Point Cloud Library (PCL) 1.13.1
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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
62 using PointCloud = typename FilterIndices<PointT>::PointCloud;
63 using PointCloudPtr = typename PointCloud::Ptr;
64 using PointCloudConstPtr = typename PointCloud::ConstPtr;
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
75 /** \brief Constructor.
76 * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed.
77 */
78 explicit NormalSpaceSampling (bool extract_removed_indices)
79 : FilterIndices<PointT> (extract_removed_indices)
80 , sample_ (std::numeric_limits<unsigned int>::max ())
81 , seed_ (static_cast<unsigned int> (time (nullptr)))
82 , binsx_ ()
83 , binsy_ ()
84 , binsz_ ()
86 {
87 filter_name_ = "NormalSpaceSampling";
88 }
89
90 /** \brief Set number of indices to be sampled.
91 * \param[in] sample the number of sample indices
92 */
93 inline void
94 setSample (unsigned int sample)
95 { sample_ = sample; }
96
97 /** \brief Get the value of the internal \a sample parameter. */
98 inline unsigned int
99 getSample () const
100 { return (sample_); }
101
102 /** \brief Set seed of random function.
103 * \param[in] seed the input seed
104 */
105 inline void
106 setSeed (unsigned int seed)
107 { seed_ = seed; }
108
109 /** \brief Get the value of the internal \a seed parameter. */
110 inline unsigned int
111 getSeed () const
112 { return (seed_); }
113
114 /** \brief Set the number of bins in x, y and z direction
115 * \param[in] binsx number of bins in x direction
116 * \param[in] binsy number of bins in y direction
117 * \param[in] binsz number of bins in z direction
118 */
119 inline void
120 setBins (unsigned int binsx, unsigned int binsy, unsigned int binsz)
121 {
122 binsx_ = binsx;
123 binsy_ = binsy;
124 binsz_ = binsz;
125 }
126
127 /** \brief Get the number of bins in x, y and z direction
128 * \param[out] binsx number of bins in x direction
129 * \param[out] binsy number of bins in y direction
130 * \param[out] binsz number of bins in z direction
131 */
132 inline void
133 getBins (unsigned int& binsx, unsigned int& binsy, unsigned int& binsz) const
134 {
135 binsx = binsx_;
136 binsy = binsy_;
137 binsz = binsz_;
138 }
139
140 /** \brief Set the normals computed on the input point cloud
141 * \param[in] normals the normals computed for the input cloud
142 */
143 inline void
144 setNormals (const NormalsConstPtr &normals) { input_normals_ = normals; }
145
146 /** \brief Get the normals computed on the input point cloud */
147 inline NormalsConstPtr
148 getNormals () const { return (input_normals_); }
149
150 protected:
151 /** \brief Number of indices that will be returned. */
152 unsigned int sample_;
153 /** \brief Random number seed. */
154 unsigned int seed_;
155
156 /** \brief Number of bins in x direction. */
157 unsigned int binsx_;
158 /** \brief Number of bins in y direction. */
159 unsigned int binsy_;
160 /** \brief Number of bins in z direction. */
161 unsigned int binsz_;
162
163 /** \brief The normals computed at each point in the input cloud */
164 NormalsConstPtr input_normals_;
165
166 /** \brief Sample of point indices
167 * \param[out] indices the resultant point cloud indices
168 */
169 void
170 applyFilter (Indices &indices) override;
171
172 bool
173 initCompute ();
174
175 private:
176 /** \brief Finds the bin number of the input normal, returns the bin number
177 * \param[in] normal the input normal
178 */
179 unsigned int
180 findBin (const float *normal);
181
182 /** \brief Checks of the entire bin is sampled, returns true or false
183 * \param[out] array flag which says whether a point is sampled or not
184 * \param[in] start_index the index to the first point of the bin in array.
185 * \param[in] length number of points in the bin
186 */
187 bool
188 isEntireBinSampled (boost::dynamic_bitset<> &array, unsigned int start_index, unsigned int length);
189
190 /** \brief Random engine */
191 std::mt19937 rng_;
192 };
193}
194
195#ifdef PCL_NO_PRECOMPILE
196#include <pcl/filters/impl/normal_space.hpp>
197#endif
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
FilterIndices represents the base class for filters that are about binary point removal.
float user_filter_value_
The user given value that the filtered point dimensions should be set to (default = NaN).
bool keep_organized_
False = remove points (default), true = redefine points, keep structure.
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.
void applyFilter(Indices &indices) override
Sample of point indices.
unsigned int binsz_
Number of bins in z direction.
void setNormals(const NormalsConstPtr &normals)
Set the normals computed on the input point cloud.
NormalSpaceSampling(bool extract_removed_indices)
Constructor.
void setSample(unsigned int sample)
Set number of indices to be sampled.
unsigned int sample_
Number of indices that will be returned.
shared_ptr< const NormalSpaceSampling< PointT, NormalT > > ConstPtr
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.
shared_ptr< NormalSpaceSampling< PointT, NormalT > > Ptr
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.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.