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 >:

[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] output the 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] indices the 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]	normal	the input normal
[in]	nbins	total 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]	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 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]	array	flag which says whether a point is sampled or not
[in]	start_index	the index to the first point of the bin in array.
[in]	length	number 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]	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 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] normals the 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] sample the 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] seed the 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:

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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