#include <pyramid.h>

Public Types
typedef boost::shared_ptr < const Pyramid< PointT > >	ConstPtr
typedef PointCloud< PointT > ::ConstPtr	PointCloudConstPtr
typedef PointCloud< PointT >::Ptr	PointCloudPtr
typedef boost::shared_ptr < Pyramid< PointT > >	Ptr
Public Member Functions
void	compute (std::vector< PointCloudPtr > &output)
	compute the pyramid levels.
template<>
void	compute (std::vector< Pyramid< pcl::PointXYZRGB >::PointCloudPtr > &output)
template<>
void	compute (std::vector< Pyramid< pcl::PointXYZRGBA >::PointCloudPtr > &output)
template<>
void	compute (std::vector< Pyramid< pcl::RGB >::PointCloudPtr > &output)
const std::string &	getClassName () const
float	getDistanceThreshold () const
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
int	getNumberOfLevels () const
	Pyramid (int levels=4)
void	setDistanceThreshold (float threshold)
void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
void	setLargeSmoothingKernel (bool large)
	Choose a larger smoothing kernel for enhanced smoothing.
void	setNumberOfLevels (int levels)
	Set the number of pyramid levels.
void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use.
Private Member Functions
bool	initCompute ()
	init computation
void	nullify (PointT &p) const
	nullify a point
template<>
void	nullify (pcl::RGB &p)
Private Attributes
PointCloudConstPtr	input_
	The input point cloud dataset.
Eigen::MatrixXf	kernel_
	smoothing kernel
bool	large_
	use large smoothing kernel
int	levels_
	number of pyramid levels
std::string	name_
	filter name
unsigned int	threads_
	number of threads
float	threshold_
	Threshold distance between adjacent points.

Detailed Description

template<typename PointT>
class pcl::filters::Pyramid< PointT >

Pyramid constructs a multi-scale representation of an organised point cloud. It is an iterative smoothing subsampling algorithm. The subsampling is fixed to 2. Two smoothing kernels may be used:

[1/16 1/4 3/8 1/4 1/16] slower but produces finer result;
[1/4 1/2 1/2] the more conventional binomial kernel which is faster. We use a memory efficient algorithm so the convolving and subsampling are combined in a single step.

Author:: Nizar Sallem

Definition at line 62 of file pyramid.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const Pyramid<PointT> > pcl::filters::Pyramid< PointT >::ConstPtr

Definition at line 68 of file pyramid.h.

template<typename PointT>

typedef PointCloud<PointT>::ConstPtr pcl::filters::Pyramid< PointT >::PointCloudConstPtr

Definition at line 66 of file pyramid.h.

template<typename PointT>

typedef PointCloud<PointT>::Ptr pcl::filters::Pyramid< PointT >::PointCloudPtr

Definition at line 65 of file pyramid.h.

template<typename PointT>

typedef boost::shared_ptr< Pyramid<PointT> > pcl::filters::Pyramid< PointT >::Ptr

Definition at line 67 of file pyramid.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::filters::Pyramid< PointT >::Pyramid ( int levels = 4 ) [inline]

Definition at line 70 of file pyramid.h.

Member Function Documentation

template<typename PointT >

void pcl::filters::Pyramid< PointT >::compute ( std::vector< PointCloudPtr > & output )

compute the pyramid levels.

Parameters:

[out] output the constructed pyramid. It is resized to the number of levels.

Remarks:: input_ is copied to output[0] for consistency reasons.

Definition at line 90 of file pyramid.hpp.

template<>

void pcl::filters::Pyramid< pcl::PointXYZRGB >::compute ( std::vector< Pyramid< pcl::PointXYZRGB >::PointCloudPtr > & output )

Definition at line 197 of file pyramid.hpp.

template<>

void pcl::filters::Pyramid< pcl::PointXYZRGBA >::compute ( std::vector< Pyramid< pcl::PointXYZRGBA >::PointCloudPtr > & output )

Definition at line 320 of file pyramid.hpp.

template<>

void pcl::filters::Pyramid< pcl::RGB >::compute ( std::vector< Pyramid< pcl::RGB >::PointCloudPtr > & output )

