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>
shared_ptr< Filter< PointT > > Ptr
shared_ptr< const Filter< PointT > > ConstPtr
std::string filter_name_
The filter name.
FilterIndices represents the base class for filters that are about binary point removal.
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.
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.
void applyFilter(std::vector< int > &indices) override
Sample of point indices.
typename PointCloud::Ptr PointCloudPtr
typename PointCloud::ConstPtr PointCloudConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr