Point Cloud Library (PCL) 1.12.0
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normal_space.h
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37
38#pragma once
39
40#include <pcl/filters/filter_indices.h>
41#include <boost/dynamic_bitset.hpp> // for dynamic_bitset
42#include <ctime>
43#include <random> // std::mt19937
44
45namespace pcl
46{
47 /** \brief @b NormalSpaceSampling samples the input point cloud in the space of normal directions computed at every point.
48 * \ingroup filters
49 */
50 template<typename PointT, typename NormalT>
51 class NormalSpaceSampling : public FilterIndices<PointT>
52 {
61
62 using PointCloud = typename FilterIndices<PointT>::PointCloud;
63 using PointCloudPtr = typename PointCloud::Ptr;
64 using PointCloudConstPtr = typename PointCloud::ConstPtr;
65 using NormalsConstPtr = typename pcl::PointCloud<NormalT>::ConstPtr;
66
67 public:
68
71
72 /** \brief Empty constructor. */
74 : sample_ (std::numeric_limits<unsigned int>::max ())
76 , binsx_ ()
77 , binsy_ ()
78 , binsz_ ()
80 {
81 filter_name_ = "NormalSpaceSampling";
82 }
83
84 /** \brief Set number of indices to be sampled.
85 * \param[in] sample the number of sample indices
86 */
87 inline void
88 setSample (unsigned int sample)
89 { sample_ = sample; }
90
91 /** \brief Get the value of the internal \a sample parameter. */
92 inline unsigned int
93 getSample () const
94 { return (sample_); }
95
96 /** \brief Set seed of random function.
97 * \param[in] seed the input seed
98 */
99 inline void
100 setSeed (unsigned int seed)
101 { seed_ = seed; }
102
103 /** \brief Get the value of the internal \a seed parameter. */
104 inline unsigned int
105 getSeed () const
106 { return (seed_); }
107
108 /** \brief Set the number of bins in x, y and z direction
109 * \param[in] binsx number of bins in x direction
110 * \param[in] binsy number of bins in y direction
111 * \param[in] binsz number of bins in z direction
112 */
113 inline void
114 setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz)
115 {
116 binsx_ = binsx;
117 binsy_ = binsy;
118 binsz_ = binsz;
119 }
120
121 /** \brief Get the number of bins in x, y and z direction
122 * \param[out] binsx number of bins in x direction
123 * \param[out] binsy number of bins in y direction
124 * \param[out] binsz number of bins in z direction
125 */
126 inline void
127 getBins (unsigned int& binsx, unsigned int& binsy, unsigned int& binsz) const
128 {
129 binsx = binsx_;
130 binsy = binsy_;
131 binsz = binsz_;
132 }
133
134 /** \brief Set the normals computed on the input point cloud
135 * \param[in] normals the normals computed for the input cloud
136 */
137 inline void
138 setNormals (const NormalsConstPtr &normals) { input_normals_ = normals; }
139
140 /** \brief Get the normals computed on the input point cloud */
141 inline NormalsConstPtr
142 getNormals () const { return (input_normals_); }
143
144 protected:
145 /** \brief Number of indices that will be returned. */
146 unsigned int sample_;
147 /** \brief Random number seed. */
148 unsigned int seed_;
149
150 /** \brief Number of bins in x direction. */
151 unsigned int binsx_;
152 /** \brief Number of bins in y direction. */
153 unsigned int binsy_;
154 /** \brief Number of bins in z direction. */
155 unsigned int binsz_;
156
157 /** \brief The normals computed at each point in the input cloud */
158 NormalsConstPtr input_normals_;
159
160 /** \brief Sample of point indices
161 * \param[out] indices the resultant point cloud indices
162 */
163 void
164 applyFilter (Indices &indices) override;
165
166 bool
167 initCompute ();
168
169 private:
170 /** \brief Finds the bin number of the input normal, returns the bin number
171 * \param[in] normal the input normal
172 */
173 unsigned int
174 findBin (const float *normal);
175
176 /** \brief Checks of the entire bin is sampled, returns true or false
177 * \param[out] array flag which says whether a point is sampled or not
178 * \param[in] start_index the index to the first point of the bin in array.
179 * \param[in] length number of points in the bin
180 */
181 bool
182 isEntireBinSampled (boost::dynamic_bitset<> &array, unsigned int start_index, unsigned int length);
183
184 /** \brief Random engine */
185 std::mt19937 rng_;
186 };
187}
188
189#ifdef PCL_NO_PRECOMPILE
190#include <pcl/filters/impl/normal_space.hpp>
191#endif
Iterator class for point clouds with or without given indices.
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points.
Definition filter.h:161
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition filter.h:174
std::string filter_name_
The filter name.
Definition filter.h:158
IndicesPtr removed_indices_
Indices of the points that are removed.
Definition filter.h:155
FilterIndices represents the base class for filters that are about binary point removal.
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN).
bool keep_organized_
False = remove points (default), true = redefine points, keep structure.
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.
NormalsConstPtr getNormals() const
Get the normals computed on the input point cloud.
unsigned int binsy_
Number of bins in y direction.
void setSeed(unsigned int seed)
Set seed of random function.
NormalsConstPtr input_normals_
The normals computed at each point in the input cloud.
void setBins(unsigned int binsx, unsigned int binsy, unsigned int binsz)
Set the number of bins in x, y and z direction.
NormalSpaceSampling()
Empty constructor.
unsigned int seed_
Random number seed.
unsigned int getSample() const
Get the value of the internal sample parameter.
void applyFilter(Indices &indices) override
Sample of point indices.
unsigned int binsz_
Number of bins in z direction.
void setNormals(const NormalsConstPtr &normals)
Set the normals computed on the input point cloud.
void setSample(unsigned int sample)
Set number of indices to be sampled.
unsigned int sample_
Number of indices that will be returned.
void getBins(unsigned int &binsx, unsigned int &binsy, unsigned int &binsz) const
Get the number of bins in x, y and z direction.
unsigned int binsx_
Number of bins in x direction.
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.