Point Cloud Library (PCL)  1.3.1
uniform_sampling.h
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00036  * $Id: uniform_sampling.h 2414 2011-09-07 07:01:06Z svn $
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00039 
00040 #ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
00041 #define PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
00042 
00043 #include "pcl/keypoints/keypoint.h"
00044 #include <boost/unordered_map.hpp>
00045 
00046 namespace pcl
00047 {
00060   template <typename PointInT>
00061   class UniformSampling: public Keypoint<PointInT, int>
00062   {
00063     typedef typename Keypoint<PointInT, int>::PointCloudIn PointCloudIn;
00064     typedef typename Keypoint<PointInT, int>::PointCloudOut PointCloudOut;
00065 
00066     using Keypoint<PointInT, int>::name_;
00067     using Keypoint<PointInT, int>::input_;
00068     using Keypoint<PointInT, int>::indices_;
00069     using Keypoint<PointInT, int>::search_radius_;
00070     using Keypoint<PointInT, int>::getClassName;
00071 
00072     public:
00074       UniformSampling ()
00075       {
00076         min_b_.setZero ();
00077         max_b_.setZero ();
00078         name_ = "UniformSampling";
00079       }
00080 
00082       virtual ~UniformSampling ()
00083       {
00084         leaves_.clear();
00085       }
00086 
00090       virtual inline void 
00091       setRadiusSearch (double radius) 
00092       { 
00093         leaf_size_[0] = leaf_size_[1] = leaf_size_[2] = radius;
00094         // Avoid division errors
00095         if (leaf_size_[3] == 0)
00096           leaf_size_[3] = 1;
00097         // Use multiplications instead of divisions
00098         inverse_leaf_size_ = Eigen::Array4f::Ones () / leaf_size_.array ();
00099         search_radius_ = radius;
00100       }
00101 
00102     protected:
00104       struct Leaf
00105       {
00106         Leaf () : idx (-1) { }
00107         int idx;
00108       };
00109 
00111       boost::unordered_map<size_t, Leaf> leaves_;
00112 
00114       Eigen::Vector4f leaf_size_;
00115 
00117       Eigen::Array4f inverse_leaf_size_;
00118 
00120       Eigen::Vector4i min_b_, max_b_, div_b_, divb_mul_;
00121 
00125       void 
00126       detectKeypoints (PointCloudOut &output);
00127   };
00128 }
00129 
00130 #endif  //#ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
00131 
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