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>
Public Types |
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| using | Ptr = shared_ptr< SamplingSurfaceNormal< PointT > > |
| using | ConstPtr = shared_ptr< const SamplingSurfaceNormal< 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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| SamplingSurfaceNormal () | |
| Empty constructor. More... |
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| void | setSample (unsigned int sample) |
| Set maximum number of samples in each grid. 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 | setRatio (float ratio) |
| Set ratio of points to be sampled in each grid. More... |
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| float | getRatio () const |
| Get the value of the internal ratio parameter. 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 (PointCloud &output) override |
| Sample of point indices into a separate PointCloud. 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_ |
| Maximum number of samples in each grid. More... |
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| unsigned int | seed_ |
| Random number seed. More... |
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| float | ratio_ |
| Ratio of points to be sampled in each grid. 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>
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.
Definition at line 53 of file sampling_surface_normal.h.
Member Typedef Documentation
ConstPtr
| using pcl::SamplingSurfaceNormal< PointT >::ConstPtr = shared_ptr<const SamplingSurfaceNormal<PointT> > |
Definition at line 69 of file sampling_surface_normal.h.
Ptr
| using pcl::SamplingSurfaceNormal< PointT >::Ptr = shared_ptr<SamplingSurfaceNormal<PointT> > |
Definition at line 68 of file sampling_surface_normal.h.
Constructor & Destructor Documentation
SamplingSurfaceNormal()
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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()
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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 >::height, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
getRatio()
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inline |
Get the value of the internal ratio parameter.
Definition at line 123 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::ratio_.
getSample()
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inline |
Get the value of the internal sample parameter.
Definition at line 90 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::sample_.
getSeed()
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inline |
Get the value of the internal seed parameter.
Definition at line 107 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::seed_.
setRatio()
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inline |
Set ratio of points to be sampled in each grid.
- Parameters
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[in] ratio sample the ratio of points to be sampled in each grid
Definition at line 116 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::ratio_.
setSample()
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inline |
Set maximum number of samples in each grid.
- Parameters
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[in] sample maximum number of samples in each grid
Definition at line 83 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::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 99 of file sampling_surface_normal.h.
References pcl::SamplingSurfaceNormal< PointT >::seed_.
Member Data Documentation
ratio_
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protected |
Ratio of points to be sampled in each grid.
Definition at line 135 of file sampling_surface_normal.h.
Referenced by pcl::SamplingSurfaceNormal< PointT >::getRatio(), and pcl::SamplingSurfaceNormal< PointT >::setRatio().
sample_
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protected |
Maximum number of samples in each grid.
Definition at line 131 of file sampling_surface_normal.h.
Referenced by pcl::SamplingSurfaceNormal< PointT >::getSample(), and pcl::SamplingSurfaceNormal< PointT >::setSample().
seed_
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protected |
Random number seed.
Definition at line 133 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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_sampling_surface_normal.html
