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 >:

Collaboration diagram for pcl::NormalSpaceSampling< PointT, NormalT >:

Public Types
using	Ptr = shared_ptr< NormalSpaceSampling< PointT, NormalT > >

using	ConstPtr = shared_ptr< const NormalSpaceSampling< PointT, NormalT > >

Public Types inherited from pcl::FilterIndices< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	Ptr = shared_ptr< FilterIndices< PointT > >

using	ConstPtr = shared_ptr< const FilterIndices< PointT > >

Public Types inherited from pcl::Filter< PointT >
using	Ptr = shared_ptr< Filter< PointT > >

using	ConstPtr = shared_ptr< const Filter< PointT > >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	NormalSpaceSampling ()
	Empty constructor. More...

	NormalSpaceSampling (bool extract_removed_indices)
	Constructor. 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...

void	filter (Indices &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 () const
	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 () const
	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...

IndicesConstPtr const	getRemovedIndices () const
	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 ()=default
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	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 PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	applyFilter (Indices &indices) override
	Sample of point indices. More...

bool	initCompute ()

Protected Member Functions inherited from pcl::FilterIndices< PointT >
void	applyFilter (PointCloud &output) override
	Abstract filter method for point cloud. More...

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}
	False = normal filter behavior (default), true = inverted behavior. More...

bool	keep_organized_ {false}
	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 51 of file normal_space.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename NormalT >

using pcl::NormalSpaceSampling< PointT, NormalT >::ConstPtr = shared_ptr<const NormalSpaceSampling<PointT, NormalT> >

Definition at line 70 of file normal_space.h.

◆ Ptr

template<typename PointT , typename NormalT >

using pcl::NormalSpaceSampling< PointT, NormalT >::Ptr = shared_ptr<NormalSpaceSampling<PointT, NormalT> >

Definition at line 69 of file normal_space.h.

Constructor & Destructor Documentation

◆ NormalSpaceSampling() [1/2]

template<typename PointT , typename NormalT >

pcl::NormalSpaceSampling< PointT, NormalT >::NormalSpaceSampling ( )

inline

Empty constructor.

Definition at line 73 of file normal_space.h.

◆ NormalSpaceSampling() [2/2]

template<typename PointT , typename NormalT >

pcl::NormalSpaceSampling< PointT, NormalT >::NormalSpaceSampling ( bool extract_removed_indices )

inlineexplicit

Constructor.

Parameters

[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed.

Definition at line 78 of file normal_space.h.

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

Member Function Documentation

◆ applyFilter()

template<typename PointT , typename NormalT >

void pcl::NormalSpaceSampling< PointT, NormalT >::applyFilter ( Indices & indices )

overrideprotectedvirtual

Sample of point indices.

Parameters

[out] indices the resultant point cloud indices

Implements pcl::FilterIndices< PointT >.

Definition at line 93 of file normal_space.hpp.

◆ getBins()

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 133 of file normal_space.h.

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

◆ getNormals()

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 148 of file normal_space.h.

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

◆ getSample()

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 99 of file normal_space.h.

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

◆ getSeed()

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 111 of file normal_space.h.

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

◆ initCompute()

template<typename PointT , typename NormalT >

bool pcl::NormalSpaceSampling< PointT, NormalT >::initCompute

protected

Definition at line 48 of file normal_space.hpp.

◆ setBins()

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 120 of file normal_space.h.

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

◆ setNormals()

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 144 of file normal_space.h.

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

◆ setSample()

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 94 of file normal_space.h.

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

◆ setSeed()

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 106 of file normal_space.h.

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

Member Data Documentation

◆ binsx_

template<typename PointT , typename NormalT >

unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::binsx_

protected

Number of bins in x direction.

Definition at line 157 of file normal_space.h.

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

◆ binsy_

template<typename PointT , typename NormalT >

unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::binsy_

protected

Number of bins in y direction.

Definition at line 159 of file normal_space.h.

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

◆ binsz_

template<typename PointT , typename NormalT >

unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::binsz_

protected

Number of bins in z direction.

Definition at line 161 of file normal_space.h.

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

◆ input_normals_

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 164 of file normal_space.h.

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

◆ sample_

template<typename PointT , typename NormalT >

unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::sample_

protected

Number of indices that will be returned.

Definition at line 152 of file normal_space.h.

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

◆ seed_

template<typename PointT , typename NormalT >

unsigned int pcl::NormalSpaceSampling< PointT, NormalT >::seed_

protected

Random number seed.

Definition at line 154 of file normal_space.h.

Referenced by pcl::NormalSpaceSampling< PointT, NormalT >::getSeed(), and pcl::NormalSpaceSampling< PointT, NormalT >::setSeed().

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

pcl/filters/normal_space.h
pcl/filters/impl/normal_space.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ NormalSpaceSampling() [1/2]

◆ NormalSpaceSampling() [2/2]

Member Function Documentation

◆ applyFilter()

◆ getBins()

◆ getNormals()

◆ getSample()

◆ getSeed()

◆ initCompute()

◆ setBins()

◆ setNormals()

◆ setSample()

◆ setSeed()

Member Data Documentation

◆ binsx_

◆ binsy_

◆ binsz_

◆ input_normals_

◆ sample_

◆ seed_

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