40 #ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
41 #define PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
43 #include <pcl/keypoints/keypoint.h>
44 #include <boost/unordered_map.hpp>
60 template <
typename Po
intInT>
73 typedef boost::shared_ptr<UniformSampling<PointInT> >
Ptr;
74 typedef boost::shared_ptr<const UniformSampling<PointInT> >
ConstPtr;
86 name_ =
"UniformSampling";
138 #ifdef PCL_NO_PRECOMPILE
139 #include <pcl/keypoints/impl/uniform_sampling.hpp>
142 #endif //#ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
Eigen::Vector4i divb_mul_
boost::unordered_map< size_t, Leaf > leaves_
The 3D grid leaves.
Simple structure to hold an nD centroid and the number of points in a leaf.
Eigen::Array4f inverse_leaf_size_
Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.
boost::shared_ptr< const UniformSampling< PointInT > > ConstPtr
virtual ~UniformSampling()
Destructor.
UniformSampling()
Empty constructor.
void detectKeypoints(PointCloudOut &output)
Downsample a Point Cloud using a voxelized grid approach.
Eigen::Vector4i min_b_
The minimum and maximum bin coordinates, the number of divisions, and the division multiplier...
double search_radius_
The nearest neighbors search radius for each point.
virtual void setRadiusSearch(double radius)
Set the 3D grid leaf size.
Keypoint represents the base class for key points.
Eigen::Vector4f leaf_size_
The size of a leaf.
UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data...
std::string name_
The key point detection method's name.
boost::shared_ptr< UniformSampling< PointInT > > Ptr