Pyramid constructs a multi-scale representation of an organised point cloud. More...

#include <pcl/filters/pyramid.h>

Public Types
using	PointCloudPtr = typename PointCloud< PointT >::Ptr

using	PointCloudConstPtr = typename PointCloud< PointT >::ConstPtr

using	Ptr = shared_ptr< Pyramid< PointT > >

using	ConstPtr = shared_ptr< const Pyramid< PointT > >

Public Member Functions
	Pyramid (int levels=4)

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...

void	setNumberOfLevels (int levels)
	Set the number of pyramid levels. More...

int	getNumberOfLevels () const

void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use. More...

void	setLargeSmoothingKernel (bool large)
	Choose a larger smoothing kernel for enhanced smoothing. More...

void	setDistanceThreshold (float threshold)
	Only points such us distance (center,point) < threshold are accounted for to prevent ghost points. More...

float	getDistanceThreshold () const

void	compute (std::vector< PointCloudPtr > &output)
	compute the pyramid levels. More...

const std::string &	getClassName () const

void	compute (std::vector< Pyramid< pcl::PointXYZRGB >::PointCloudPtr > &output)

void	compute (std::vector< Pyramid< pcl::PointXYZRGBA >::PointCloudPtr > &output)

void	compute (std::vector< Pyramid< pcl::RGB >::PointCloudPtr > &output)

Detailed Description

template<typename PointT>
class pcl::filters::Pyramid< PointT >

Pyramid constructs a multi-scale representation of an organised point cloud.

It is an iterative smoothing subsampling algorithm. The subsampling is fixed to 2. Two smoothing kernels may be used:

[1/16 1/4 3/8 1/4 1/16] slower but produces finer result;
[1/4 1/2 1/4] the more conventional binomial kernel which is faster. We use a memory efficient algorithm so the convolving and subsampling are combined in a single step.

Author: Nizar Sallem

Definition at line 62 of file pyramid.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::filters::Pyramid< PointT >::ConstPtr = shared_ptr< const Pyramid<PointT> >

Definition at line 68 of file pyramid.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::filters::Pyramid< PointT >::PointCloudConstPtr = typename PointCloud<PointT>::ConstPtr

Definition at line 66 of file pyramid.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::filters::Pyramid< PointT >::PointCloudPtr = typename PointCloud<PointT>::Ptr

Definition at line 65 of file pyramid.h.

◆ Ptr

template<typename PointT >

using pcl::filters::Pyramid< PointT >::Ptr = shared_ptr< Pyramid<PointT> >

Definition at line 67 of file pyramid.h.

Constructor & Destructor Documentation

◆ Pyramid()

template<typename PointT >

pcl::filters::Pyramid< PointT >::Pyramid ( int levels = 4 )

inline

Definition at line 70 of file pyramid.h.

Member Function Documentation

◆ compute() [1/4]

template<typename PointT >

void pcl::filters::Pyramid< PointT >::compute ( std::vector< PointCloudPtr > & output )

compute the pyramid levels.

Parameters

[out] output the constructed pyramid. It is resized to the number of levels.

Remarks: input_ is copied to output[0] for consistency reasons.

Definition at line 100 of file pyramid.hpp.

References pcl::PointCloud< PointT >::at(), pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::squaredEuclideanDistance(), and pcl::PointCloud< PointT >::width.

◆ compute() [2/4]

void pcl::filters::Pyramid< pcl::PointXYZRGB >::compute ( std::vector< Pyramid< pcl::PointXYZRGB >::PointCloudPtr > & output )

◆ compute() [3/4]

void pcl::filters::Pyramid< pcl::PointXYZRGBA >::compute ( std::vector< Pyramid< pcl::PointXYZRGBA >::PointCloudPtr > & output )

◆ compute() [4/4]

void pcl::filters::Pyramid< pcl::RGB >::compute ( std::vector< Pyramid< pcl::RGB >::PointCloudPtr > & output )

◆ getClassName()

template<typename PointT >

const std::string& pcl::filters::Pyramid< PointT >::getClassName ( ) const

inline

Definition at line 128 of file pyramid.h.

◆ getDistanceThreshold()

template<typename PointT >

float pcl::filters::Pyramid< PointT >::getDistanceThreshold ( ) const

inline

Returns: the distance threshold

Definition at line 118 of file pyramid.h.

◆ getInputCloud()

template<typename PointT >

PointCloudConstPtr const pcl::filters::Pyramid< PointT >::getInputCloud ( )

inline

Get a pointer to the input point cloud dataset.

Definition at line 84 of file pyramid.h.

◆ getNumberOfLevels()

template<typename PointT >

int pcl::filters::Pyramid< PointT >::getNumberOfLevels ( ) const

inline

Returns: the number of pyramid levels

Definition at line 94 of file pyramid.h.

◆ setDistanceThreshold()

template<typename PointT >

void pcl::filters::Pyramid< PointT >::setDistanceThreshold ( float threshold )

inline

Only points such us distance (center,point) < threshold are accounted for to prevent ghost points.

Default value is 0.01, to disable set to std::numeric<float>::infinity ().

Parameters

[in] threshold maximum allowed distance between center and neighbor.

Definition at line 114 of file pyramid.h.

◆ setInputCloud()

template<typename PointT >

void pcl::filters::Pyramid< PointT >::setInputCloud ( const PointCloudConstPtr & cloud )

inline

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 80 of file pyramid.h.

◆ setLargeSmoothingKernel()

template<typename PointT >

void pcl::filters::Pyramid< PointT >::setLargeSmoothingKernel ( bool large )

inline

Choose a larger smoothing kernel for enhanced smoothing.

Parameters

large if true large smoothng kernel will be used.

Definition at line 106 of file pyramid.h.

◆ setNumberOfLevels()

template<typename PointT >

void pcl::filters::Pyramid< PointT >::setNumberOfLevels ( int levels )

inline

Set the number of pyramid levels.

Parameters

levels desired number of pyramid levels

Definition at line 90 of file pyramid.h.

◆ setNumberOfThreads()

template<typename PointT >

void pcl::filters::Pyramid< PointT >::setNumberOfThreads ( unsigned int nr_threads = 0 )

inline

Initialize the scheduler and set the number of threads to use.

Parameters

nr_threads the number of hardware threads to use (0 sets the value back to automatic).

Definition at line 100 of file pyramid.h.

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

pcl/filters/pyramid.h
pcl/filters/impl/pyramid.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::filters::Pyramid< PointT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ Pyramid()

Member Function Documentation

◆ compute() [1/4]

◆ compute() [2/4]

◆ compute() [3/4]

◆ compute() [4/4]

◆ getClassName()

◆ getDistanceThreshold()

◆ getInputCloud()

◆ getNumberOfLevels()

◆ setDistanceThreshold()

◆ setInputCloud()

◆ setLargeSmoothingKernel()

◆ setNumberOfLevels()

◆ setNumberOfThreads()

template<typename PointT>
class pcl::filters::Pyramid< PointT >