40 #include <pcl/filters/boost.h> 41 #include <pcl/filters/filter_indices.h> 52 template<
typename Po
intT,
typename NormalT>
71 using Ptr = shared_ptr<NormalSpaceSampling<PointT, NormalT> >;
72 using ConstPtr = shared_ptr<const NormalSpaceSampling<PointT, NormalT> >;
76 :
sample_ (std::numeric_limits<unsigned int>::max ())
77 ,
seed_ (static_cast<unsigned int> (time (nullptr)))
116 setBins (
unsigned int binsx,
unsigned int binsy,
unsigned int binsz)
129 getBins (
unsigned int& binsx,
unsigned int& binsy,
unsigned int& binsz)
const 143 inline NormalsConstPtr
176 findBin (
const float *normal);
184 isEntireBinSampled (boost::dynamic_bitset<> &array,
unsigned int start_index,
unsigned int length);
191 #ifdef PCL_NO_PRECOMPILE 192 #include <pcl/filters/impl/normal_space.hpp> void setBins(unsigned int binsx, unsigned int binsy, unsigned int binsz)
Set the number of bins in x, y and z direction.
unsigned int binsx_
Number of bins in x direction.
shared_ptr< PointCloud< PointT > > Ptr
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 binsy_
Number of bins in y direction.
unsigned int binsz_
Number of bins in z direction.
unsigned int seed_
Random number seed.
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.
void applyFilter(std::vector< int > &indices) override
Sample of point indices.
FilterIndices represents the base class for filters that are about binary point removal.
unsigned int sample_
Number of indices that will be returned.
shared_ptr< Filter< PointT > > Ptr
typename PointCloud::Ptr PointCloudPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
NormalsConstPtr input_normals_
The normals computed at each point in the input cloud.
void setSeed(unsigned int seed)
Set seed of random function.
shared_ptr< const PointCloud< PointT > > ConstPtr
unsigned int getSample() const
Get the value of the internal sample parameter.
void setSample(unsigned int sample)
Set number of indices to be sampled.
std::string filter_name_
The filter name.
shared_ptr< const Filter< PointT > > ConstPtr
NormalSpaceSampling()
Empty constructor.
void setNormals(const NormalsConstPtr &normals)
Set the normals computed on the input point cloud.
NormalsConstPtr getNormals() const
Get the normals computed on the input point cloud.
typename PointCloud::ConstPtr PointCloudConstPtr