Point Cloud Library (PCL)  1.7.0
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pcl::UniformSampling< PointInT > Class Template Reference

UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...

#include <pcl/keypoints/uniform_sampling.h>

+ Inheritance diagram for pcl::UniformSampling< PointInT >:

Classes

struct  Leaf
 Simple structure to hold an nD centroid and the number of points in a leaf. More...
 

Public Types

typedef boost::shared_ptr
< UniformSampling< PointInT > > 
Ptr
 
typedef boost::shared_ptr
< const UniformSampling
< PointInT > > 
ConstPtr
 
- Public Types inherited from pcl::Keypoint< PointInT, int >
typedef boost::shared_ptr
< Keypoint< PointInT, int > > 
Ptr
 
typedef boost::shared_ptr
< const Keypoint< PointInT,
int > > 
ConstPtr
 
typedef PCLBase< PointInT > BaseClass
 
typedef pcl::search::Search
< PointInT > 
KdTree
 
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
 
typedef pcl::PointCloud< PointInT > PointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud< int > PointCloudOut
 
typedef boost::function< int(int,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethod
 
typedef boost::function< int(const
PointCloudIn &cloud, int index,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethodSurface
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 UniformSampling ()
 Empty constructor. More...
 
virtual ~UniformSampling ()
 Destructor. More...
 
virtual void setRadiusSearch (double radius)
 Set the 3D grid leaf size. More...
 
- Public Member Functions inherited from pcl::Keypoint< PointInT, int >
 Keypoint ()
 Empty constructor. More...
 
virtual ~Keypoint ()
 Empty destructor. More...
 
virtual void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to the input dataset that we need to estimate features at every point for. More...
 
PointCloudInConstPtr getSearchSurface ()
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used. More...
 
double getSearchParameter ()
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch ()
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More...
 
double getRadiusSearch ()
 Get the sphere radius used for determining the neighbors. More...
 
void compute (PointCloudOut &output)
 Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
 
int searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud ()
 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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos)
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void detectKeypoints (PointCloudOut &output)
 Downsample a Point Cloud using a voxelized grid approach. More...
 
- Protected Member Functions inherited from pcl::Keypoint< PointInT, int >
virtual bool initCompute ()
 
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual void detectKeypoints (PointCloudOut &output)=0
 Abstract key point detection method. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
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

boost::unordered_map< size_t,
Leaf
leaves_
 The 3D grid leaves. More...
 
Eigen::Vector4f leaf_size_
 The size of a leaf. More...
 
Eigen::Array4f inverse_leaf_size_
 Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. More...
 
Eigen::Vector4i min_b_
 The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. More...
 
Eigen::Vector4i max_b_
 
Eigen::Vector4i div_b_
 
Eigen::Vector4i divb_mul_
 
- Protected Attributes inherited from pcl::Keypoint< PointInT, int >
std::string name_
 The key point detection method's name. More...
 
SearchMethod search_method_
 The search method template for indices. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (casted from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
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 PointInT>
class pcl::UniformSampling< PointInT >

UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.

The UniformSampling class creates a 3D voxel grid (think about a voxel grid as a set of tiny 3D boxes in space) over the input point cloud data. Then, in each voxel (i.e., 3D box), all the points present will be approximated (i.e., downsampled) with their centroid. This approach is a bit slower than approximating them with the center of the voxel, but it represents the underlying surface more accurately.

Author
Radu Bogdan Rusu

Definition at line 61 of file uniform_sampling.h.

Member Typedef Documentation

template<typename PointInT >
typedef boost::shared_ptr<const UniformSampling<PointInT> > pcl::UniformSampling< PointInT >::ConstPtr

Definition at line 74 of file uniform_sampling.h.

template<typename PointInT >
typedef boost::shared_ptr<UniformSampling<PointInT> > pcl::UniformSampling< PointInT >::Ptr

Definition at line 73 of file uniform_sampling.h.

Constructor & Destructor Documentation

template<typename PointInT >
pcl::UniformSampling< PointInT >::UniformSampling ( )
inline

Empty constructor.

Definition at line 77 of file uniform_sampling.h.

References pcl::Keypoint< PointInT, int >::name_.

template<typename PointInT >
virtual pcl::UniformSampling< PointInT >::~UniformSampling ( )
inlinevirtual

Destructor.

Definition at line 90 of file uniform_sampling.h.

References pcl::UniformSampling< PointInT >::leaves_.

Member Function Documentation

template<typename PointInT >
void pcl::UniformSampling< PointInT >::detectKeypoints ( PointCloudOut &  output)
protected

Downsample a Point Cloud using a voxelized grid approach.

Parameters
outputthe resultant point cloud message

Definition at line 46 of file uniform_sampling.hpp.

References pcl::UniformSampling< PointInT >::Leaf::idx.

template<typename PointInT >
virtual void pcl::UniformSampling< PointInT >::setRadiusSearch ( double  radius)
inlinevirtual

Set the 3D grid leaf size.

Parameters
radiusthe 3D grid leaf size

Definition at line 99 of file uniform_sampling.h.

References pcl::UniformSampling< PointInT >::inverse_leaf_size_, pcl::UniformSampling< PointInT >::leaf_size_, and pcl::Keypoint< PointInT, int >::search_radius_.

Member Data Documentation

template<typename PointInT >
Eigen::Vector4i pcl::UniformSampling< PointInT >::div_b_
protected

Definition at line 128 of file uniform_sampling.h.

template<typename PointInT >
Eigen::Vector4i pcl::UniformSampling< PointInT >::divb_mul_
protected

Definition at line 128 of file uniform_sampling.h.

template<typename PointInT >
Eigen::Array4f pcl::UniformSampling< PointInT >::inverse_leaf_size_
protected

Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.

Definition at line 125 of file uniform_sampling.h.

Referenced by pcl::UniformSampling< PointInT >::setRadiusSearch().

template<typename PointInT >
Eigen::Vector4f pcl::UniformSampling< PointInT >::leaf_size_
protected

The size of a leaf.

Definition at line 122 of file uniform_sampling.h.

Referenced by pcl::UniformSampling< PointInT >::setRadiusSearch().

template<typename PointInT >
boost::unordered_map<size_t, Leaf> pcl::UniformSampling< PointInT >::leaves_
protected

The 3D grid leaves.

Definition at line 119 of file uniform_sampling.h.

Referenced by pcl::UniformSampling< PointInT >::~UniformSampling().

template<typename PointInT >
Eigen::Vector4i pcl::UniformSampling< PointInT >::max_b_
protected

Definition at line 128 of file uniform_sampling.h.

template<typename PointInT >
Eigen::Vector4i pcl::UniformSampling< PointInT >::min_b_
protected

The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.

Definition at line 128 of file uniform_sampling.h.


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