seed of random function.
[in] | seed | the input seed |
Definition at line 101 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::seed_.
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protected |
Ratio of points to be sampled in each grid.
Definition at line 137 of file sampling_surface_normal.h.
Referenced by pcl::SamplingSurfaceNormal< PointT >::getRatio(), and pcl::SamplingSurfaceNormal< PointT >::setRatio().
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Maximum number of samples in each grid.
Definition at line 133 of file sampling_surface_normal.h.
Referenced by pcl::SamplingSurfaceNormal< PointT >::getSample(), and pcl::SamplingSurfaceNormal< PointT >::setSample().
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Random number seed.
Definition at line 135 of file sampling_surface_normal.h.
Referenced by pcl::SamplingSurfaceNormal< PointT >::getSeed(), pcl::SamplingSurfaceNormal< PointT >::SamplingSurfaceNormal(), and pcl::SamplingSurfaceNormal< PointT >::setSeed().