NormalSpaceSampling samples the input point cloud in the space of normal directions computed at every point. More...
#include <pcl/filters/normal_space.h>
Public Types |
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| using | Ptr = shared_ptr< NormalSpaceSampling< PointT, NormalT > > |
| using | ConstPtr = shared_ptr< const NormalSpaceSampling< PointT, NormalT > > |
 Public Types inherited from pcl::FilterIndices< PointT > |
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| 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 > |
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| 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 > |
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| 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 |
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| NormalSpaceSampling () | |
| Empty constructor. More... |
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| NormalSpaceSampling (bool extract_removed_indices) | |
| Constructor. More... |
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| void | setSample (unsigned int sample) |
| Set number of indices to be sampled. More... |
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| unsigned int | getSample () const |
| Get the value of the internal sample parameter. More... |
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| void | setSeed (unsigned int seed) |
| Set seed of random function. More... |
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| unsigned int | getSeed () const |
| Get the value of the internal seed parameter. More... |
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| void | setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz) |
| Set the number of bins in x, y and z direction. More... |
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| void | getBins (unsigned int &binsx, unsigned int &binsy, unsigned int &binsz) const |
| Get the number of bins in x, y and z direction. More... |
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| void | setNormals (const NormalsConstPtr &normals) |
| Set the normals computed on the input point cloud. More... |
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| NormalsConstPtr | getNormals () const |
| Get the normals computed on the input point cloud. More... |
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| Public Member Functions inherited from pcl::FilterIndices< PointT > |
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| FilterIndices (bool extract_removed_indices=false) | |
| Constructor. More... |
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| void | filter (Indices &indices) |
| Calls the filtering method and returns the filtered point cloud indices. More... |
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| void | setNegative (bool negative) |
| Set whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| bool | getNegative () const |
| Get whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| 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... |
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| 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... |
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| void | setUserFilterValue (float value) |
| Provide a value that the filtered points should be set to instead of removing them. More... |
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| Public Member Functions inherited from pcl::Filter< PointT > |
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| Filter (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| const IndicesConstPtr | getRemovedIndices () const |
| Get the point indices being removed. More... |
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| void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed. More... |
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| void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| void | applyFilter (Indices &indices) override |
| Sample of point indices. More... |
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| bool | initCompute () |
| Protected Member Functions inherited from pcl::FilterIndices< PointT > |
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| void | applyFilter (PointCloud &output) override |
| Abstract filter method for point cloud. More... |
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| Protected Member Functions inherited from pcl::Filter< PointT > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| unsigned int | sample_ |
| Number of indices that will be returned. More... |
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| unsigned int | seed_ |
| Random number seed. More... |
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| unsigned int | binsx_ |
| Number of bins in x direction. More... |
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| unsigned int | binsy_ |
| Number of bins in y direction. More... |
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| unsigned int | binsz_ |
| Number of bins in z direction. More... |
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| NormalsConstPtr | input_normals_ |
| The normals computed at each point in the input cloud. More... |
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| Protected Attributes inherited from pcl::FilterIndices< PointT > |
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| bool | negative_ |
| False = normal filter behavior (default), true = inverted behavior. More... |
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| bool | keep_organized_ |
| False = remove points (default), true = redefine points, keep structure. More... |
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| float | user_filter_value_ |
| The user given value that the filtered point dimensions should be set to (default = NaN). More... |
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| Protected Attributes inherited from pcl::Filter< PointT > |
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| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. More... |
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| std::string | filter_name_ |
| The filter name. More... |
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| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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
| using pcl::NormalSpaceSampling< PointT, NormalT >::ConstPtr = shared_ptr<const NormalSpaceSampling<PointT, NormalT> > |
Definition at line 70 of file normal_space.h.
Ptr
| 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]
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inline |
Empty constructor.
Definition at line 73 of file normal_space.h.
NormalSpaceSampling() [2/2]
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inlineexplicit |
Constructor.
- Parameters
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[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()
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overrideprotectedvirtual |
Sample of point indices.
- Parameters
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[out] indices the resultant point cloud indices
Implements pcl::FilterIndices< PointT >.
Definition at line 91 of file normal_space.hpp.
getBins()
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inline |
Get the number of bins in x, y and z direction.
- Parameters
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[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()
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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()
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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()
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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()
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protected |
Definition at line 48 of file normal_space.hpp.
setBins()
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inline |
Set the number of bins in x, y and z direction.
- Parameters
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[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()
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inline |
Set the normals computed on the input point cloud.
- Parameters
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[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()
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inline |
Set number of indices to be sampled.
- Parameters
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[in] sample the number of sample indices
Definition at line 94 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::sample_.
setSeed()
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inline |
Set seed of random function.
- Parameters
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[in] seed the input seed
Definition at line 106 of file normal_space.h.
References pcl::NormalSpaceSampling< PointT, NormalT >::seed_.
Member Data Documentation
binsx_
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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_
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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_
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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_
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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_
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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_
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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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_normal_space_sampling.html
