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)
	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 60 of file keypoint.h.

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

Definition at line 61 of file keypoint.h.

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

Definition at line 62 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]

Definition at line 76 of file pcl_base.h.

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

Definition at line 65 of file keypoint.h.

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

Definition at line 64 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 67 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 68 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 82 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 106 of file keypoint.h.

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

Get the sphere radius used for determining the neighbors.

Definition at line 117 of file keypoint.h.

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

Get a pointer to the search method used.

Definition at line 92 of file keypoint.h.

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

Get the internal search parameter.

Definition at line 96 of file keypoint.h.

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

Get a pointer to the surface point cloud dataset.

Definition at line 82 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
	)		`[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 135 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 102 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 91 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 88 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 78 of file keypoint.h.

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

/builddir/build/BUILD/PCL-1.5.1-Source/keypoints/include/pcl/keypoints/uniform_sampling.h
/builddir/build/BUILD/PCL-1.5.1-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 >