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 Types
typedef boost::shared_ptr < const NormalSpaceSampling < PointT, NormalT > >	ConstPtr
typedef boost::shared_ptr < NormalSpaceSampling< PointT, NormalT > >	Ptr
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.
NormalsConstPtr	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 NormalsConstPtr &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.
	~NormalSpaceSampling ()
	Destructor.
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	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.
unsigned int	sample_
	Number of indices that will be returned.
unsigned int	seed_
	Random number seed.
Private Types
typedef pcl::PointCloud < NormalT >::ConstPtr	NormalsConstPtr
typedef FilterIndices< PointT > ::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Private Member Functions
unsigned int	findBin (const 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.
Private Attributes
boost::variate_generator < boost::mt19937, boost::uniform_int< uint32_t > > *	rng_uniform_distribution_
	Uniform random distribution.

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 pcl::PointCloud<NormalT>::ConstPtr pcl::NormalSpaceSampling< PointT, NormalT >::NormalsConstPtr [private]

Definition at line 66 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 63 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 65 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 64 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.

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] output the resultant point cloud

Implements pcl::Filter< PointT >.

Definition at line 73 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 177 of file normal_space.hpp.

template<typename PointT , typename NormalT >

unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::findBin	(	const 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 113 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 136 of file normal_space.h.

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.

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.

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.

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 >

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 99 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 123 of file normal_space.h.

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 147 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 97 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 109 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 160 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 162 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 164 of file normal_space.h.

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.

template<typename PointT, typename NormalT>

boost::variate_generator<boost::mt19937, boost::uniform_int<uint32_t> >* pcl::NormalSpaceSampling< PointT, NormalT >::rng_uniform_distribution_ [private]

Uniform random distribution.

Definition at line 201 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 155 of file normal_space.h.

template<typename PointT, typename NormalT>

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

Random number seed.

Definition at line 157 of file normal_space.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

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 >