Point Cloud Library (PCL)
1.9.1
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38 #ifndef PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_
39 #define PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_
41 #include <pcl/filters/filter.h>
54 template<
typename Po
intT>
66 typedef typename Eigen::Matrix<float, Eigen::Dynamic, 1> Vector;
70 typedef boost::shared_ptr< SamplingSurfaceNormal<PointT> >
Ptr;
71 typedef boost::shared_ptr< const SamplingSurfaceNormal<PointT> >
ConstPtr;
163 operator () (
const int& p0,
const int& p1)
181 findXYZMaxMin (
const PointCloud& cloud, Vector& max_vec, Vector& min_vec);
194 partition (
const PointCloud& cloud,
const int first,
const int last,
195 const Vector min_values,
const Vector max_values,
196 std::vector<int>& indices,
PointCloud& outcloud);
206 samplePartition (
const PointCloud& data,
const int first,
const int last,
207 std::vector<int>& indices,
PointCloud& outcloud);
215 findCutVal (
const PointCloud& cloud,
const int cut_dim,
const int cut_index);
224 computeNormal (
const PointCloud& cloud, Eigen::Vector4f &normal,
float& curvature);
234 Eigen::Matrix3f &covariance_matrix,
235 Eigen::Vector4f ¢roid);
244 solvePlaneParameters (
const Eigen::Matrix3f &covariance_matrix,
245 float &nx,
float &ny,
float &nz,
float &curvature);
249 #ifdef PCL_NO_PRECOMPILE
250 #include <pcl/filters/impl/sampling_surface_normal.hpp>
253 #endif //#ifndef PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PointCloud< PointT > > Ptr
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
float getRatio() const
Get the value of the internal ratio parameter.
PointCloud represents the base class in PCL for storing collections of 3D points.
unsigned int seed_
Random number seed.
boost::shared_ptr< const SamplingSurfaceNormal< PointT > > ConstPtr
void setSample(unsigned int sample)
Set maximum number of samples in each grid.
unsigned int sample_
Maximum number of samples in each grid.
PointCloud::Ptr PointCloudPtr
PointCloud::ConstPtr PointCloudConstPtr
unsigned int getSeed() const
Get the value of the internal seed parameter.
Filter represents the base filter class.
unsigned int getSample() const
Get the value of the internal sample parameter.
void setSeed(unsigned int seed)
Set seed of random function.
void setRatio(float ratio)
Set ratio of points to be sampled in each grid.
SamplingSurfaceNormal()
Empty constructor.
std::string filter_name_
The filter name.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N poin...
void applyFilter(PointCloud &output)
Sample of point indices into a separate PointCloud.
boost::shared_ptr< SamplingSurfaceNormal< PointT > > Ptr
float ratio_
Ratio of points to be sampled in each grid.