Point Cloud Library (PCL) 1.12.0
normal_space.h
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37
38#pragma once
39
40#include <pcl/filters/filter_indices.h>
41#include <boost/dynamic_bitset.hpp> // for dynamic_bitset
42#include <ctime>
43#include <random> // std::mt19937
44
45namespace pcl
46{
47 /** \brief @b NormalSpaceSampling samples the input point cloud in the space of normal directions computed at every point.
48 * \ingroup filters
49 */
50 template<typename PointT, typename NormalT>
51 class NormalSpaceSampling : public FilterIndices<PointT>
52 {
61
63 using PointCloudPtr = typename PointCloud::Ptr;
65 using NormalsConstPtr = typename pcl::PointCloud<NormalT>::ConstPtr;
66
67 public:
68
69 using Ptr = shared_ptr<NormalSpaceSampling<PointT, NormalT> >;
70 using ConstPtr = shared_ptr<const NormalSpaceSampling<PointT, NormalT> >;
71
72 /** \brief Empty constructor. */
74 : sample_ (std::numeric_limits<unsigned int>::max ())
75 , seed_ (static_cast<unsigned int> (time (nullptr)))
76 , binsx_ ()
77 , binsy_ ()
78 , binsz_ ()
80 {
81 filter_name_ = "NormalSpaceSampling";
82 }
83
84 /** \brief Set number of indices to be sampled.
85 * \param[in] sample the number of sample indices
86 */
87 inline void
88 setSample (unsigned int sample)
89 { sample_ = sample; }
90
91 /** \brief Get the value of the internal \a sample parameter. */
92 inline unsigned int
93 getSample () const
94 { return (sample_); }
95
96 /** \brief Set seed of random function.
97 * \param[in] seed the input seed
98 */
99 inline void
100 setSeed (unsigned int seed)
101 { seed_ = seed; }
102
103 /** \brief Get the value of the internal \a seed parameter. */
104 inline unsigned int
105 getSeed () const
106 { return (seed_); }
107
108 /** \brief Set the number of bins in x, y and z direction
109 * \param[in] binsx number of bins in x direction
110 * \param[in] binsy number of bins in y direction
111 * \param[in] binsz number of bins in z direction
112 */
113 inline void
114 setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz)
115 {
116 binsx_ = binsx;
117 binsy_ = binsy;
118 binsz_ = binsz;
119 }
120
121 /** \brief Get the number of bins in x, y and z direction
122 * \param[out] binsx number of bins in x direction
123 * \param[out] binsy number of bins in y direction
124 * \param[out] binsz number of bins in z direction
125 */
126 inline void
127 getBins (unsigned int& binsx, unsigned int& binsy, unsigned int& binsz) const
128 {
129 binsx = binsx_;
130 binsy = binsy_;
131 binsz = binsz_;
132 }
133
134 /** \brief Set the normals computed on the input point cloud
135 * \param[in] normals the normals computed for the input cloud
136 */
137 inline void
138 setNormals (const NormalsConstPtr &normals) { input_normals_ = normals; }
139
140 /** \brief Get the normals computed on the input point cloud */
141 inline NormalsConstPtr
142 getNormals () const { return (input_normals_); }
143
144 protected:
145 /** \brief Number of indices that will be returned. */
146 unsigned int sample_;
147 /** \brief Random number seed. */
148 unsigned int seed_;
149
150 /** \brief Number of bins in x direction. */
151 unsigned int binsx_;
152 /** \brief Number of bins in y direction. */
153 unsigned int binsy_;
154 /** \brief Number of bins in z direction. */
155 unsigned int binsz_;
156
157 /** \brief The normals computed at each point in the input cloud */
158 NormalsConstPtr input_normals_;
159
160 /** \brief Sample of point indices
161 * \param[out] indices the resultant point cloud indices
162 */
163 void
164 applyFilter (Indices &indices) override;
165
166 bool
167 initCompute ();
168
169 private:
170 /** \brief Finds the bin number of the input normal, returns the bin number
171 * \param[in] normal the input normal
172 */
173 unsigned int
174 findBin (const float *normal);
175
176 /** \brief Checks of the entire bin is sampled, returns true or false
177 * \param[out] array flag which says whether a point is sampled or not
178 * \param[in] start_index the index to the first point of the bin in array.
179 * \param[in] length number of points in the bin
180 */
181 bool
182 isEntireBinSampled (boost::dynamic_bitset<> &array, unsigned int start_index, unsigned int length);
183
184 /** \brief Random engine */
185 std::mt19937 rng_;
186 };
187}
188
189#ifdef PCL_NO_PRECOMPILE
190#include <pcl/filters/impl/normal_space.hpp>
191#endif
shared_ptr< Filter< PointT > > Ptr
Definition: filter.h:83
shared_ptr< const Filter< PointT > > ConstPtr
Definition: filter.h:84
std::string filter_name_
The filter name.
Definition: filter.h:158
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...
Definition: normal_space.h:52
unsigned int getSeed() const
Get the value of the internal seed parameter.
Definition: normal_space.h:105
NormalsConstPtr getNormals() const
Get the normals computed on the input point cloud.
Definition: normal_space.h:142
unsigned int binsy_
Number of bins in y direction.
Definition: normal_space.h:153
void setSeed(unsigned int seed)
Set seed of random function.
Definition: normal_space.h:100
NormalsConstPtr input_normals_
The normals computed at each point in the input cloud.
Definition: normal_space.h:158
void setBins(unsigned int binsx, unsigned int binsy, unsigned int binsz)
Set the number of bins in x, y and z direction.
Definition: normal_space.h:114
NormalSpaceSampling()
Empty constructor.
Definition: normal_space.h:73
unsigned int seed_
Random number seed.
Definition: normal_space.h:148
unsigned int getSample() const
Get the value of the internal sample parameter.
Definition: normal_space.h:93
void applyFilter(Indices &indices) override
Sample of point indices.
unsigned int binsz_
Number of bins in z direction.
Definition: normal_space.h:155
void setNormals(const NormalsConstPtr &normals)
Set the normals computed on the input point cloud.
Definition: normal_space.h:138
void setSample(unsigned int sample)
Set number of indices to be sampled.
Definition: normal_space.h:88
unsigned int sample_
Number of indices that will be returned.
Definition: normal_space.h:146
void getBins(unsigned int &binsx, unsigned int &binsy, unsigned int &binsz) const
Get the number of bins in x, y and z direction.
Definition: normal_space.h:127
unsigned int binsx_
Number of bins in x direction.
Definition: normal_space.h:151
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133