Definition at line 453 of file pyramid.hpp.

template<typename PointT>

const std::string& pcl::filters::Pyramid< PointT >::getClassName ( ) const [inline]

Definition at line 131 of file pyramid.h.

template<typename PointT>

float pcl::filters::Pyramid< PointT >::getDistanceThreshold ( ) const [inline]

Returns:: the distance threshold

Definition at line 121 of file pyramid.h.

template<typename PointT>

PointCloudConstPtr const pcl::filters::Pyramid< PointT >::getInputCloud ( ) [inline]

Get a pointer to the input point cloud dataset.

Definition at line 87 of file pyramid.h.

template<typename PointT>

int pcl::filters::Pyramid< PointT >::getNumberOfLevels ( ) const [inline]

Returns:: the number of pyramid levels

Definition at line 97 of file pyramid.h.

template<typename PointT >

bool pcl::filters::Pyramid< PointT >::initCompute ( ) [private]

init computation

Definition at line 44 of file pyramid.hpp.

template<typename PointT>

void pcl::filters::Pyramid< PointT >::nullify ( PointT & p ) const [inline, private]

nullify a point

Parameters:

[in] out] p point to nullify

Definition at line 143 of file pyramid.h.

template<>

void pcl::filters::Pyramid< pcl::RGB >::nullify ( pcl::RGB & p ) [private]

Definition at line 447 of file pyramid.hpp.

template<typename PointT>

void pcl::filters::Pyramid< PointT >::setDistanceThreshold ( float threshold ) [inline]

Only points such us distance (center,point) < threshold are accounted for to prevent ghost points. Default value is 0.01, to disable set to std::numeric<float>::infinity ().

Parameters:

[in] threshold maximum allowed distance between center and neighbor.

Definition at line 117 of file pyramid.h.

template<typename PointT>

void pcl::filters::Pyramid< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 83 of file pyramid.h.

template<typename PointT>

void pcl::filters::Pyramid< PointT >::setLargeSmoothingKernel ( bool large ) [inline]

Choose a larger smoothing kernel for enhanced smoothing.

Parameters:

large if true large smoothng kernel will be used.

Definition at line 109 of file pyramid.h.

template<typename PointT>

void pcl::filters::Pyramid< PointT >::setNumberOfLevels ( int levels ) [inline]

Set the number of pyramid levels.

Parameters:

levels desired number of pyramid levels

Definition at line 93 of file pyramid.h.

template<typename PointT>

void pcl::filters::Pyramid< PointT >::setNumberOfThreads ( unsigned int nr_threads = 0 ) [inline]

Initialize the scheduler and set the number of threads to use.

Parameters:

nr_threads the number of hardware threads to use (0 sets the value back to automatic).

Definition at line 103 of file pyramid.h.

Member Data Documentation

template<typename PointT>

PointCloudConstPtr pcl::filters::Pyramid< PointT >::input_ [private]

The input point cloud dataset.

Definition at line 149 of file pyramid.h.

template<typename PointT>

Eigen::MatrixXf pcl::filters::Pyramid< PointT >::kernel_ [private]

smoothing kernel

Definition at line 157 of file pyramid.h.

template<typename PointT>

bool pcl::filters::Pyramid< PointT >::large_ [private]

use large smoothing kernel

Definition at line 153 of file pyramid.h.

template<typename PointT>

int pcl::filters::Pyramid< PointT >::levels_ [private]

number of pyramid levels

Definition at line 151 of file pyramid.h.

template<typename PointT>

std::string pcl::filters::Pyramid< PointT >::name_ [private]

filter name

Definition at line 155 of file pyramid.h.

template<typename PointT>

unsigned int pcl::filters::Pyramid< PointT >::threads_ [private]

number of threads

Definition at line 161 of file pyramid.h.

template<typename PointT>

float pcl::filters::Pyramid< PointT >::threshold_ [private]

Threshold distance between adjacent points.

Definition at line 159 of file pyramid.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<typename PointT> class pcl::filters::Pyramid< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::filters::Pyramid< PointT >