VoxelGrid.h
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3 /*
4 
5 Copyright (c) 2010--2018,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
39 template<typename T>
41 {
42  // Type definitions
44  typedef typename PM::DataPoints DataPoints;
46 
53 
54  typedef typename PointMatcher<T>::Matrix Matrix;
55  typedef typename PointMatcher<T>::Vector Vector;
56  typedef typename Eigen::Matrix<T,2,1> Vector2;
57  typedef typename Eigen::Matrix<T,3,1> Vector3;
59 
60 
61  inline static const std::string description()
62  {
63  return "Construct Voxel grid of the point cloud. Down-sample by taking centroid or center of grid cells.";
64  }
65 
66  inline static const ParametersDoc availableParameters()
67  {
68  return {
69  {"vSizeX", "Dimension of each voxel cell in x direction", "1.0", "0.001", "+inf", &P::Comp<T>},
70  {"vSizeY", "Dimension of each voxel cell in y direction", "1.0", "0.001", "+inf", &P::Comp<T>},
71  {"vSizeZ", "Dimension of each voxel cell in z direction", "1.0", "0.001", "+inf", &P::Comp<T>},
72  {"useCentroid", "If 1 (true), down-sample by using centroid of voxel cell. If false (0), use center of voxel cell.", "1", "0", "1", P::Comp<bool>},
73  {"averageExistingDescriptors", "whether the filter keep the existing point descriptors and average them or should it drop them", "1", "0", "1", P::Comp<bool>}
74  };
75  }
76 
77  const T vSizeX;
78  const T vSizeY;
79  const T vSizeZ;
80  const bool useCentroid;
82 
83  struct Voxel {
84  unsigned int numPoints;
85  unsigned int firstPoint;
86  Voxel() : numPoints(0), firstPoint(0) {}
87  };
88 
89  //Constructor, uses parameter interface
91 
93  // Destr
95 
96  virtual DataPoints filter(const DataPoints& input);
97  virtual void inPlaceFilter(DataPoints& cloud);
98 };
VoxelGridDataPointsFilter::PM
PointMatcher< T > PM
Definition: VoxelGrid.h:43
VoxelGridDataPointsFilter::P
PointMatcherSupport::Parametrizable P
Definition: VoxelGrid.h:48
VoxelGridDataPointsFilter::VoxelGridDataPointsFilter
VoxelGridDataPointsFilter()
Definition: VoxelGrid.cpp:40
VoxelGridDataPointsFilter::Parameters
Parametrizable::Parameters Parameters
Definition: VoxelGrid.h:49
build_map.T
T
Definition: build_map.py:34
Parameters
PM::Parameters Parameters
Definition: filterProfiler.cpp:20
VoxelGridDataPointsFilter::DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: VoxelGrid.h:45
VoxelGridDataPointsFilter::Matrix
PointMatcher< T >::Matrix Matrix
Definition: VoxelGrid.h:54
VoxelGridDataPointsFilter::Voxel::Voxel
Voxel()
Definition: VoxelGrid.h:86
VoxelGridDataPointsFilter::~VoxelGridDataPointsFilter
virtual ~VoxelGridDataPointsFilter()
Definition: VoxelGrid.h:94
VoxelGridDataPointsFilter::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: VoxelGrid.h:47
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
VoxelGridDataPointsFilter::Voxel
Definition: VoxelGrid.h:83
VoxelGridDataPointsFilter::filter
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy.
Definition: VoxelGrid.cpp:63
VoxelGridDataPointsFilter::vSizeY
const T vSizeY
Definition: VoxelGrid.h:78
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
VoxelGridDataPointsFilter::Vector
PointMatcher< T >::Vector Vector
Definition: VoxelGrid.h:55
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
align_sequence.params
params
Definition: align_sequence.py:13
VoxelGridDataPointsFilter::Voxel::firstPoint
unsigned int firstPoint
Definition: VoxelGrid.h:85
VoxelGridDataPointsFilter::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: VoxelGrid.h:51
VoxelGridDataPointsFilter::description
static const std::string description()
Definition: VoxelGrid.h:61
VoxelGridDataPointsFilter
Definition: VoxelGrid.h:40
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
VoxelGridDataPointsFilter::vSizeZ
const T vSizeZ
Definition: VoxelGrid.h:79
PointMatcher::DataPointsFilter
A data filter takes a point cloud as input, transforms it, and produces another point cloud as output...
Definition: PointMatcher.h:440
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:144
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
VoxelGridDataPointsFilter::InvalidField
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: VoxelGrid.h:58
VoxelGridDataPointsFilter::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: VoxelGrid.h:50
VoxelGridDataPointsFilter::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: VoxelGrid.h:52
VoxelGridDataPointsFilter::Vector2
Eigen::Matrix< T, 2, 1 > Vector2
Definition: VoxelGrid.h:56
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
VoxelGridDataPointsFilter::averageExistingDescriptors
const bool averageExistingDescriptors
Definition: VoxelGrid.h:81
VoxelGridDataPointsFilter::DataPoints
PM::DataPoints DataPoints
Definition: VoxelGrid.h:44
VoxelGridDataPointsFilter::Voxel::numPoints
unsigned int numPoints
Definition: VoxelGrid.h:84
VoxelGridDataPointsFilter::Vector3
Eigen::Matrix< T, 3, 1 > Vector3
Definition: VoxelGrid.h:57
PointMatcher.h
public interface
VoxelGridDataPointsFilter::inPlaceFilter
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: VoxelGrid.cpp:71
VoxelGridDataPointsFilter::availableParameters
static const ParametersDoc availableParameters()
Definition: VoxelGrid.h:66
VoxelGridDataPointsFilter::vSizeX
const T vSizeX
Definition: VoxelGrid.h:77
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
VoxelGridDataPointsFilter::useCentroid
const bool useCentroid
Definition: VoxelGrid.h:80


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