38 #ifndef PCL_FILTERS_NORMAL_SUBSAMPLE_H_ 39 #define PCL_FILTERS_NORMAL_SUBSAMPLE_H_ 41 #include <pcl/filters/boost.h> 42 #include <pcl/filters/filter_indices.h> 51 template<
typename Po
intT,
typename NormalT>
70 typedef boost::shared_ptr<NormalSpaceSampling<PointT, NormalT> >
Ptr;
71 typedef boost::shared_ptr<const NormalSpaceSampling<PointT, NormalT> >
ConstPtr;
75 :
sample_ (
std::numeric_limits<unsigned int>::max ())
76 ,
seed_ (static_cast<unsigned int> (time (NULL)))
81 , rng_uniform_distribution_ (NULL)
89 if (rng_uniform_distribution_ != NULL)
90 delete rng_uniform_distribution_;
123 setBins (
unsigned int binsx,
unsigned int binsy,
unsigned int binsz)
136 getBins (
unsigned int& binsx,
unsigned int& binsy,
unsigned int& binsz)
const 150 inline NormalsConstPtr
190 findBin (
const float *normal,
unsigned int nbins);
198 isEntireBinSampled (boost::dynamic_bitset<> &array,
unsigned int start_index,
unsigned int length);
201 boost::variate_generator<boost::mt19937, boost::uniform_int<uint32_t> > *rng_uniform_distribution_;
205 #ifdef PCL_NO_PRECOMPILE 206 #include <pcl/filters/impl/normal_space.hpp> 209 #endif //#ifndef PCL_FILTERS_NORMAL_SPACE_SUBSAMPLE_H_ void setBins(unsigned int binsx, unsigned int binsy, unsigned int binsz)
Set the number of bins in x, y and z direction.
unsigned int binsx_
Number of bins in x direction.
PointCloud::ConstPtr PointCloudConstPtr
void getBins(unsigned int &binsx, unsigned int &binsy, unsigned int &binsz) const
Get the number of bins in x, y and z direction.
boost::shared_ptr< NormalSpaceSampling< PointT, NormalT > > Ptr
unsigned int binsy_
Number of bins in y direction.
This file defines compatibility wrappers for low level I/O functions.
unsigned int binsz_
Number of bins in z direction.
unsigned int seed_
Random number seed.
NormalSpaceSampling samples the input point cloud in the space of normal directions computed at every...
unsigned int getSeed() const
Get the value of the internal seed parameter.
boost::shared_ptr< PointCloud< PointT > > Ptr
FilterIndices represents the base class for filters that are about binary point removal.
unsigned int sample_
Number of indices that will be returned.
PointCloud::Ptr PointCloudPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
~NormalSpaceSampling()
Destructor.
NormalsConstPtr input_normals_
The normals computed at each point in the input cloud.
void applyFilter(PointCloud &output)
Sample of point indices into a separate PointCloud.
void setSeed(unsigned int seed)
Set seed of random function.
unsigned int getSample() const
Get the value of the internal sample parameter.
void setSample(unsigned int sample)
Set number of indices to be sampled.
std::string filter_name_
The filter name.
NormalSpaceSampling()
Empty constructor.
void setNormals(const NormalsConstPtr &normals)
Set the normals computed on the input point cloud.
NormalsConstPtr getNormals() const
Get the normals computed on the input point cloud.
boost::shared_ptr< const NormalSpaceSampling< PointT, NormalT > > ConstPtr