Public Member Functions | Protected Member Functions | Protected Attributes | Private Types | Private Member Functions
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 <normal_space.h>

Inheritance diagram for pcl::NormalSpaceSampling< PointT, NormalT >:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void getBins (unsigned int &binsx, unsigned int &binsy, unsigned int &binsz) const
 Get the number of bins in x, y and z direction.
NormalsPtr getNormals () const
 Get the normals computed on the input point cloud.
unsigned int getSample () const
 Get the value of the internal sample parameter.
unsigned int getSeed () const
 Get the value of the internal seed parameter.
 NormalSpaceSampling ()
 Empty constructor.
void setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz)
 Set the number of bins in x, y and z direction.
void setNormals (const NormalsPtr &normals)
 Set the normals computed on the input point cloud.
void setSample (unsigned int sample)
 Set number of indices to be sampled.
void setSeed (unsigned int seed)
 Set seed of random function.

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.

Protected Attributes

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.
NormalsPtr input_normals_
 The normals computed at each point in the input cloud.
unsigned int sample_
 Number of indices that will be returned.
unsigned int seed_
 Random number seed.

Private Types

typedef pcl::PointCloud
< NormalT >::Ptr 
NormalsPtr
typedef FilterIndices< PointT >
::PointCloud 
PointCloud
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef PointCloud::Ptr PointCloudPtr

Private Member Functions

unsigned int findBin (float *normal, unsigned int nbins)
 Finds the bin number of the input normal, returns the bin number.
bool isEntireBinSampled (boost::dynamic_bitset<> &array, unsigned int start_index, unsigned int length)
 Checks of the entire bin is sampled, returns true or false.

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 53 of file normal_space.h.


Member Typedef Documentation

template<typename PointT , typename NormalT >
typedef pcl::PointCloud<NormalT>::Ptr pcl::NormalSpaceSampling< PointT, NormalT >::NormalsPtr [private]

Definition at line 63 of file normal_space.h.

template<typename PointT , typename NormalT >
typedef FilterIndices<PointT>::PointCloud pcl::NormalSpaceSampling< PointT, NormalT >::PointCloud [private]

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 60 of file normal_space.h.

template<typename PointT , typename NormalT >
typedef PointCloud::ConstPtr pcl::NormalSpaceSampling< PointT, NormalT >::PointCloudConstPtr [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 62 of file normal_space.h.

template<typename PointT , typename NormalT >
typedef PointCloud::Ptr pcl::NormalSpaceSampling< PointT, NormalT >::PointCloudPtr [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 61 of file normal_space.h.


Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 67 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 48 of file normal_space.hpp.

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 222 of file normal_space.hpp.

template<typename PointT , typename NormalT >
unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::findBin ( float *  normal,
unsigned int  nbins 
) [private]

Finds the bin number of the input normal, returns the bin number.

Parameters:
[in]normalthe input normal
[in]nbinstotal number of bins

Definition at line 160 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 124 of file normal_space.h.

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

Get the normals computed on the input point cloud.

Definition at line 139 of file normal_space.h.

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 84 of file normal_space.h.

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 100 of file normal_space.h.

template<typename PointT , typename NormalT >
bool pcl::NormalSpaceSampling< PointT, NormalT >::isEntireBinSampled ( boost::dynamic_bitset<> &  array,
unsigned int  start_index,
unsigned int  length 
) [private]

Checks of the entire bin is sampled, returns true or false.

Parameters:
[out]arrayflag which says whether a point is sampled or not
[in]start_indexthe index to the first point of the bin in array.
[in]lengthnumber of points in the bin

Definition at line 148 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 111 of file normal_space.h.

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

Set the normals computed on the input point cloud.

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

Definition at line 135 of file normal_space.h.

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 77 of file normal_space.h.

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 93 of file normal_space.h.


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 148 of file normal_space.h.

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

Number of bins in y direction.

Definition at line 150 of file normal_space.h.

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

Number of bins in z direction.

Definition at line 152 of file normal_space.h.

template<typename PointT , typename NormalT >
NormalsPtr pcl::NormalSpaceSampling< PointT, NormalT >::input_normals_ [protected]

The normals computed at each point in the input cloud.

Definition at line 155 of file normal_space.h.

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

Number of indices that will be returned.

Definition at line 143 of file normal_space.h.

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

Random number seed.

Definition at line 145 of file normal_space.h.


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


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:19:40