VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...

#include <voxel_grid.h>

Inheritance diagram for pcl::VoxelGrid< PointT >:

Public Member Functions
int	getCentroidIndex (const PointT &p)
	Returns the index in the resulting downsampled cloud of the specified point.
int	getCentroidIndexAt (const Eigen::Vector3i &ijk)
	Returns the index in the downsampled cloud corresponding to a given set of coordinates.
Eigen::Vector3i	getDivisionMultiplier ()
	Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed).
bool	getDownsampleAllData ()
	Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).
std::string const	getFilterFieldName ()
	Get the name of the field used for filtering.
void	getFilterLimits (double &limit_min, double &limit_max)
	Get the field filter limits (min/max) set by the user. The default values are -FLT_MAX, FLT_MAX.
void	getFilterLimitsNegative (bool &limit_negative)
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
bool	getFilterLimitsNegative ()
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
Eigen::Vector3i	getGridCoordinates (float x, float y, float z)
	Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).
std::vector< int >	getLeafLayout ()
	Returns the layout of the leafs for fast access to cells relative to current position.
Eigen::Vector3f	getLeafSize ()
	Get the voxel grid leaf size.
Eigen::Vector3i	getMaxBoxCoordinates ()
	Get the minimum coordinates of the bounding box (after filtering is performed).
Eigen::Vector3i	getMinBoxCoordinates ()
	Get the minimum coordinates of the bounding box (after filtering is performed).
std::vector< int >	getNeighborCentroidIndices (const PointT &reference_point, const Eigen::MatrixXi &relative_coordinates)
	Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinates, relative to the grid coordinates of the specified point (or -1 if the cell was empty/out of bounds).
Eigen::Vector3i	getNrDivisions ()
	Get the number of divisions along all 3 axes (after filtering is performed).
bool	getSaveLeafLayout ()
	Returns true if leaf layout information will to be saved for later access.
void	setDownsampleAllData (bool downsample)
	Set to true if all fields need to be downsampled, or false if just XYZ.
void	setFilterFieldName (const std::string &field_name)
	Provide the name of the field to be used for filtering data. In conjunction with setFilterLimits, points having values outside this interval will be discarded.
void	setFilterLimits (const double &limit_min, const double &limit_max)
	Set the field filter limits. All points having field values outside this interval will be discarded.
void	setFilterLimitsNegative (const bool limit_negative)
	Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). Default: false.
void	setLeafSize (const Eigen::Vector4f &leaf_size)
	Set the voxel grid leaf size.
void	setLeafSize (float lx, float ly, float lz)
	Set the voxel grid leaf size.
void	setSaveLeafLayout (bool save_leaf_layout)
	Set to true if leaf layout information needs to be saved for later access.
	VoxelGrid ()
	Empty constructor.
virtual	~VoxelGrid ()
	Destructor.
Protected Types
typedef pcl::traits::fieldList < PointT >::type	FieldList
typedef Filter< PointT > ::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Protected Member Functions
void	applyFilter (PointCloud &output)
	Downsample a Point Cloud using a voxelized grid approach.
Protected Attributes
Eigen::Vector4i	div_b_
Eigen::Vector4i	divb_mul_
bool	downsample_all_data_
	Set to true if all fields need to be downsampled, or false if just XYZ.
std::string	filter_field_name_
	The desired user filter field name.
double	filter_limit_max_
	The maximum allowed filter value a point will be considered from.
double	filter_limit_min_
	The minimum allowed filter value a point will be considered from.
bool	filter_limit_negative_
	Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). Default: false.
Eigen::Array4f	inverse_leaf_size_
	Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.
std::vector< int >	leaf_layout_
	The leaf layout information for fast access to cells relative to current position.
Eigen::Vector4f	leaf_size_
	The size of a leaf.
Eigen::Vector4i	max_b_
Eigen::Vector4i	min_b_
	The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.
bool	save_leaf_layout_
	Set to true if leaf layout information needs to be saved in leaf_layout_.

Detailed Description

template<typename PointT>
class pcl::VoxelGrid< PointT >

VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.

The VoxelGrid class creates a *3D voxel grid* (think about a voxel grid as a set of tiny 3D boxes in space) over the input point cloud data. Then, in each *voxel* (i.e., 3D box), all the points present will be approximated (i.e., *downsampled*) with their centroid. This approach is a bit slower than approximating them with the center of the voxel, but it represents the underlying surface more accurately.

Author:: Radu B. Rusu, Bastian Steder

Definition at line 161 of file voxel_grid.h.

Member Typedef Documentation

template<typename PointT>

typedef pcl::traits::fieldList<PointT>::type pcl::VoxelGrid< PointT >::FieldList [protected]

Definition at line 454 of file voxel_grid.h.

template<typename PointT>

typedef Filter<PointT>::PointCloud pcl::VoxelGrid< PointT >::PointCloud [protected]

Reimplemented from pcl::Filter< PointT >.

Definition at line 169 of file voxel_grid.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::VoxelGrid< PointT >::PointCloudConstPtr [protected]

Reimplemented from pcl::Filter< PointT >.

Definition at line 171 of file voxel_grid.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::VoxelGrid< PointT >::PointCloudPtr [protected]

Reimplemented from pcl::Filter< PointT >.

Definition at line 170 of file voxel_grid.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::VoxelGrid< PointT >::VoxelGrid ( ) [inline]

Empty constructor.

Definition at line 175 of file voxel_grid.h.

template<typename PointT>

virtual pcl::VoxelGrid< PointT >::~VoxelGrid ( ) [inline, virtual]

Destructor.

Definition at line 194 of file voxel_grid.h.

Member Function Documentation

template<typename PointT >

void pcl::VoxelGrid< PointT >::applyFilter ( PointCloud & output ) [protected, virtual]

Downsample a Point Cloud using a voxelized grid approach.

Parameters:

[out] output the resultant point cloud message

Implements pcl::Filter< PointT >.

Definition at line 133 of file voxel_grid.hpp.

template<typename PointT>

int pcl::VoxelGrid< PointT >::getCentroidIndex ( const PointT & p ) [inline]

Returns the index in the resulting downsampled cloud of the specified point.

Note:: for efficiency, user must make sure that the saving of the leaf layout is enabled and filtering performed, and that the point is inside the grid, to avoid invalid access (or use getGridCoordinates+getCentroidIndexAt)

Parameters:

[in] p the point to get the index at

Definition at line 287 of file voxel_grid.h.

template<typename PointT>

int pcl::VoxelGrid< PointT >::getCentroidIndexAt ( const Eigen::Vector3i & ijk ) [inline]

Returns the index in the downsampled cloud corresponding to a given set of coordinates.

Parameters:

[in] ijk the coordinates (i,j,k) in the grid (-1 if empty)

Definition at line 344 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector3i pcl::VoxelGrid< PointT >::getDivisionMultiplier ( ) [inline]

Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed).

Definition at line 276 of file voxel_grid.h.

template<typename PointT>

bool pcl::VoxelGrid< PointT >::getDownsampleAllData ( ) [inline]

Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).

Definition at line 242 of file voxel_grid.h.

template<typename PointT>

std::string const pcl::VoxelGrid< PointT >::getFilterFieldName ( ) [inline]

Get the name of the field used for filtering.

Definition at line 368 of file voxel_grid.h.

template<typename PointT>

void pcl::VoxelGrid< PointT >::getFilterLimits	(	double &	limit_min,
		double &	limit_max
	)		`[inline]`

Get the field filter limits (min/max) set by the user. The default values are -FLT_MAX, FLT_MAX.

Parameters:

[out]	limit_min	the minimum allowed field value
[out]	limit_max	the maximum allowed field value

Definition at line 389 of file voxel_grid.h.

template<typename PointT>

void pcl::VoxelGrid< PointT >::getFilterLimitsNegative ( bool & limit_negative ) [inline]

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Parameters:

[out] limit_negative true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 409 of file voxel_grid.h.

template<typename PointT>

bool pcl::VoxelGrid< PointT >::getFilterLimitsNegative ( ) [inline]

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Returns:: true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 418 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector3i pcl::VoxelGrid< PointT >::getGridCoordinates	(	float	x,
		float	y,
		float	z
	)		`[inline]`

Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).

Parameters:

[in]	x	the X point coordinate to get the (i, j, k) index at
[in]	y	the Y point coordinate to get the (i, j, k) index at
[in]	z	the Z point coordinate to get the (i, j, k) index at

Definition at line 333 of file voxel_grid.h.

template<typename PointT>

std::vector<int> pcl::VoxelGrid< PointT >::getLeafLayout ( ) [inline]

Returns the layout of the leafs for fast access to cells relative to current position.

Note:: position at (i-min_x) + (j-min_y)*div_x + (k-min_z)*div_x*div_y holds the index of the element at coordinates (i,j,k) in the grid (-1 if empty)

Definition at line 325 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector3f pcl::VoxelGrid< PointT >::getLeafSize ( ) [inline]

Get the voxel grid leaf size.

Definition at line 230 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector3i pcl::VoxelGrid< PointT >::getMaxBoxCoordinates ( ) [inline]

Get the minimum coordinates of the bounding box (after filtering is performed).

Definition at line 264 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector3i pcl::VoxelGrid< PointT >::getMinBoxCoordinates ( ) [inline]

Get the minimum coordinates of the bounding box (after filtering is performed).

Definition at line 258 of file voxel_grid.h.

template<typename PointT>

std::vector<int> pcl::VoxelGrid< PointT >::getNeighborCentroidIndices	(	const PointT &	reference_point,
		const Eigen::MatrixXi &	relative_coordinates
	)		`[inline]`

Returns the indices in the resulting downsampled cloud of the points at the specified grid coordinates, relative to the grid coordinates of the specified point (or -1 if the cell was empty/out of bounds).

Parameters:

[in]	reference_point	the coordinates of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]	relative_coordinates	matrix with the columns being the coordinates of the requested cells, relative to the reference point's cell

Note:: for efficiency, user must make sure that the saving of the leaf layout is enabled and filtering performed

Definition at line 301 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector3i pcl::VoxelGrid< PointT >::getNrDivisions ( ) [inline]

Get the number of divisions along all 3 axes (after filtering is performed).

Definition at line 270 of file voxel_grid.h.

template<typename PointT>

bool pcl::VoxelGrid< PointT >::getSaveLeafLayout ( ) [inline]

Returns true if leaf layout information will to be saved for later access.

Definition at line 252 of file voxel_grid.h.

template<typename PointT>

void pcl::VoxelGrid< PointT >::setDownsampleAllData ( bool downsample ) [inline]

Set to true if all fields need to be downsampled, or false if just XYZ.

Parameters:

[in] downsample the new value (true/false)

Definition at line 236 of file voxel_grid.h.

template<typename PointT>

void pcl::VoxelGrid< PointT >::setFilterFieldName ( const std::string & field_name ) [inline]

Provide the name of the field to be used for filtering data. In conjunction with setFilterLimits, points having values outside this interval will be discarded.

Parameters:

[in] field_name the name of the field that contains values used for filtering

Definition at line 361 of file voxel_grid.h.

template<typename PointT>

void pcl::VoxelGrid< PointT >::setFilterLimits	(	const double &	limit_min,
		const double &	limit_max
	)		`[inline]`

Set the field filter limits. All points having field values outside this interval will be discarded.

Parameters:

[in]	limit_min	the minimum allowed field value
[in]	limit_max	the maximum allowed field value

Definition at line 378 of file voxel_grid.h.

template<typename PointT>

void pcl::VoxelGrid< PointT >::setFilterLimitsNegative ( const bool limit_negative ) [inline]

Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). Default: false.

Parameters:

[in] limit_negative return data inside the interval (false) or outside (true)

Definition at line 400 of file voxel_grid.h.

template<typename PointT>

void pcl::VoxelGrid< PointT >::setLeafSize ( const Eigen::Vector4f & leaf_size ) [inline]

Set the voxel grid leaf size.

Parameters:

[in] leaf_size the voxel grid leaf size

Definition at line 202 of file voxel_grid.h.

template<typename PointT>

void pcl::VoxelGrid< PointT >::setLeafSize	(	float	lx,
		float	ly,
		float	lz
	)		`[inline]`

Set the voxel grid leaf size.

Parameters:

[in]	lx	the leaf size for X
[in]	ly	the leaf size for Y
[in]	lz	the leaf size for Z

Definition at line 218 of file voxel_grid.h.

template<typename PointT>

void pcl::VoxelGrid< PointT >::setSaveLeafLayout ( bool save_leaf_layout ) [inline]

Set to true if leaf layout information needs to be saved for later access.

Parameters:

[in] save_leaf_layout the new value (true/false)

Definition at line 248 of file voxel_grid.h.

Member Data Documentation

template<typename PointT>

Eigen::Vector4i pcl::VoxelGrid< PointT >::div_b_ [protected]

Definition at line 440 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector4i pcl::VoxelGrid< PointT >::divb_mul_ [protected]

Definition at line 440 of file voxel_grid.h.

template<typename PointT>

bool pcl::VoxelGrid< PointT >::downsample_all_data_ [protected]

Set to true if all fields need to be downsampled, or false if just XYZ.

Definition at line 431 of file voxel_grid.h.

template<typename PointT>

std::string pcl::VoxelGrid< PointT >::filter_field_name_ [protected]

The desired user filter field name.

Definition at line 443 of file voxel_grid.h.

template<typename PointT>

double pcl::VoxelGrid< PointT >::filter_limit_max_ [protected]

The maximum allowed filter value a point will be considered from.

Definition at line 449 of file voxel_grid.h.

template<typename PointT>

double pcl::VoxelGrid< PointT >::filter_limit_min_ [protected]

The minimum allowed filter value a point will be considered from.

Definition at line 446 of file voxel_grid.h.

template<typename PointT>

bool pcl::VoxelGrid< PointT >::filter_limit_negative_ [protected]

Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). Default: false.

Definition at line 452 of file voxel_grid.h.

template<typename PointT>

Eigen::Array4f pcl::VoxelGrid< PointT >::inverse_leaf_size_ [protected]

Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.

Definition at line 428 of file voxel_grid.h.

template<typename PointT>

std::vector<int> pcl::VoxelGrid< PointT >::leaf_layout_ [protected]

The leaf layout information for fast access to cells relative to current position.

Definition at line 437 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector4f pcl::VoxelGrid< PointT >::leaf_size_ [protected]

The size of a leaf.

Definition at line 425 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector4i pcl::VoxelGrid< PointT >::max_b_ [protected]

Definition at line 440 of file voxel_grid.h.

template<typename PointT>

Eigen::Vector4i pcl::VoxelGrid< PointT >::min_b_ [protected]

The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.

Definition at line 440 of file voxel_grid.h.

template<typename PointT>

bool pcl::VoxelGrid< PointT >::save_leaf_layout_ [protected]

Set to true if leaf layout information needs to be saved in leaf_layout_.

Definition at line 434 of file voxel_grid.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::VoxelGrid< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::VoxelGrid< PointT >