Point Cloud Library (PCL) 1.13.0
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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
75
76 /** \brief Empty constructor. */
77 UniformSampling (bool extract_removed_indices = false) :
78 Filter<PointT>(extract_removed_indices),
79 leaves_ (),
80 leaf_size_ (Eigen::Vector4f::Zero ()),
81 inverse_leaf_size_ (Eigen::Vector4f::Zero ()),
82 min_b_ (Eigen::Vector4i::Zero ()),
83 max_b_ (Eigen::Vector4i::Zero ()),
84 div_b_ (Eigen::Vector4i::Zero ()),
85 divb_mul_ (Eigen::Vector4i::Zero ()),
87 {
88 filter_name_ = "UniformSampling";
89 }
90
91 /** \brief Destructor. */
92 ~UniformSampling () override
93 {
94 leaves_.clear();
95 }
96
97 /** \brief Set the 3D grid leaf size.
98 * \param radius the 3D grid leaf size
99 */
100 virtual inline void
101 setRadiusSearch (double radius)
102 {
103 leaf_size_[0] = leaf_size_[1] = leaf_size_[2] = static_cast<float> (radius);
104 // Avoid division errors
105 if (leaf_size_[3] == 0)
106 leaf_size_[3] = 1;
107 // Use multiplications instead of divisions
108 inverse_leaf_size_ = Eigen::Array4f::Ones () / leaf_size_.array ();
109 search_radius_ = radius;
110 }
111
112 protected:
113 /** \brief Simple structure to hold an nD centroid and the number of points in a leaf. */
114 struct Leaf
115 {
116 Leaf () : idx (-1) { }
117 int idx;
118 };
119
120 /** \brief The 3D grid leaves. */
121 std::unordered_map<std::size_t, Leaf> leaves_;
122
123 /** \brief The size of a leaf. */
124 Eigen::Vector4f leaf_size_;
125
126 /** \brief Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. */
127 Eigen::Array4f inverse_leaf_size_;
128
129 /** \brief The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. */
130 Eigen::Vector4i min_b_, max_b_, div_b_, divb_mul_;
131
132 /** \brief The nearest neighbors search radius for each point. */
134
135 /** \brief Downsample a Point Cloud using a voxelized grid approach
136 * \param[out] output the resultant point cloud message
137 */
138 void
139 applyFilter (PointCloud &output) override;
140 };
141}
142
143#ifdef PCL_NO_PRECOMPILE
144#include <pcl/filters/impl/uniform_sampling.hpp>
145#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
~UniformSampling() override
Destructor.
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.
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.