40 #include <pcl/filters/filter.h> 53 template<
typename Po
intT>
65 using Vector = Eigen::Matrix<float, Eigen::Dynamic, 1>;
69 using Ptr = shared_ptr<SamplingSurfaceNormal<PointT> >;
70 using ConstPtr = shared_ptr<const SamplingSurfaceNormal<PointT> >;
162 operator () (
const int& p0,
const int& p1)
165 return (cloud[p0].x < cloud[p1].x);
167 return (cloud[p0].y < cloud[p1].y);
169 return (cloud[p0].z < cloud[p1].z);
180 findXYZMaxMin (
const PointCloud& cloud, Vector& max_vec, Vector& min_vec);
193 partition (
const PointCloud& cloud,
const int first,
const int last,
194 const Vector min_values,
const Vector max_values,
195 std::vector<int>& indices,
PointCloud& outcloud);
205 samplePartition (
const PointCloud& data,
const int first,
const int last,
206 std::vector<int>& indices,
PointCloud& outcloud);
214 findCutVal (
const PointCloud& cloud,
const int cut_dim,
const int cut_index);
223 computeNormal (
const PointCloud& cloud, Eigen::Vector4f &normal,
float& curvature);
233 Eigen::Matrix3f &covariance_matrix,
234 Eigen::Vector4f ¢roid);
243 solvePlaneParameters (
const Eigen::Matrix3f &covariance_matrix,
244 float &nx,
float &ny,
float &nz,
float &curvature);
248 #ifdef PCL_NO_PRECOMPILE 249 #include <pcl/filters/impl/sampling_surface_normal.hpp> SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N poin...
shared_ptr< PointCloud< PointT > > Ptr
void applyFilter(PointCloud &output) override
Sample of point indices into a separate PointCloud.
void setSample(unsigned int sample)
Set maximum number of samples in each grid.
Filter represents the base filter class.
shared_ptr< Filter< PointT > > Ptr
unsigned int sample_
Maximum number of samples in each grid.
float ratio_
Ratio of points to be sampled in each grid.
typename PointCloud::Ptr PointCloudPtr
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.
shared_ptr< const PointCloud< PointT > > ConstPtr
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.
shared_ptr< const Filter< PointT > > ConstPtr
SamplingSurfaceNormal()
Empty constructor.
unsigned int seed_
Random number seed.
float getRatio() const
Get the value of the internal ratio parameter.
typename PointCloud::ConstPtr PointCloudConstPtr