Point Cloud Library (PCL)
1.7.0
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NormalSpaceSampling samples the input point cloud in the space of normal directions computed at every point. More...
#include <pcl/filters/normal_space.h>
Public Types | |
typedef boost::shared_ptr < NormalSpaceSampling< PointT, NormalT > > | Ptr |
typedef boost::shared_ptr < const NormalSpaceSampling < PointT, NormalT > > | ConstPtr |
Public Member Functions | |
NormalSpaceSampling () | |
Empty constructor. | |
~NormalSpaceSampling () | |
Destructor. | |
void | setSample (unsigned int sample) |
Set number of indices to be sampled. | |
unsigned int | getSample () const |
Get the value of the internal sample parameter. | |
void | setSeed (unsigned int seed) |
Set seed of random function. | |
unsigned int | getSeed () const |
Get the value of the internal seed parameter. | |
void | setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz) |
Set the number of bins in x, y and z direction. | |
void | getBins (unsigned int &binsx, unsigned int &binsy, unsigned int &binsz) const |
Get the number of bins in x, y and z direction. | |
void | setNormals (const NormalsConstPtr &normals) |
Set the normals computed on the input point cloud. | |
NormalsConstPtr | getNormals () const |
Get the normals computed on the input point cloud. | |
Protected Member Functions | |
void | applyFilter (PointCloud &output) |
Sample of point indices into a separate PointCloud. | |
void | applyFilter (std::vector< int > &indices) |
Sample of point indices. | |
bool | initCompute () |
This method should get called before starting the actual computation. | |
Protected Attributes | |
unsigned int | sample_ |
Number of indices that will be returned. | |
unsigned int | seed_ |
Random number seed. | |
unsigned int | binsx_ |
Number of bins in x direction. | |
unsigned int | binsy_ |
Number of bins in y direction. | |
unsigned int | binsz_ |
Number of bins in z direction. | |
NormalsConstPtr | input_normals_ |
The normals computed at each point in the input cloud. |
NormalSpaceSampling samples the input point cloud in the space of normal directions computed at every point.
Definition at line 52 of file normal_space.h.
typedef boost::shared_ptr<const NormalSpaceSampling<PointT, NormalT> > pcl::NormalSpaceSampling< PointT, NormalT >::ConstPtr |
Reimplemented from pcl::FilterIndices< PointT >.
Definition at line 71 of file normal_space.h.
typedef boost::shared_ptr<NormalSpaceSampling<PointT, NormalT> > pcl::NormalSpaceSampling< PointT, NormalT >::Ptr |
Reimplemented from pcl::FilterIndices< PointT >.
Definition at line 70 of file normal_space.h.
pcl::NormalSpaceSampling< PointT, NormalT >::NormalSpaceSampling | ( | ) | [inline] |
Empty constructor.
Definition at line 74 of file normal_space.h.
References pcl::Filter< PointT >::filter_name_.
pcl::NormalSpaceSampling< PointT, NormalT >::~NormalSpaceSampling | ( | ) | [inline] |
Destructor.
Definition at line 87 of file normal_space.h.
void pcl::NormalSpaceSampling< PointT, NormalT >::applyFilter | ( | PointCloud & | output | ) | [protected, virtual] |
Sample of point indices into a separate PointCloud.
[out] | output | the resultant point cloud |
Implements pcl::Filter< PointT >.
Definition at line 73 of file normal_space.hpp.
References pcl::copyPointCloud(), pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::points.
void pcl::NormalSpaceSampling< PointT, NormalT >::applyFilter | ( | std::vector< int > & | indices | ) | [protected, virtual] |
Sample of point indices.
[out] | indices | the resultant point cloud indices |
Implements pcl::FilterIndices< PointT >.
Definition at line 177 of file normal_space.hpp.
void pcl::NormalSpaceSampling< PointT, NormalT >::getBins | ( | unsigned int & | binsx, |
unsigned int & | binsy, | ||
unsigned int & | binsz | ||
) | const [inline] |
Get the number of bins in x, y and z direction.
[out] | binsx | number of bins in x direction |
[out] | binsy | number of bins in y direction |
[out] | binsz | number of bins in z direction |
Definition at line 136 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::binsx_, pcl::NormalSpaceSampling< PointT, NormalT >::binsy_, and pcl::NormalSpaceSampling< PointT, NormalT >::binsz_.
NormalsConstPtr pcl::NormalSpaceSampling< PointT, NormalT >::getNormals | ( | ) | const [inline] |
Get the normals computed on the input point cloud.
Definition at line 151 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::input_normals_.
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::getSample | ( | ) | const [inline] |
Get the value of the internal sample parameter.
Definition at line 102 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::sample_.
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::getSeed | ( | ) | const [inline] |
Get the value of the internal seed parameter.
Definition at line 114 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::seed_.
bool pcl::NormalSpaceSampling< PointT, NormalT >::initCompute | ( | ) | [protected] |
This method should get called before starting the actual computation.
Internally, initCompute() does the following:
Reimplemented from pcl::PCLBase< PointT >.
Definition at line 49 of file normal_space.hpp.
void pcl::NormalSpaceSampling< PointT, NormalT >::setBins | ( | unsigned int | binsx, |
unsigned int | binsy, | ||
unsigned int | binsz | ||
) | [inline] |
Set the number of bins in x, y and z direction.
[in] | binsx | number of bins in x direction |
[in] | binsy | number of bins in y direction |
[in] | binsz | number of bins in z direction |
Definition at line 123 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::binsx_, pcl::NormalSpaceSampling< PointT, NormalT >::binsy_, and pcl::NormalSpaceSampling< PointT, NormalT >::binsz_.
void pcl::NormalSpaceSampling< PointT, NormalT >::setNormals | ( | const NormalsConstPtr & | normals | ) | [inline] |
Set the normals computed on the input point cloud.
[in] | normals | the normals computed for the input cloud |
Definition at line 147 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::input_normals_.
void pcl::NormalSpaceSampling< PointT, NormalT >::setSample | ( | unsigned int | sample | ) | [inline] |
Set number of indices to be sampled.
[in] | sample | the number of sample indices |
Definition at line 97 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::sample_.
void pcl::NormalSpaceSampling< PointT, NormalT >::setSeed | ( | unsigned int | seed | ) | [inline] |
Set seed of random function.
[in] | seed | the input seed |
Definition at line 109 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::seed_.
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::binsx_ [protected] |
Number of bins in x direction.
Definition at line 160 of file normal_space.h.
Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getBins(), and pcl::NormalSpaceSampling< PointT, NormalT >::setBins().
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::binsy_ [protected] |
Number of bins in y direction.
Definition at line 162 of file normal_space.h.
Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getBins(), and pcl::NormalSpaceSampling< PointT, NormalT >::setBins().
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::binsz_ [protected] |
Number of bins in z direction.
Definition at line 164 of file normal_space.h.
Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getBins(), and pcl::NormalSpaceSampling< PointT, NormalT >::setBins().
NormalsConstPtr pcl::NormalSpaceSampling< PointT, NormalT >::input_normals_ [protected] |
The normals computed at each point in the input cloud.
Definition at line 167 of file normal_space.h.
Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getNormals(), and pcl::NormalSpaceSampling< PointT, NormalT >::setNormals().
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::sample_ [protected] |
Number of indices that will be returned.
Definition at line 155 of file normal_space.h.
Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getSample(), and pcl::NormalSpaceSampling< PointT, NormalT >::setSample().
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::seed_ [protected] |
Random number seed.
Definition at line 157 of file normal_space.h.
Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getSeed(), and pcl::NormalSpaceSampling< PointT, NormalT >::setSeed().