VoxelGrid to estimate occluded space in the scene. The ray traversal algorithm is implemented by the work of 'John Amanatides and Andrew Woo, A Fast Voxel Traversal Algorithm for Ray Tracing'. More...

#include <voxel_grid_occlusion_estimation.h>

Inheritance diagram for pcl::VoxelGridOcclusionEstimation< PointT >:

[legend]

List of all members.

Public Member Functions
Eigen::Vector4f	getCentroidCoordinate (const Eigen::Vector3i &ijk)
	Returns the corresponding centroid (x,y,z) coordinates in the grid of voxel (i,j,k).
PointCloud	getFilteredPointCloud ()
	Returns the voxel grid filtered point cloud.
Eigen::Vector3f	getMaxBoundCoordinates ()
	Returns the maximum bounding of coordinates of the voxel grid (x,y,z).
Eigen::Vector3f	getMinBoundCoordinates ()
	Returns the minimum bounding of coordinates of the voxel grid (x,y,z).
void	initializeVoxelGrid ()
	Initialize the voxel grid, needs to be called first Builts the voxel grid and computes additional values for the ray traversal algorithm.
int	occlusionEstimation (int &out_state, const Eigen::Vector3i &in_target_voxel)
	Returns the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates.
int	occlusionEstimation (int &out_state, std::vector< Eigen::Vector3i > &out_ray, const Eigen::Vector3i &in_target_voxel)
	Returns the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates. Additionally, this function returns the voxels penetrated of the ray-traversal algorithm till reaching the target voxel.
int	occlusionEstimationAll (std::vector< Eigen::Vector3i > &occluded_voxels)
	Returns the voxel coordinates (i, j, k) of all occluded voxels in the voxel gird.
	VoxelGridOcclusionEstimation ()
	Empty constructor.
virtual	~VoxelGridOcclusionEstimation ()
	Destructor.
Protected Types
typedef Filter< PointT > ::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr
Protected Member Functions
Eigen::Vector3i	getGridCoordinatesRound (float x, float y, float z)
	Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).
float	rayBoxIntersection (const Eigen::Vector4f &origin, const Eigen::Vector4f &direction)
	Returns the scaling value (tmin) were the ray intersects with the voxel grid bounding box. (p_entry = origin + tmin * orientation)
int	rayTraversal (const Eigen::Vector3i &target_voxel, const Eigen::Vector4f &origin, const Eigen::Vector4f &direction, const float t_min)
	Returns the state of the target voxel (0 = visible, 1 = occupied) unsing a ray traversal algorithm.
int	rayTraversal (std::vector< Eigen::Vector3i > &out_ray, const Eigen::Vector3i &target_voxel, const Eigen::Vector4f &origin, const Eigen::Vector4f &direction, const float t_min)
	Returns the state of the target voxel (0 = visible, 1 = occupied) and the voxels penetrated by the ray unsing a ray traversal algorithm.
float	round (float d)
	Returns a rounded value.
Protected Attributes
Eigen::Vector4f	b_max_
Eigen::Vector4f	b_min_
PointCloud	filtered_cloud_
bool	initialized_
Eigen::Quaternionf	sensor_orientation_
Eigen::Vector4f	sensor_origin_

Detailed Description

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

VoxelGrid to estimate occluded space in the scene. The ray traversal algorithm is implemented by the work of 'John Amanatides and Andrew Woo, A Fast Voxel Traversal Algorithm for Ray Tracing'.

Author:: Christian Potthast

Definition at line 56 of file voxel_grid_occlusion_estimation.h.

Member Typedef Documentation

template<typename PointT>

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

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 65 of file voxel_grid_occlusion_estimation.h.

template<typename PointT>

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

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 67 of file voxel_grid_occlusion_estimation.h.

template<typename PointT>

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

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 66 of file voxel_grid_occlusion_estimation.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Empty constructor.

Definition at line 71 of file voxel_grid_occlusion_estimation.h.

template<typename PointT>

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

Destructor.

Definition at line 78 of file voxel_grid_occlusion_estimation.h.

Member Function Documentation

template<typename PointT>

Eigen::Vector4f pcl::VoxelGridOcclusionEstimation< PointT >::getCentroidCoordinate ( const Eigen::Vector3i & ijk ) [inline]

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

Parameters:

[in] the coordinate (i, j, k) of the voxel

Returns:: the (x,y,z) coordinate of the voxel centroid

Definition at line 145 of file voxel_grid_occlusion_estimation.h.

template<typename PointT>

PointCloud pcl::VoxelGridOcclusionEstimation< PointT >::getFilteredPointCloud ( ) [inline]

Returns the voxel grid filtered point cloud.

