Point Cloud Library (PCL) 1.12.0
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uniform_sampling.h
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39
40#pragma once
41
42#include <pcl/filters/filter.h>
43
44#include <unordered_map>
45
46namespace pcl
47{
48 /** \brief @b UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
49 *
50 * The @b UniformSampling class creates a *3D voxel grid* (think about a voxel
51 * grid as a set of tiny 3D boxes in space) over the input point cloud data.
52 * Then, in each *voxel* (i.e., 3D box), all the points present will be
53 * approximated (i.e., *downsampled*) with the closest point to the center of the voxel.
54 *
55 * \author Radu Bogdan Rusu
56 * \ingroup filters
57 */
58 template <typename PointT>
59 class UniformSampling: public Filter<PointT>
60 {
61 using PointCloud = typename Filter<PointT>::PointCloud;
62
69
70 public:
71 using Ptr = shared_ptr<UniformSampling<PointT> >;
72 using ConstPtr = shared_ptr<const UniformSampling<PointT> >;
73
74 /** \brief Empty constructor. */
75 UniformSampling (bool extract_removed_indices = false) :
76 Filter<PointT>(extract_removed_indices),
77 leaves_ (),
78 leaf_size_ (Eigen::Vector4f::Zero ()),
79 inverse_leaf_size_ (Eigen::Vector4f::Zero ()),
80 min_b_ (Eigen::Vector4i::Zero ()),
81 max_b_ (Eigen::Vector4i::Zero ()),
82 div_b_ (Eigen::Vector4i::Zero ()),
83 divb_mul_ (Eigen::Vector4i::Zero ()),
85 {
86 filter_name_ = "UniformSampling";
87 }
88
89 /** \brief Destructor. */
91 {
92 leaves_.clear();
93 }
94
95 /** \brief Set the 3D grid leaf size.
96 * \param radius the 3D grid leaf size
97 */
98 virtual inline void
99 setRadiusSearch (double radius)
100 {
101 leaf_size_[0] = leaf_size_[1] = leaf_size_[2] = static_cast<float> (radius);
102 // Avoid division errors
103 if (leaf_size_[3] == 0)
104 leaf_size_[3] = 1;
105 // Use multiplications instead of divisions
106 inverse_leaf_size_ = Eigen::Array4f::Ones () / leaf_size_.array ();
107 search_radius_ = radius;
108 }
109
110 protected:
111 /** \brief Simple structure to hold an nD centroid and the number of points in a leaf. */
112 struct Leaf
113 {
114 Leaf () : idx (-1) { }
115 int idx;
116 };
117
118 /** \brief The 3D grid leaves. */
119 std::unordered_map<std::size_t, Leaf> leaves_;
120
121 /** \brief The size of a leaf. */
122 Eigen::Vector4f leaf_size_;
123
124 /** \brief Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. */
125 Eigen::Array4f inverse_leaf_size_;
126
127 /** \brief The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. */
128 Eigen::Vector4i min_b_, max_b_, div_b_, divb_mul_;
129
130 /** \brief The nearest neighbors search radius for each point. */
132
133 /** \brief Downsample a Point Cloud using a voxelized grid approach
134 * \param[out] output the resultant point cloud message
135 */
136 void
137 applyFilter (PointCloud &output) override;
138 };
139}
140
141#ifdef PCL_NO_PRECOMPILE
142#include <pcl/filters/impl/uniform_sampling.hpp>
143#endif
Filter represents the base filter class.
Definition filter.h:81
bool extract_removed_indices_
Set to true if we want to return the indices of the removed points.
Definition filter.h:161
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition filter.h:174
std::string filter_name_
The filter name.
Definition filter.h:158
IndicesPtr removed_indices_
Indices of the points that are removed.
Definition filter.h:155
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
PointCloud represents the base class in PCL for storing collections of 3D points.
UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data...
Eigen::Vector4i min_b_
The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.
shared_ptr< const UniformSampling< PointT > > ConstPtr
Eigen::Vector4f leaf_size_
The size of a leaf.
Eigen::Array4f inverse_leaf_size_
Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.
double search_radius_
The nearest neighbors search radius for each point.
~UniformSampling()
Destructor.
std::unordered_map< std::size_t, Leaf > leaves_
The 3D grid leaves.
Eigen::Vector4i divb_mul_
virtual void setRadiusSearch(double radius)
Set the 3D grid leaf size.
UniformSampling(bool extract_removed_indices=false)
Empty constructor.
void applyFilter(PointCloud &output) override
Downsample a Point Cloud using a voxelized grid approach.
shared_ptr< UniformSampling< PointT > > Ptr
Definition bfgs.h:10
A point structure representing Euclidean xyz coordinates, and the RGB color.
Simple structure to hold an nD centroid and the number of points in a leaf.