Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
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 <pcl/filters/normal_space.h>

+ Inheritance diagram for pcl::NormalSpaceSampling< PointT, NormalT >:

Public Types

typedef boost::shared_ptr
< NormalSpaceSampling< PointT,
NormalT > > 
Ptr
 
typedef boost::shared_ptr
< const NormalSpaceSampling
< PointT, NormalT > > 
ConstPtr
 
- Public Types inherited from pcl::FilterIndices< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef boost::shared_ptr
< FilterIndices< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const FilterIndices< PointT > > 
ConstPtr
 
- Public Types inherited from pcl::Filter< PointT >
typedef boost::shared_ptr
< Filter< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const Filter< PointT > > 
ConstPtr
 
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 NormalSpaceSampling ()
 Empty constructor. More...
 
 ~NormalSpaceSampling ()
 Destructor. More...
 
void setSample (unsigned int sample)
 Set number of indices to be sampled. More...
 
unsigned int getSample () const
 Get the value of the internal sample parameter. More...
 
void setSeed (unsigned int seed)
 Set seed of random function. More...
 
unsigned int getSeed () const
 Get the value of the internal seed parameter. More...
 
void setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz)
 Set the number of bins in x, y and z direction. More...
 
void getBins (unsigned int &binsx, unsigned int &binsy, unsigned int &binsz) const
 Get the number of bins in x, y and z direction. More...
 
void setNormals (const NormalsConstPtr &normals)
 Set the normals computed on the input point cloud. More...
 
NormalsConstPtr getNormals () const
 Get the normals computed on the input point cloud. More...
 
- Public Member Functions inherited from pcl::FilterIndices< PointT >
 FilterIndices (bool extract_removed_indices=false)
 Constructor. More...
 
virtual ~FilterIndices ()
 Empty virtual destructor. More...
 
void filter (PointCloud &output)
 
void filter (std::vector< int > &indices)
 Calls the filtering method and returns the filtered point cloud indices. More...
 
void setNegative (bool negative)
 Set whether the regular conditions for points filtering should apply, or the inverted conditions. More...
 
bool getNegative ()
 Get whether the regular conditions for points filtering should apply, or the inverted conditions. More...
 
void setKeepOrganized (bool keep_organized)
 Set whether the filtered points should be kept and set to the value given through setUserFilterValue (default: NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More...
 
bool getKeepOrganized ()
 Get whether the filtered points should be kept and set to the value given through setUserFilterValue (default = NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More...
 
void setUserFilterValue (float value)
 Provide a value that the filtered points should be set to instead of removing them. More...
 
- Public Member Functions inherited from pcl::Filter< PointT >
 Filter (bool extract_removed_indices=false)
 Empty constructor. More...
 
virtual ~Filter ()
 Empty destructor. More...
 
IndicesConstPtr const getRemovedIndices ()
 Get the point indices being removed. More...
 
void getRemovedIndices (PointIndices &pi)
 Get the point indices being removed. More...
 
void filter (PointCloud &output)
 Calls the filtering method and returns the filtered dataset in output. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 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 () const
 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...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void applyFilter (PointCloud &output)
 Sample of point indices into a separate PointCloud. More...
 
void applyFilter (std::vector< int > &indices)
 Sample of point indices. More...
 
bool initCompute ()
 
- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
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

unsigned int sample_
 Number of indices that will be returned. More...
 
unsigned int seed_
 Random number seed. More...
 
unsigned int binsx_
 Number of bins in x direction. More...
 
unsigned int binsy_
 Number of bins in y direction. More...
 
unsigned int binsz_
 Number of bins in z direction. More...
 
NormalsConstPtr input_normals_
 The normals computed at each point in the input cloud. More...
 
- Protected Attributes inherited from pcl::FilterIndices< PointT >
bool negative_
 False = normal filter behavior (default), true = inverted behavior. More...
 
bool keep_organized_
 False = remove points (default), true = redefine points, keep structure. More...
 
float user_filter_value_
 The user given value that the filtered point dimensions should be set to (default = NaN). More...
 
- Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr removed_indices_
 Indices of the points that are removed. More...
 
std::string filter_name_
 The filter name. More...
 
bool extract_removed_indices_
 Set to true if we want to return the indices of the removed points. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
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 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

Definition at line 71 of file normal_space.h.

template<typename PointT , typename NormalT >
typedef boost::shared_ptr<NormalSpaceSampling<PointT, NormalT> > pcl::NormalSpaceSampling< PointT, NormalT >::Ptr

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.

References pcl::Filter< PointT >::filter_name_.

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)
protectedvirtual

Sample of point indices into a separate PointCloud.

Parameters
[out]outputthe resultant point cloud

Implements pcl::FilterIndices< PointT >.

Definition at line 73 of file normal_space.hpp.

References pcl::copyPointCloud(), pcl::PointCloud< T >::is_dense, and pcl::PointCloud< T >::points.

template<typename PointT , typename NormalT >
void pcl::NormalSpaceSampling< PointT, NormalT >::applyFilter ( std::vector< int > &  indices)
protectedvirtual

Sample of point indices.

Parameters
[out]indicesthe resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 177 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 136 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::binsx_, pcl::NormalSpaceSampling< PointT, NormalT >::binsy_, and pcl::NormalSpaceSampling< PointT, NormalT >::binsz_.

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.

References pcl::NormalSpaceSampling< PointT, NormalT >::input_normals_.

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.

References pcl::NormalSpaceSampling< PointT, NormalT >::sample_.

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.

References pcl::NormalSpaceSampling< PointT, NormalT >::seed_.

template<typename PointT , typename NormalT >
bool pcl::NormalSpaceSampling< PointT, NormalT >::initCompute ( )
protected

Definition at line 49 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 123 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::binsx_, pcl::NormalSpaceSampling< PointT, NormalT >::binsy_, and pcl::NormalSpaceSampling< PointT, NormalT >::binsz_.

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]normalsthe normals computed for the input cloud

Definition at line 147 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::input_normals_.

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 97 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::sample_.

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 109 of file normal_space.h.

References pcl::NormalSpaceSampling< PointT, NormalT >::seed_.

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.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getBins(), and pcl::NormalSpaceSampling< PointT, NormalT >::setBins().

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.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getBins(), and pcl::NormalSpaceSampling< PointT, NormalT >::setBins().

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.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getBins(), and pcl::NormalSpaceSampling< PointT, NormalT >::setBins().

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.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getNormals(), and pcl::NormalSpaceSampling< PointT, NormalT >::setNormals().

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.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getSample(), and pcl::NormalSpaceSampling< PointT, NormalT >::setSample().

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

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