Point Cloud Library (PCL)  1.11.1-dev
uniform_sampling.h
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39 
40 #pragma once
41 
42 #include <pcl/filters/filter.h>
43 
44 #include <unordered_map>
45 
46 namespace pcl
47 {
48  /** \brief @b UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
49  *
50  * The @b UniformSampling class creates a *3D voxel grid* (think about a voxel
51  * grid as a set of tiny 3D boxes in space) over the input point cloud data.
52  * Then, in each *voxel* (i.e., 3D box), all the points present will be
53  * approximated (i.e., *downsampled*) with the closest point to the center of the voxel.
54  *
55  * \author Radu Bogdan Rusu
56  * \ingroup filters
57  */
58  template <typename PointT>
59  class UniformSampling: public Filter<PointT>
60  {
61  using PointCloud = typename Filter<PointT>::PointCloud;
62 
69 
70  public:
71  using Ptr = shared_ptr<UniformSampling<PointT> >;
72  using ConstPtr = shared_ptr<const UniformSampling<PointT> >;
73 
74  /** \brief Empty constructor. */
75  UniformSampling (bool extract_removed_indices = false) :
76  Filter<PointT>(extract_removed_indices),
77  leaves_ (),
78  leaf_size_ (Eigen::Vector4f::Zero ()),
79  inverse_leaf_size_ (Eigen::Vector4f::Zero ()),
80  min_b_ (Eigen::Vector4i::Zero ()),
81  max_b_ (Eigen::Vector4i::Zero ()),
82  div_b_ (Eigen::Vector4i::Zero ()),
83  divb_mul_ (Eigen::Vector4i::Zero ()),
84  search_radius_ (0)
85  {
86  filter_name_ = "UniformSampling";
87  }
88 
89  /** \brief Destructor. */
91  {
92  leaves_.clear();
93  }
94 
95  /** \brief Set the 3D grid leaf size.
96  * \param radius the 3D grid leaf size
97  */
98  virtual inline void
99  setRadiusSearch (double radius)
100  {
101  leaf_size_[0] = leaf_size_[1] = leaf_size_[2] = static_cast<float> (radius);
102  // Avoid division errors
103  if (leaf_size_[3] == 0)
104  leaf_size_[3] = 1;
105  // Use multiplications instead of divisions
106  inverse_leaf_size_ = Eigen::Array4f::Ones () / leaf_size_.array ();
107  search_radius_ = radius;
108  }
109 
110  protected:
111  /** \brief Simple structure to hold an nD centroid and the number of points in a leaf. */
112  struct Leaf
113  {
114  Leaf () : idx (-1) { }
115  int idx;
116  };
117 
118  /** \brief The 3D grid leaves. */
119  std::unordered_map<std::size_t, Leaf> leaves_;
120 
121  /** \brief The size of a leaf. */
122  Eigen::Vector4f leaf_size_;
123 
124  /** \brief Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. */
125  Eigen::Array4f inverse_leaf_size_;
126 
127  /** \brief The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. */
128  Eigen::Vector4i min_b_, max_b_, div_b_, divb_mul_;
129 
130  /** \brief The nearest neighbors search radius for each point. */
132 
133  /** \brief Downsample a Point Cloud using a voxelized grid approach
134  * \param[out] output the resultant point cloud message
135  */
136  void
137  applyFilter (PointCloud &output) override;
138  };
139 }
140 
141 #ifdef PCL_NO_PRECOMPILE
142 #include <pcl/filters/impl/uniform_sampling.hpp>
143 #endif
pcl
Definition: convolution.h:46
pcl::Filter::Ptr
shared_ptr< Filter< PointT > > Ptr
Definition: filter.h:83
Eigen
Definition: bfgs.h:10
pcl::UniformSampling::div_b_
Eigen::Vector4i div_b_
Definition: uniform_sampling.h:128
pcl::UniformSampling::min_b_
Eigen::Vector4i min_b_
The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.
Definition: uniform_sampling.h:128
pcl::UniformSampling::Leaf::idx
int idx
Definition: uniform_sampling.h:115
pcl::UniformSampling::setRadiusSearch
virtual void setRadiusSearch(double radius)
Set the 3D grid leaf size.
Definition: uniform_sampling.h:99
pcl::UniformSampling::max_b_
Eigen::Vector4i max_b_
Definition: uniform_sampling.h:128
pcl::UniformSampling
UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data...
Definition: uniform_sampling.h:59
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:630
pcl::UniformSampling::applyFilter
void applyFilter(PointCloud &output) override
Downsample a Point Cloud using a voxelized grid approach.
Definition: uniform_sampling.hpp:46
pcl::UniformSampling::Leaf
Simple structure to hold an nD centroid and the number of points in a leaf.
Definition: uniform_sampling.h:112
pcl::UniformSampling::leaf_size_
Eigen::Vector4f leaf_size_
The size of a leaf.
Definition: uniform_sampling.h:122
pcl::Filter::ConstPtr
shared_ptr< const Filter< PointT > > ConstPtr
Definition: filter.h:84
pcl::UniformSampling::inverse_leaf_size_
Eigen::Array4f inverse_leaf_size_
Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.
Definition: uniform_sampling.h:125
pcl::Filter
Filter represents the base filter class.
Definition: filter.h:80
pcl::UniformSampling::leaves_
std::unordered_map< std::size_t, Leaf > leaves_
The 3D grid leaves.
Definition: uniform_sampling.h:119
pcl::Filter::filter_name_
std::string filter_name_
The filter name.
Definition: filter.h:158
pcl::UniformSampling::search_radius_
double search_radius_
The nearest neighbors search radius for each point.
Definition: uniform_sampling.h:131
pcl::UniformSampling::~UniformSampling
~UniformSampling()
Destructor.
Definition: uniform_sampling.h:90
pcl::UniformSampling::divb_mul_
Eigen::Vector4i divb_mul_
Definition: uniform_sampling.h:128
pcl::UniformSampling::Leaf::Leaf
Leaf()
Definition: uniform_sampling.h:114
pcl::UniformSampling::UniformSampling
UniformSampling(bool extract_removed_indices=false)
Empty constructor.
Definition: uniform_sampling.h:75