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_ SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N poin...
PointCloud::ConstPtr PointCloudConstPtr
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
This file defines compatibility wrappers for low level I/O functions.
void setSample(unsigned int sample)
Set maximum number of samples in each grid.
void applyFilter(PointCloud &output)
Sample of point indices into a separate PointCloud.
boost::shared_ptr< PointCloud< PointT > > Ptr
PointCloud::Ptr PointCloudPtr
Filter represents the base filter class.
unsigned int sample_
Maximum number of samples in each grid.
float ratio_
Ratio of points to be sampled in each grid.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
void setRatio(float ratio)
Set ratio of points to be sampled in each grid.
void setSeed(unsigned int seed)
Set seed of random function.
unsigned int getSeed() const
Get the value of the internal seed parameter.
unsigned int getSample() const
Get the value of the internal sample parameter.
std::string filter_name_
The filter name.
SamplingSurfaceNormal()
Empty constructor.
unsigned int seed_
Random number seed.
float getRatio() const
Get the value of the internal ratio parameter.
boost::shared_ptr< SamplingSurfaceNormal< PointT > > Ptr
boost::shared_ptr< const SamplingSurfaceNormal< PointT > > ConstPtr