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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

using Ptr = shared_ptr< NormalSpaceSampling< PointT, NormalT > >
using ConstPtr = shared_ptr< const NormalSpaceSampling< PointT, NormalT > >
- Public Types inherited from pcl::FilterIndices< PointT >
using PointCloud = pcl::PointCloud< PointT >
using Ptr = shared_ptr< FilterIndices< PointT > >
using ConstPtr = shared_ptr< const FilterIndices< PointT > >
- Public Types inherited from pcl::Filter< PointT >
using Ptr = shared_ptr< Filter< PointT > >
using ConstPtr = shared_ptr< const Filter< PointT > >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions

NormalSpaceSampling ()
Empty constructor. More...
NormalSpaceSampling (bool extract_removed_indices)
Constructor. More...
void setSample (unsigned int sample)
Set number of indices to be sampled. 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 setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz)
Set the number of bins in x, y and z direction. More...
void getBins (unsigned int &binsx, unsigned int &binsy, unsigned int &binsz) const
Get the number of bins in x, y and z direction. More...
void setNormals (const NormalsConstPtr &normals)
Set the normals computed on the input point cloud. More...
NormalsConstPtr getNormals () const
Get the normals computed on the input point cloud. More...
- Public Member Functions inherited from pcl::FilterIndices< PointT >
FilterIndices (bool extract_removed_indices=false)
Constructor. More...
void filter (Indices &indices)
Calls the filtering method and returns the filtered point cloud indices. More...
void setNegative (bool negative)
Set whether the regular conditions for points filtering should apply, or the inverted conditions. More...
bool getNegative () const
Get whether the regular conditions for points filtering should apply, or the inverted conditions. More...
void setKeepOrganized (bool keep_organized)
Set whether the filtered points should be kept and set to the value given through setUserFilterValue (default: NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More...
bool getKeepOrganized () const
Get whether the filtered points should be kept and set to the value given through setUserFilterValue (default = NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More...
void setUserFilterValue (float value)
Provide a value that the filtered points should be set to instead of removing them. More...
- Public Member Functions inherited from pcl::Filter< PointT >
Filter (bool extract_removed_indices=false)
Empty constructor. More...
const IndicesConstPtr 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...
- Public Member Functions inherited from pcl::PCLBase< PointT >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
Set the indices for the points laying within an interest region of the point cloud. More...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

Protected Member Functions

void applyFilter (Indices &indices) override
Sample of point indices. More...
bool initCompute ()
- Protected Member Functions inherited from pcl::FilterIndices< PointT >
void applyFilter (PointCloud &output) override
Abstract filter method for point cloud. More...
- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
- Protected Member Functions inherited from pcl::PCLBase< PointT >
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_
Number of indices that will be returned. More...
unsigned int seed_
Random number seed. More...
unsigned int binsx_
Number of bins in x direction. More...
unsigned int binsy_
Number of bins in y direction. More...
unsigned int binsz_
Number of bins in z direction. More...
NormalsConstPtr input_normals_
The normals computed at each point in the input cloud. More...
- Protected Attributes inherited from pcl::FilterIndices< PointT >
bool negative_
False = normal filter behavior (default), true = inverted behavior. More...
bool keep_organized_
False = remove points (default), true = redefine points, keep structure. More...
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN). More...
- Protected Attributes inherited from pcl::Filter< PointT >
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...
- Protected Attributes inherited from pcl::PCLBase< PointT >
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...

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 51 of file normal_space.h.

Member Typedef Documentation

ConstPtr

template<typename PointT , typename NormalT >
using pcl::NormalSpaceSampling< PointT, NormalT >::ConstPtr = shared_ptr<const NormalSpaceSampling<PointT, NormalT> >

Definition at line 70 of file normal_space.h.

Ptr

template<typename PointT , typename NormalT >
using pcl::NormalSpaceSampling< PointT, NormalT >::Ptr = shared_ptr<NormalSpaceSampling<PointT, NormalT> >

Definition at line 69 of file normal_space.h.

Constructor & Destructor Documentation

NormalSpaceSampling() [1/2]

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

Empty constructor.

Definition at line 73 of file normal_space.h.

NormalSpaceSampling() [2/2]

template<typename PointT , typename NormalT >
pcl::NormalSpaceSampling< PointT, NormalT >::NormalSpaceSampling ( bool extract_removed_indices )
inlineexplicit

Constructor.

Parameters
[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed.

Definition at line 78 of file normal_space.h.

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

Member Function Documentation

applyFilter()

template<typename PointT , typename NormalT >
void pcl::NormalSpaceSampling< PointT, NormalT >::applyFilter ( Indices & indices )
overrideprotectedvirtual

Sample of point indices.

Parameters
[out] indices the resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 91 of file normal_space.hpp.

getBins()

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] 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 133 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::binsx_, pcl::NormalSpaceSampling< PointT, NormalT >::binsy_, and pcl::NormalSpaceSampling< PointT, NormalT >::binsz_.

getNormals()

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 148 of file normal_space.h.

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

getSample()

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 99 of file normal_space.h.

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

getSeed()

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 111 of file normal_space.h.

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

initCompute()

template<typename PointT , typename NormalT >
bool pcl::NormalSpaceSampling< PointT, NormalT >::initCompute
protected

Definition at line 48 of file normal_space.hpp.

setBins()

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] 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 120 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::binsx_, pcl::NormalSpaceSampling< PointT, NormalT >::binsy_, and pcl::NormalSpaceSampling< PointT, NormalT >::binsz_.

setNormals()

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] normals the normals computed for the input cloud

Definition at line 144 of file normal_space.h.

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

setSample()

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

Set number of indices to be sampled.

Parameters
[in] sample the number of sample indices

Definition at line 94 of file normal_space.h.

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

setSeed()

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

Set seed of random function.

Parameters
[in] seed the input seed

Definition at line 106 of file normal_space.h.

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

Member Data Documentation

binsx_

template<typename PointT , typename NormalT >
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::binsx_
protected

Number of bins in x direction.

Definition at line 157 of file normal_space.h.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getBins(), and pcl::NormalSpaceSampling< PointT, NormalT >::setBins().

binsy_

template<typename PointT , typename NormalT >
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::binsy_
protected

Number of bins in y direction.

Definition at line 159 of file normal_space.h.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getBins(), and pcl::NormalSpaceSampling< PointT, NormalT >::setBins().

binsz_

template<typename PointT , typename NormalT >
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::binsz_
protected

Number of bins in z direction.

Definition at line 161 of file normal_space.h.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getBins(), and pcl::NormalSpaceSampling< PointT, NormalT >::setBins().

input_normals_

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 164 of file normal_space.h.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getNormals(), and pcl::NormalSpaceSampling< PointT, NormalT >::setNormals().

sample_

template<typename PointT , typename NormalT >
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::sample_
protected

Number of indices that will be returned.

Definition at line 152 of file normal_space.h.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getSample(), and pcl::NormalSpaceSampling< PointT, NormalT >::setSample().

seed_

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

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_normal_space_sampling.html