UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...

#include <pcl/keypoints/uniform_sampling.h>

Inheritance diagram for pcl::UniformSampling< PointInT >:

Collaboration diagram for pcl::UniformSampling< PointInT >:

Classes
struct	Leaf
	Simple structure to hold an nD centroid and the number of points in a leaf.
Public Types
typedef PCLBase< PointInT >	BaseClass
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)>	SearchMethod
typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)>	SearchMethodSurface
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	UniformSampling ()
	Empty constructor.
virtual	~UniformSampling ()
	Destructor.
virtual void	setRadiusSearch (double radius)
	Set the 3D grid leaf size.
virtual void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset that we need to estimate features at every point for.
PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
double	getSearchParameter ()
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation.
double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors.
void	compute (PointCloudOut &output)
	Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
int	searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointInT>
class pcl::UniformSampling< PointInT >

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 their centroid. This approach is a bit slower than approximating them with the center of the voxel, but it represents the underlying surface more accurately.

Author:: Radu Bogdan Rusu

Definition at line 61 of file uniform_sampling.h.

Member Typedef Documentation

typedef PCLBase<PointInT> pcl::Keypoint< PointInT, int >::BaseClass [inherited]

Definition at line 61 of file keypoint.h.

typedef pcl::search::Search<PointInT> pcl::Keypoint< PointInT, int >::KdTree [inherited]

Definition at line 62 of file keypoint.h.

typedef pcl::search::Search<PointInT>::Ptr pcl::Keypoint< PointInT, int >::KdTreePtr [inherited]

Definition at line 63 of file keypoint.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Reimplemented in pcl::NormalEstimation< PointInT, PointOutT >, and pcl::NormalEstimation< PointInT, pcl::Normal >.

Definition at line 76 of file pcl_base.h.

typedef PointCloudIn::ConstPtr pcl::Keypoint< PointInT, int >::PointCloudInConstPtr [inherited]

Definition at line 66 of file keypoint.h.

typedef PointCloudIn::Ptr pcl::Keypoint< PointInT, int >::PointCloudInPtr [inherited]

Definition at line 65 of file keypoint.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited]

Reimplemented in pcl::OrganizedFastMesh< PointInT >.

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, int >::SearchMethod [inherited]

Definition at line 68 of file keypoint.h.

typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, int >::SearchMethodSurface [inherited]

Definition at line 69 of file keypoint.h.

Constructor & Destructor Documentation

template<typename PointInT >

pcl::UniformSampling< PointInT >::UniformSampling ( ) [inline]

Empty constructor.

Definition at line 74 of file uniform_sampling.h.

template<typename PointInT >

virtual pcl::UniformSampling< PointInT >::~UniformSampling ( ) [inline, virtual]

Destructor.

Definition at line 87 of file uniform_sampling.h.

Member Function Documentation

void pcl::Keypoint< PointInT, int >::compute ( PointCloudOut & output ) [inline, inherited]

Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

output the resultant point cloud model dataset containing the estimated features

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

int pcl::Keypoint< PointInT, int >::getKSearch ( ) [inline, inherited]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 117 of file keypoint.h.

double pcl::Keypoint< PointInT, int >::getRadiusSearch ( ) [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 128 of file keypoint.h.

KdTreePtr pcl::Keypoint< PointInT, int >::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 103 of file keypoint.h.

double pcl::Keypoint< PointInT, int >::getSearchParameter ( ) [inline, inherited]

Get the internal search parameter.

Definition at line 107 of file keypoint.h.

PointCloudInConstPtr pcl::Keypoint< PointInT, int >::getSearchSurface ( ) [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 93 of file keypoint.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

int pcl::Keypoint< PointInT, int >::searchForNeighbors	(	int	index,
		double	parameter,
		std::vector< int > &	indices,
		std::vector< float > &	distances
	)		const `[inline, inherited]`

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:

index	the index of the query point
parameter	the search parameter (either k or radius)
indices	the resultant vector of indices representing the k-nearest neighbors
distances	the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 146 of file keypoint.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

void pcl::Keypoint< PointInT, int >::setKSearch ( int k ) [inline, inherited]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:

k	the number of k-nearest neighbors

Definition at line 113 of file keypoint.h.

template<typename PointInT >

virtual void pcl::UniformSampling< PointInT >::setRadiusSearch ( double radius ) [inline, virtual]

Set the 3D grid leaf size.

Parameters:

radius the 3D grid leaf size

Reimplemented from pcl::Keypoint< PointInT, int >.

Definition at line 96 of file uniform_sampling.h.

void pcl::Keypoint< PointInT, int >::setSearchMethod ( const KdTreePtr & tree ) [inline, inherited]

Provide a pointer to the search object.

Parameters:

tree	a pointer to the spatial search object.

Definition at line 99 of file keypoint.h.

virtual void pcl::Keypoint< PointInT, int >::setSearchSurface ( const PointCloudInConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 89 of file keypoint.h.

The documentation for this class was generated from the following files:

/usr/src/RPM/BUILD/PCL-1.6.0-Source/keypoints/include/pcl/keypoints/uniform_sampling.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/keypoints/include/pcl/keypoints/impl/uniform_sampling.hpp

Classes

Public Types

Public Member Functions

Detailed Description

template<typename PointInT> class pcl::UniformSampling< PointInT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT>
class pcl::UniformSampling< PointInT >