SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N points, and samples points randomly within each grid. More...

#include <pcl/filters/sampling_surface_normal.h>

Inheritance diagram for pcl::SamplingSurfaceNormal< PointT >:

Collaboration diagram for pcl::SamplingSurfaceNormal< PointT >:

Public Types
using	Ptr = shared_ptr< SamplingSurfaceNormal< PointT > >

using	ConstPtr = shared_ptr< const SamplingSurfaceNormal< 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
	SamplingSurfaceNormal ()
	Empty constructor. More...

void	setSample (unsigned int sample)
	Set maximum number of samples in each grid. 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	setRatio (float ratio)
	Set ratio of points to be sampled in each grid. More...

float	getRatio () const
	Get the value of the internal ratio parameter. 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 (PointCloud &output) override
	Sample of point indices into a separate PointCloud. 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_ {10}
	Maximum number of samples in each grid. More...

unsigned int	seed_ {static_cast<unsigned int> (time (nullptr))}
	Random number seed. More...

float	ratio_ {0.0f}
	Ratio of points to be sampled in each grid. 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>
class pcl::SamplingSurfaceNormal< PointT >

SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N points, and samples points randomly within each grid.

Normal is computed using the N points of each grid. All points sampled within a grid are assigned the same normal.

Author: Aravindhan K Krishnan. This code is ported from libpointmatcher (https://github.com/ethz-asl/libpointmatcher)

Definition at line 53 of file sampling_surface_normal.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::SamplingSurfaceNormal< PointT >::ConstPtr = shared_ptr<const SamplingSurfaceNormal<PointT> >

Definition at line 69 of file sampling_surface_normal.h.

◆ Ptr

template<typename PointT >

using pcl::SamplingSurfaceNormal< PointT >::Ptr = shared_ptr<SamplingSurfaceNormal<PointT> >

Definition at line 68 of file sampling_surface_normal.h.

Constructor & Destructor Documentation

◆ SamplingSurfaceNormal()

template<typename PointT >

pcl::SamplingSurfaceNormal< PointT >::SamplingSurfaceNormal ( )

inline

Empty constructor.

Definition at line 72 of file sampling_surface_normal.h.

References pcl::Filter< PointT >::filter_name_, and pcl::SamplingSurfaceNormal< PointT >::seed_.

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::SamplingSurfaceNormal< PointT >::applyFilter ( PointCloud & output )

overrideprotectedvirtual

Sample of point indices into a separate PointCloud.

Parameters

[out] output the resultant point cloud

Implements pcl::Filter< PointT >.

Definition at line 49 of file sampling_surface_normal.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ getRatio()

template<typename PointT >

float pcl::SamplingSurfaceNormal< PointT >::getRatio ( ) const

inline

Get the value of the internal ratio parameter.

Definition at line 122 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::ratio_.

◆ getSample()

template<typename PointT >

unsigned int pcl::SamplingSurfaceNormal< PointT >::getSample ( ) const

inline

Get the value of the internal sample parameter.

Definition at line 89 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::sample_.

◆ getSeed()

template<typename PointT >

unsigned int pcl::SamplingSurfaceNormal< PointT >::getSeed ( ) const

inline

Get the value of the internal seed parameter.

Definition at line 106 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::seed_.

◆ setRatio()

template<typename PointT >

void pcl::SamplingSurfaceNormal< PointT >::setRatio ( float ratio )

inline

Set ratio of points to be sampled in each grid.

Parameters

[in] ratio sample the ratio of points to be sampled in each grid

Definition at line 115 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::ratio_.

◆ setSample()

template<typename PointT >

void pcl::SamplingSurfaceNormal< PointT >::setSample ( unsigned int sample )

inline

Set maximum number of samples in each grid.

Parameters

[in] sample maximum number of samples in each grid

Definition at line 82 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::sample_.

◆ setSeed()

template<typename PointT >

void pcl::SamplingSurfaceNormal< PointT >::setSeed ( unsigned int seed )

inline

Set seed of random function.

Parameters

[in] seed the input seed

Definition at line 98 of file sampling_surface_normal.h.

References pcl::SamplingSurfaceNormal< PointT >::seed_.

Member Data Documentation

◆ ratio_

template<typename PointT >

float pcl::SamplingSurfaceNormal< PointT >::ratio_ {0.0f}

protected

Ratio of points to be sampled in each grid.

Definition at line 134 of file sampling_surface_normal.h.

Referenced by pcl::SamplingSurfaceNormal< PointT >::getRatio(), and pcl::SamplingSurfaceNormal< PointT >::setRatio().

◆ sample_

template<typename PointT >

unsigned int pcl::SamplingSurfaceNormal< PointT >::sample_ {10}

protected

Maximum number of samples in each grid.

Definition at line 130 of file sampling_surface_normal.h.

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

◆ seed_

template<typename PointT >

unsigned int pcl::SamplingSurfaceNormal< PointT >::seed_ {static_cast<unsigned int> (time (nullptr))}

protected

Random number seed.

Definition at line 132 of file sampling_surface_normal.h.

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

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

pcl/filters/sampling_surface_normal.h
pcl/filters/impl/sampling_surface_normal.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::SamplingSurfaceNormal< PointT >

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ SamplingSurfaceNormal()

Member Function Documentation

◆ applyFilter()

◆ getRatio()

◆ getSample()

◆ getSeed()

◆ setRatio()

◆ setSample()

◆ setSeed()

Member Data Documentation

◆ ratio_

◆ sample_

◆ seed_

template<typename PointT>
class pcl::SamplingSurfaceNormal< PointT >