Point Cloud Library (PCL)
1.11.1-dev
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40 #include <pcl/filters/filter.h>
52 template<
typename Po
intT>
64 using Vector = Eigen::Matrix<float, Eigen::Dynamic, 1>;
68 using Ptr = shared_ptr<SamplingSurfaceNormal<PointT> >;
69 using ConstPtr = shared_ptr<const SamplingSurfaceNormal<PointT> >;
161 operator () (
const int& p0,
const int& p1)
164 return (cloud[p0].x < cloud[p1].x);
166 return (cloud[p0].y < cloud[p1].y);
168 return (cloud[p0].z < cloud[p1].z);
179 findXYZMaxMin (
const PointCloud& cloud, Vector& max_vec, Vector& min_vec);
192 partition (
const PointCloud& cloud,
const int first,
const int last,
193 const Vector min_values,
const Vector max_values,
204 samplePartition (
const PointCloud& data,
const int first,
const int last,
213 findCutVal (
const PointCloud& cloud,
const int cut_dim,
const int cut_index);
222 computeNormal (
const PointCloud& cloud, Eigen::Vector4f &normal,
float& curvature);
232 Eigen::Matrix3f &covariance_matrix,
233 Eigen::Vector4f ¢roid);
242 solvePlaneParameters (
const Eigen::Matrix3f &covariance_matrix,
243 float &nx,
float &ny,
float &nz,
float &curvature);
247 #ifdef PCL_NO_PRECOMPILE
248 #include <pcl/filters/impl/sampling_surface_normal.hpp>
shared_ptr< Filter< PointT > > Ptr
typename PointCloud::ConstPtr PointCloudConstPtr
typename PointCloud::Ptr PointCloudPtr
float getRatio() const
Get the value of the internal ratio parameter.
PointCloud represents the base class in PCL for storing collections of 3D points.
unsigned int seed_
Random number seed.
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.
unsigned int sample_
Maximum number of samples in each grid.
shared_ptr< const Filter< PointT > > ConstPtr
unsigned int getSeed() const
Get the value of the internal seed parameter.
Filter represents the base filter class.
unsigned int getSample() const
Get the value of the internal sample parameter.
IndicesAllocator<> Indices
Type used for indices in PCL.
void setSeed(unsigned int seed)
Set seed of random function.
void setRatio(float ratio)
Set ratio of points to be sampled in each grid.
SamplingSurfaceNormal()
Empty constructor.
std::string filter_name_
The filter name.
shared_ptr< PointCloud< PointT > > Ptr
SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N poin...
shared_ptr< const PointCloud< PointT > > ConstPtr
float ratio_
Ratio of points to be sampled in each grid.