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

NormalSpaceSampling samples the input point cloud in the space of normal directions computed at every point. More...

#include <pcl/filters/normal_space.h>

+ Inheritance diagram for pcl::NormalSpaceSampling< PointT, NormalT >:

List of all members.

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.

Detailed Description

template<typename PointT, typename NormalT>
class pcl::NormalSpaceSampling< PointT, NormalT >

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.


Member Typedef Documentation

template<typename PointT , typename NormalT >
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.

template<typename PointT , typename NormalT >
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.


Constructor & Destructor Documentation

template<typename PointT , typename NormalT >
pcl::NormalSpaceSampling< PointT, NormalT >::NormalSpaceSampling ( ) [inline]

Empty constructor.

Definition at line 74 of file normal_space.h.

References pcl::Filter< PointT >::filter_name_.

template<typename PointT , typename NormalT >
pcl::NormalSpaceSampling< PointT, NormalT >::~NormalSpaceSampling ( ) [inline]

Destructor.

Definition at line 87 of file normal_space.h.


Member Function Documentation

template<typename PointT , typename NormalT >
void pcl::NormalSpaceSampling< PointT, NormalT >::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 73 of file normal_space.hpp.

References pcl::copyPointCloud(), pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::points.

template<typename PointT , typename NormalT >
void pcl::NormalSpaceSampling< PointT, NormalT >::applyFilter ( std::vector< int > &  indices) [protected, virtual]

Sample of point indices.

Parameters:
[out]indicesthe resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 177 of file normal_space.hpp.

template<typename PointT , typename NormalT >
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.

Parameters:
[out]binsxnumber of bins in x direction
[out]binsynumber of bins in y direction
[out]binsznumber 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_.

template<typename PointT , typename NormalT >
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_.

template<typename PointT , typename NormalT >
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_.

template<typename PointT , typename NormalT >
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_.

template<typename PointT , typename NormalT >
bool pcl::NormalSpaceSampling< PointT, NormalT >::initCompute ( ) [protected]

This method should get called before starting the actual computation.

Internally, initCompute() does the following:

  • checks if an input dataset is given, and returns false otherwise
  • checks whether a set of input indices has been given. Returns true if yes.
  • if no input indices have been given, a fake set is created, which will be used until:
    • either a new set is given via setIndices(), or
    • a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 49 of file normal_space.hpp.

template<typename PointT , typename NormalT >
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.

Parameters:
[in]binsxnumber of bins in x direction
[in]binsynumber of bins in y direction
[in]binsznumber 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_.

template<typename PointT , typename NormalT >
void pcl::NormalSpaceSampling< PointT, NormalT >::setNormals ( const NormalsConstPtr &  normals) [inline]

Set the normals computed on the input point cloud.

Parameters:
[in]normalsthe normals computed for the input cloud

Definition at line 147 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::input_normals_.

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

Set number of indices to be sampled.

Parameters:
[in]samplethe number of sample indices

Definition at line 97 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::sample_.

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

Set seed of random function.

Parameters:
[in]seedthe input seed

Definition at line 109 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::seed_.


Member Data Documentation

template<typename PointT , typename NormalT >
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().

template<typename PointT , typename NormalT >
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().

template<typename PointT , typename NormalT >
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().

template<typename PointT , typename NormalT >
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().

template<typename PointT , typename NormalT >
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().

template<typename PointT , typename NormalT >
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::seed_ [protected]

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