Parameters:

[out] The voxel grid filtered point cloud

Definition at line 124 of file voxel_grid_occlusion_estimation.h.

template<typename PointT>

Eigen::Vector3i pcl::VoxelGridOcclusionEstimation< PointT >::getGridCoordinatesRound	(	float	x,
		float	y,
		float	z
	)		`[inline, protected]`

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 225 of file voxel_grid_occlusion_estimation.h.

template<typename PointT>

Eigen::Vector3f pcl::VoxelGridOcclusionEstimation< PointT >::getMaxBoundCoordinates ( ) [inline]

Returns the maximum bounding of coordinates of the voxel grid (x,y,z).

Returns:: the maximum coordinates (x,y,z)

Definition at line 137 of file voxel_grid_occlusion_estimation.h.

template<typename PointT>

Eigen::Vector3f pcl::VoxelGridOcclusionEstimation< PointT >::getMinBoundCoordinates ( ) [inline]

Returns the minimum bounding of coordinates of the voxel grid (x,y,z).

Returns:: the minimum coordinates (x,y,z)

Definition at line 131 of file voxel_grid_occlusion_estimation.h.

template<typename PointT >

void pcl::VoxelGridOcclusionEstimation< PointT >::initializeVoxelGrid ( )

Initialize the voxel grid, needs to be called first Builts the voxel grid and computes additional values for the ray traversal algorithm.

Definition at line 47 of file voxel_grid_occlusion_estimation.hpp.

template<typename PointT >

int pcl::VoxelGridOcclusionEstimation< PointT >::occlusionEstimation	(	int &	out_state,
		const Eigen::Vector3i &	in_target_voxel
	)

Returns the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates.

Parameters:

[out]	The	state of the voxel.
[in]	The	target voxel coordinate (i, j, k) of the voxel.

Definition at line 70 of file voxel_grid_occlusion_estimation.hpp.

template<typename PointT >

int pcl::VoxelGridOcclusionEstimation< PointT >::occlusionEstimation	(	int &	out_state,
		std::vector< Eigen::Vector3i > &	out_ray,
		const Eigen::Vector3i &	in_target_voxel
	)

Returns the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates. Additionally, this function returns the voxels penetrated of the ray-traversal algorithm till reaching the target voxel.

Parameters:

[out]	The	state of the voxel.
[out]	The	voxels penetrated of the ray-traversal algorithm.
[in]	The	target voxel coordinate (i, j, k) of the voxel.

Definition at line 101 of file voxel_grid_occlusion_estimation.hpp.

template<typename PointT >

int pcl::VoxelGridOcclusionEstimation< PointT >::occlusionEstimationAll ( std::vector< Eigen::Vector3i > & occluded_voxels )

Returns the voxel coordinates (i, j, k) of all occluded voxels in the voxel gird.

Parameters:

[out] the coordinates (i, j, k) of all occluded voxels

Definition at line 133 of file voxel_grid_occlusion_estimation.hpp.

template<typename PointT >

float pcl::VoxelGridOcclusionEstimation< PointT >::rayBoxIntersection	(	const Eigen::Vector4f &	origin,
		const Eigen::Vector4f &	direction
	)		`[protected]`

Returns the scaling value (tmin) were the ray intersects with the voxel grid bounding box. (p_entry = origin + tmin * orientation)

Parameters:

[in]	The	sensor origin
[in]	The	sensor orientation

Returns:: the scaling value

Definition at line 176 of file voxel_grid_occlusion_estimation.hpp.

template<typename PointT >

int pcl::VoxelGridOcclusionEstimation< PointT >::rayTraversal	(	const Eigen::Vector3i &	target_voxel,
		const Eigen::Vector4f &	origin,
		const Eigen::Vector4f &	direction,
		const float	t_min
	)		`[protected]`

Returns the state of the target voxel (0 = visible, 1 = occupied) unsing a ray traversal algorithm.

Parameters:

[in]	The	target voxel in the voxel grid with coordinate (i, j, k).
[in]	The	sensor origin.
[in]	The	sensor orientation
[in]	The	scaling value (tmin).

Returns:: The estimated voxel state.

Definition at line 243 of file voxel_grid_occlusion_estimation.hpp.

template<typename PointT >

int pcl::VoxelGridOcclusionEstimation< PointT >::rayTraversal	(	std::vector< Eigen::Vector3i > &	out_ray,
		const Eigen::Vector3i &	target_voxel,
		const Eigen::Vector4f &	origin,
		const Eigen::Vector4f &	direction,
		const float	t_min
	)		`[protected]`

Returns the state of the target voxel (0 = visible, 1 = occupied) and the voxels penetrated by the ray unsing a ray traversal algorithm.

Parameters:

[out]	The	voxels penetrated by the ray in (i, j, k) coordinates
[in]	The	target voxel in the voxel grid with coordinate (i, j, k).
[in]	The	sensor origin.
[in]	The	sensor orientation
[in]	The	scaling value (tmin).