Point Cloud Library (PCL)  1.7.0
Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::SamplingSurfaceNormal< PointT > Class Template Reference

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>

+ Inheritance diagram for pcl::SamplingSurfaceNormal< PointT >:

List of all members.

Classes

struct  CompareDim
 CompareDim is a comparator object for sorting across a specific dimenstion (i,.e X, Y or Z)

Public Types

typedef boost::shared_ptr
< SamplingSurfaceNormal
< PointT > > 
Ptr
typedef boost::shared_ptr
< const SamplingSurfaceNormal
< PointT > > 
ConstPtr

Public Member Functions

 SamplingSurfaceNormal ()
 Empty constructor.
void setSample (unsigned int sample)
 Set maximum number of samples in each grid.
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 setRatio (float ratio)
 Set ratio of points to be sampled in each grid.
float getRatio () const
 Get the value of the internal ratio parameter.

Protected Member Functions

void applyFilter (PointCloud &output)
 Sample of point indices into a separate PointCloud.

Protected Attributes

unsigned int sample_
 Maximum number of samples in each grid.
unsigned int seed_
 Random number seed.
float ratio_
 Ratio of points to be sampled in each grid.

Detailed Description

template<typename PointT>
class pcl::SamplingSurfaceNormal< PointT >

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.

Author:
Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)

Definition at line 55 of file sampling_surface_normal.h.


Member Typedef Documentation

template<typename PointT >
typedef boost::shared_ptr< const SamplingSurfaceNormal<PointT> > pcl::SamplingSurfaceNormal< PointT >::ConstPtr

Reimplemented from pcl::Filter< PointT >.

Definition at line 71 of file sampling_surface_normal.h.

template<typename PointT >
typedef boost::shared_ptr< SamplingSurfaceNormal<PointT> > pcl::SamplingSurfaceNormal< PointT >::Ptr

Reimplemented from pcl::Filter< PointT >.

Definition at line 70 of file sampling_surface_normal.h.


Constructor & Destructor Documentation

template<typename PointT >
pcl::SamplingSurfaceNormal< PointT >::SamplingSurfaceNormal ( ) [inline]

Member Function Documentation

template<typename PointT >
void pcl::SamplingSurfaceNormal< PointT >::applyFilter ( PointCloud output) [protected, virtual]

Sample of point indices into a separate PointCloud.

Parameters:
[out]outputthe 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.

template<typename PointT >
float pcl::SamplingSurfaceNormal< PointT >::getRatio ( ) const [inline]

Get the value of the internal ratio parameter.

Definition at line 125 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::ratio_.

template<typename PointT >
unsigned int pcl::SamplingSurfaceNormal< PointT >::getSample ( ) const [inline]

Get the value of the internal sample parameter.

Definition at line 92 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::sample_.

template<typename PointT >
unsigned int pcl::SamplingSurfaceNormal< PointT >::getSeed ( ) const [inline]

Get the value of the internal seed parameter.

Definition at line 109 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::seed_.

template<typename PointT >
void pcl::SamplingSurfaceNormal< PointT >::setRatio ( float  ratio) [inline]

Set ratio of points to be sampled in each grid.

Parameters:
[in]ratiosample 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_.

template<typename PointT >
void pcl::SamplingSurfaceNormal< PointT >::setSample ( unsigned int  sample) [inline]

Set maximum number of samples in each grid.

Parameters:
[in]samplemaximum number of samples in each grid

Definition at line 85 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::sample_.

template<typename PointT >
void pcl::SamplingSurfaceNormal< PointT >::setSeed ( unsigned int  seed) [inline]

Set seed of random function.

Parameters:
[in]seedthe input seed

Definition at line 101 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::seed_.


Member Data Documentation

template<typename PointT >
float pcl::SamplingSurfaceNormal< PointT >::ratio_ [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().

template<typename PointT >
unsigned int pcl::SamplingSurfaceNormal< PointT >::sample_ [protected]

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().

template<typename PointT >
unsigned int pcl::SamplingSurfaceNormal< PointT >::seed_ [protected]

The documentation for this class was generated from the following files: