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

#include <approximate_voxel_grid.h>

Inheritance diagram for pcl::ApproximateVoxelGrid< PointT >:

Classes
struct	he
Public Types
typedef boost::shared_ptr < const ApproximateVoxelGrid < PointT > >	ConstPtr
typedef boost::shared_ptr < ApproximateVoxelGrid< PointT > >	Ptr
Public Member Functions
	ApproximateVoxelGrid ()
	Empty constructor.
	ApproximateVoxelGrid (const ApproximateVoxelGrid &src)
	Copy constructor.
bool	getDownsampleAllData () const
	Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).
Eigen::Vector3f	getLeafSize () const
	Get the voxel grid leaf size.
ApproximateVoxelGrid &	operator= (const ApproximateVoxelGrid &src)
	Copy operator.
void	setDownsampleAllData (bool downsample)
	Set to true if all fields need to be downsampled, or false if just XYZ.
void	setLeafSize (const Eigen::Vector3f &leaf_size)
	Set the voxel grid leaf size.
void	setLeafSize (float lx, float ly, float lz)
	Set the voxel grid leaf size.
	~ApproximateVoxelGrid ()
	Destructor.
Protected Types
typedef pcl::traits::fieldList < PointT >::type	FieldList
Protected Member Functions
void	applyFilter (PointCloud &output)
	Downsample a Point Cloud using a voxelized grid approach.
void	flush (PointCloud &output, size_t op, he *hhe, int rgba_index, int centroid_size)
	Write a single point from the hash to the output cloud.
Protected Attributes
bool	downsample_all_data_
	Set to true if all fields need to be downsampled, or false if just XYZ.
struct he *	history_
	history buffer
size_t	histsize_
	history buffer size, power of 2
Eigen::Array3f	inverse_leaf_size_
	Compute 1/leaf_size_ to avoid division later.
Eigen::Vector3f	leaf_size_
	The size of a leaf.
Private Types
typedef Filter< PointT > ::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr

Detailed Description

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

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

Author:: James Bowman, Radu B. Rusu

Definition at line 100 of file approximate_voxel_grid.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const ApproximateVoxelGrid<PointT> > pcl::ApproximateVoxelGrid< PointT >::ConstPtr

Reimplemented from pcl::Filter< PointT >.

Definition at line 123 of file approximate_voxel_grid.h.

template<typename PointT>

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

Definition at line 231 of file approximate_voxel_grid.h.

template<typename PointT>

typedef Filter<PointT>::PointCloud pcl::ApproximateVoxelGrid< PointT >::PointCloud [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 107 of file approximate_voxel_grid.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::ApproximateVoxelGrid< PointT >::PointCloudConstPtr [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 109 of file approximate_voxel_grid.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::ApproximateVoxelGrid< PointT >::PointCloudPtr [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 108 of file approximate_voxel_grid.h.

template<typename PointT>

typedef boost::shared_ptr< ApproximateVoxelGrid<PointT> > pcl::ApproximateVoxelGrid< PointT >::Ptr

Reimplemented from pcl::Filter< PointT >.

Definition at line 122 of file approximate_voxel_grid.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Empty constructor.

Definition at line 127 of file approximate_voxel_grid.h.

template<typename PointT>

pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid ( const ApproximateVoxelGrid< PointT > & src ) [inline]

Copy constructor.

Parameters:

[in] src the approximate voxel grid to copy into this.

Definition at line 140 of file approximate_voxel_grid.h.

template<typename PointT>

pcl::ApproximateVoxelGrid< PointT >::~ApproximateVoxelGrid ( ) [inline]

Destructor.

Definition at line 156 of file approximate_voxel_grid.h.

Member Function Documentation

template<typename PointT >

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

Downsample a Point Cloud using a voxelized grid approach.

Parameters:

output the resultant point cloud message

Implements pcl::Filter< PointT >.

Definition at line 65 of file approximate_voxel_grid.hpp.

template<typename PointT >

void pcl::ApproximateVoxelGrid< PointT >::flush	(	PointCloud &	output,
		size_t	op,
		he *	hhe,
		int	rgba_index,
		int	centroid_size
	)		`[protected]`

Write a single point from the hash to the output cloud.

Definition at line 47 of file approximate_voxel_grid.hpp.

template<typename PointT>

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

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

Definition at line 213 of file approximate_voxel_grid.h.

template<typename PointT>

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

Get the voxel grid leaf size.

Definition at line 201 of file approximate_voxel_grid.h.

template<typename PointT>

ApproximateVoxelGrid& pcl::ApproximateVoxelGrid< PointT >::operator= ( const ApproximateVoxelGrid< PointT > & src ) [inline]

Copy operator.

Parameters:

[in] src the approximate voxel grid to copy into this.

Definition at line 166 of file approximate_voxel_grid.h.

template<typename PointT>

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

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

Parameters:

downsample the new value (true/false)

Definition at line 207 of file approximate_voxel_grid.h.

template<typename PointT>

void pcl::ApproximateVoxelGrid< PointT >::setLeafSize ( const Eigen::Vector3f & leaf_size ) [inline]

Set the voxel grid leaf size.

Parameters:

[in] leaf_size the voxel grid leaf size

Definition at line 182 of file approximate_voxel_grid.h.

template<typename PointT>

void pcl::ApproximateVoxelGrid< 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 194 of file approximate_voxel_grid.h.

Member Data Documentation

template<typename PointT>

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

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

Definition at line 223 of file approximate_voxel_grid.h.

template<typename PointT>

struct he* pcl::ApproximateVoxelGrid< PointT >::history_ [protected]

history buffer

Definition at line 229 of file approximate_voxel_grid.h.

template<typename PointT>

size_t pcl::ApproximateVoxelGrid< PointT >::histsize_ [protected]

history buffer size, power of 2

Definition at line 226 of file approximate_voxel_grid.h.

template<typename PointT>

Eigen::Array3f pcl::ApproximateVoxelGrid< PointT >::inverse_leaf_size_ [protected]

Compute 1/leaf_size_ to avoid division later.

Definition at line 220 of file approximate_voxel_grid.h.

template<typename PointT>

Eigen::Vector3f pcl::ApproximateVoxelGrid< PointT >::leaf_size_ [protected]

The size of a leaf.

Definition at line 217 of file approximate_voxel_grid.h.

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

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Types

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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