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

#include <pcl/filters/uniform_sampling.h>

Inheritance diagram for pcl::UniformSampling< PointT >:

Collaboration diagram for pcl::UniformSampling< PointT >:

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

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

using	ConstPtr = shared_ptr< const UniformSampling< PointT > >

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
PCL_MAKE_ALIGNED_OPERATOR_NEW	UniformSampling (bool extract_removed_indices=false)
	Empty constructor. More...

	~UniformSampling () override
	Destructor. More...

virtual void	setRadiusSearch (double radius)
	Set the 3D grid leaf size. More...

void	setMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel)
	Set the minimum number of points required for a voxel to be used. More...

unsigned int	getMinimumPointsNumberPerVoxel () const
	Return the minimum number of points required for a voxel to be used. 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
	Filtered results are indexed by an indices array. More...

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
std::unordered_map< std::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_

double	search_radius_ {0.0}
	The nearest neighbors search radius for each point. More...

unsigned int	min_points_per_voxel_ {0}
	Minimum number of points per voxel. 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>
class pcl::UniformSampling< PointT >

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 the closest point to the center of the voxel.

See also: VoxelGrid

Author: Radu Bogdan Rusu

Definition at line 60 of file uniform_sampling.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

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

Definition at line 75 of file uniform_sampling.h.

◆ Ptr

template<typename PointT >

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

Definition at line 74 of file uniform_sampling.h.

Constructor & Destructor Documentation

◆ UniformSampling()

template<typename PointT >

PCL_MAKE_ALIGNED_OPERATOR_NEW pcl::UniformSampling< PointT >::UniformSampling ( bool extract_removed_indices = false )

inline

Empty constructor.

Definition at line 80 of file uniform_sampling.h.

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

◆ ~UniformSampling()

template<typename PointT >

pcl::UniformSampling< PointT >::~UniformSampling ( )

inlineoverride

Destructor.

Definition at line 94 of file uniform_sampling.h.

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

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::UniformSampling< PointT >::applyFilter ( Indices & indices )

overrideprotectedvirtual

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 47 of file uniform_sampling.hpp.

References pcl::UniformSampling< PointT >::Leaf::count, pcl::UniformSampling< PointT >::Leaf::idx, and pcl::isXYZFinite().

◆ getMinimumPointsNumberPerVoxel()

template<typename PointT >

unsigned int pcl::UniformSampling< PointT >::getMinimumPointsNumberPerVoxel ( ) const

inline

Return the minimum number of points required for a voxel to be used.

Definition at line 123 of file uniform_sampling.h.

References pcl::UniformSampling< PointT >::min_points_per_voxel_.

◆ setMinimumPointsNumberPerVoxel()

template<typename PointT >

void pcl::UniformSampling< PointT >::setMinimumPointsNumberPerVoxel ( unsigned int min_points_per_voxel )

inline

Set the minimum number of points required for a voxel to be used.

Parameters

[in] min_points_per_voxel the minimum number of points for required for a voxel to be used

Definition at line 118 of file uniform_sampling.h.

References pcl::UniformSampling< PointT >::min_points_per_voxel_.

◆ setRadiusSearch()

template<typename PointT >

virtual void pcl::UniformSampling< PointT >::setRadiusSearch ( double radius )

inlinevirtual

Set the 3D grid leaf size.

Parameters

radius the 3D grid leaf size

Definition at line 103 of file uniform_sampling.h.

References pcl::UniformSampling< PointT >::inverse_leaf_size_, pcl::UniformSampling< PointT >::leaf_size_, and pcl::UniformSampling< PointT >::search_radius_.

Member Data Documentation

◆ div_b_

template<typename PointT >

Eigen::Vector4i pcl::UniformSampling< PointT >::div_b_

protected

Definition at line 145 of file uniform_sampling.h.

◆ divb_mul_

template<typename PointT >

Eigen::Vector4i pcl::UniformSampling< PointT >::divb_mul_

protected

Definition at line 145 of file uniform_sampling.h.

◆ inverse_leaf_size_

template<typename PointT >

Eigen::Array4f pcl::UniformSampling< PointT >::inverse_leaf_size_

protected

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

Definition at line 142 of file uniform_sampling.h.

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

◆ leaf_size_

template<typename PointT >

Eigen::Vector4f pcl::UniformSampling< PointT >::leaf_size_

protected

The size of a leaf.

Definition at line 139 of file uniform_sampling.h.

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

◆ leaves_

template<typename PointT >

std::unordered_map<std::size_t, Leaf> pcl::UniformSampling< PointT >::leaves_

protected

The 3D grid leaves.

Definition at line 136 of file uniform_sampling.h.

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

◆ max_b_

template<typename PointT >

Eigen::Vector4i pcl::UniformSampling< PointT >::max_b_

protected

Definition at line 145 of file uniform_sampling.h.

◆ min_b_

template<typename PointT >

Eigen::Vector4i pcl::UniformSampling< PointT >::min_b_

protected

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

Definition at line 145 of file uniform_sampling.h.

◆ min_points_per_voxel_

template<typename PointT >

unsigned int pcl::UniformSampling< PointT >::min_points_per_voxel_ {0}

protected

Minimum number of points per voxel.

Definition at line 151 of file uniform_sampling.h.

Referenced by pcl::UniformSampling< PointT >::getMinimumPointsNumberPerVoxel(), and pcl::UniformSampling< PointT >::setMinimumPointsNumberPerVoxel().

◆ search_radius_

template<typename PointT >

double pcl::UniformSampling< PointT >::search_radius_ {0.0}

protected

The nearest neighbors search radius for each point.

Definition at line 148 of file uniform_sampling.h.

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

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

pcl/filters/uniform_sampling.h
pcl/filters/impl/uniform_sampling.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ UniformSampling()

◆ ~UniformSampling()

Member Function Documentation

◆ applyFilter()

◆ getMinimumPointsNumberPerVoxel()

◆ setMinimumPointsNumberPerVoxel()

◆ setRadiusSearch()

Member Data Documentation

◆ div_b_

◆ divb_mul_

◆ inverse_leaf_size_

◆ leaf_size_

◆ leaves_

◆ max_b_

◆ min_b_

◆ min_points_per_voxel_

◆ search_radius_

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