Point Cloud Library (PCL) 1.15.0
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pyramid.h
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39
40#pragma once
41
42#include <pcl/memory.h>
43#include <pcl/pcl_macros.h>
44#include <pcl/point_cloud.h>
45#include <pcl/pcl_config.h>
46
47namespace pcl
48{
49 namespace filters
50 {
51 /** Pyramid constructs a multi-scale representation of an organised point cloud.
52 * It is an iterative smoothing subsampling algorithm.
53 * The subsampling is fixed to 2. Two smoothing kernels may be used:
54 * - [1/16 1/4 3/8 1/4 1/16] slower but produces finer result;
55 * - [1/4 1/2 1/4] the more conventional binomial kernel which is faster.
56 * We use a memory efficient algorithm so the convolving and subsampling are combined in a
57 * single step.
58 *
59 * \author Nizar Sallem
60 */
61 template <typename PointT>
62 class Pyramid
63 {
64 public:
67 using Ptr = shared_ptr< Pyramid<PointT> >;
68 using ConstPtr = shared_ptr< const Pyramid<PointT> >;
69
70 Pyramid (int levels = 4)
71 : levels_ (levels)
72 , name_ ("Pyramid")
73 {
74 }
75
76 /** \brief Provide a pointer to the input dataset
77 * \param cloud the const boost shared pointer to a PointCloud message
78 */
79 inline void
80 setInputCloud (const PointCloudConstPtr &cloud) { input_ = cloud; }
81
82 /** \brief Get a pointer to the input point cloud dataset. */
83 inline PointCloudConstPtr const
84 getInputCloud () { return (input_); }
85
86 /** \brief Set the number of pyramid levels
87 * \param levels desired number of pyramid levels
88 */
89 inline void
90 setNumberOfLevels (int levels) { levels_ = levels; }
91
92 /// \brief \return the number of pyramid levels
93 inline int
94 getNumberOfLevels () const { return (levels_); }
95
96 /** \brief Initialize the scheduler and set the number of threads to use.
97 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic).
98 */
99 inline void
100 setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
101
102 /** \brief Choose a larger smoothing kernel for enhanced smoothing.
103 * \param large if true large smoothng kernel will be used.
104 */
105 inline void
106 setLargeSmoothingKernel (bool large) { large_ = large; }
107
108 /** Only points such us distance (center,point) < threshold are accounted for to prevent
109 * ghost points.
110 * Default value is 0.01, to disable set to std::numeric<float>::infinity ().
111 * \param[in] threshold maximum allowed distance between center and neighbor.
112 */
113 inline void
114 setDistanceThreshold (float threshold) { threshold_ = threshold; }
115
116 /// \return the distance threshold
117 inline float
118 getDistanceThreshold () const { return (threshold_); }
119
120 /** \brief compute the pyramid levels.
121 * \param[out] output the constructed pyramid. It is resized to the number of levels.
122 * \remark input_ is copied to output[0] for consistency reasons.
123 */
124 void
125 compute (std::vector<PointCloudPtr>& output);
126
127 inline const std::string&
128 getClassName () const { return (name_); }
129
130 private:
131
132 /// \brief init computation
133 bool
134 initCompute ();
135
136 /** \brief nullify a point
137 * \param[in][out] p point to nullify
138 */
139 inline void
140 nullify (PointT& p) const
141 {
142 p.x = p.y = p.z = std::numeric_limits<float>::quiet_NaN ();
143 }
144
145 /// \brief The input point cloud dataset.
146 PointCloudConstPtr input_;
147 /// \brief number of pyramid levels
148 int levels_{4};
149 /// \brief use large smoothing kernel
150 bool large_{false};
151 /// \brief filter name
152 std::string name_;
153 /// \brief smoothing kernel
154 Eigen::MatrixXf kernel_;
155 /// Threshold distance between adjacent points
156 float threshold_{0.01f};
157 /// \brief number of threads
158 unsigned int threads_{0};
159
160 public:
162 };
163 }
164}
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
Pyramid constructs a multi-scale representation of an organised point cloud.
Definition pyramid.h:63
int getNumberOfLevels() const
Definition pyramid.h:94
void setNumberOfLevels(int levels)
Set the number of pyramid levels.
Definition pyramid.h:90
void compute(std::vector< PointCloudPtr > &output)
compute the pyramid levels.
Definition pyramid.hpp:100
float getDistanceThreshold() const
Definition pyramid.h:118
Pyramid(int levels=4)
Definition pyramid.h:70
typename PointCloud< PointT >::Ptr PointCloudPtr
Definition pyramid.h:65
PointCloudConstPtr const getInputCloud()
Get a pointer to the input point cloud dataset.
Definition pyramid.h:84
void setDistanceThreshold(float threshold)
Only points such us distance (center,point) < threshold are accounted for to prevent ghost points.
Definition pyramid.h:114
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition pyramid.h:100
void setLargeSmoothingKernel(bool large)
Choose a larger smoothing kernel for enhanced smoothing.
Definition pyramid.h:106
const std::string & getClassName() const
Definition pyramid.h:128
void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Definition pyramid.h:80
shared_ptr< const Pyramid< PointT > > ConstPtr
Definition pyramid.h:68
shared_ptr< Pyramid< PointT > > Ptr
Definition pyramid.h:67
typename PointCloud< PointT >::ConstPtr PointCloudConstPtr
Definition pyramid.h:66
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:86
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates, and the RGB color.