UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...
#include <pcl/filters/uniform_sampling.h>
Classes |
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| struct | Leaf |
| Simple structure to hold an nD centroid and the number of points in a leaf. More... |
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Public Types |
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| using | Ptr = shared_ptr< UniformSampling< PointT > > |
| using | ConstPtr = shared_ptr< const UniformSampling< 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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| UniformSampling (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| ~UniformSampling () | |
| Destructor. More... |
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| virtual void | setRadiusSearch (double radius) |
| Set the 3D grid leaf size. 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 |
| Downsample a Point Cloud using a voxelized grid approach. 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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| std::unordered_map< std::size_t, Leaf > | leaves_ |
| The 3D grid leaves. More... |
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| Eigen::Vector4f | leaf_size_ |
| The size of a leaf. More... |
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| Eigen::Array4f | inverse_leaf_size_ |
| Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. More... |
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| Eigen::Vector4i | min_b_ |
| The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. More... |
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| Eigen::Vector4i | max_b_ |
| Eigen::Vector4i | div_b_ |
| Eigen::Vector4i | divb_mul_ |
| double | search_radius_ |
| The nearest neighbors search radius for each point. 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::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.
Definition at line 59 of file uniform_sampling.h.
Member Typedef Documentation
ConstPtr
| using pcl::UniformSampling< PointT >::ConstPtr = shared_ptr<const UniformSampling<PointT> > |
Definition at line 72 of file uniform_sampling.h.
Ptr
| using pcl::UniformSampling< PointT >::Ptr = shared_ptr<UniformSampling<PointT> > |
Definition at line 71 of file uniform_sampling.h.
Constructor & Destructor Documentation
UniformSampling()
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inline |
Empty constructor.
Definition at line 75 of file uniform_sampling.h.
References pcl::Filter< PointT >::filter_name_.
~UniformSampling()
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inline |
Destructor.
Definition at line 90 of file uniform_sampling.h.
References pcl::UniformSampling< PointT >::leaves_.
Member Function Documentation
applyFilter()
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overrideprotectedvirtual |
Downsample a Point Cloud using a voxelized grid approach.
- Parameters
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[out] output the resultant point cloud message
Implements pcl::Filter< PointT >.
Definition at line 46 of file uniform_sampling.hpp.
References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::height, pcl::UniformSampling< PointT >::Leaf::idx, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
setRadiusSearch()
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inlinevirtual |
Set the 3D grid leaf size.
- Parameters
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radius the 3D grid leaf size
Definition at line 99 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_
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protected |
Definition at line 128 of file uniform_sampling.h.
divb_mul_
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protected |
Definition at line 128 of file uniform_sampling.h.
inverse_leaf_size_
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protected |
Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.
Definition at line 125 of file uniform_sampling.h.
Referenced by pcl::UniformSampling< PointT >::setRadiusSearch().
leaf_size_
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protected |
The size of a leaf.
Definition at line 122 of file uniform_sampling.h.
Referenced by pcl::UniformSampling< PointT >::setRadiusSearch().
leaves_
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protected |
The 3D grid leaves.
Definition at line 119 of file uniform_sampling.h.
Referenced by pcl::UniformSampling< PointT >::~UniformSampling().
max_b_
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protected |
Definition at line 128 of file uniform_sampling.h.
min_b_
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protected |
The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.
Definition at line 128 of file uniform_sampling.h.
search_radius_
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protected |
The nearest neighbors search radius for each point.
Definition at line 131 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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_uniform_sampling.html
