A searchable voxel strucure containing the mean and covariance of the data. More...

#include <voxel_grid_covariance.h>

Inheritance diagram for pcl::VoxelGridCovariance< PointT >:

Classes
struct	Leaf
	Simple structure to hold a centroid, covarince and the number of points in a leaf. Inverse covariance, eigen vectors and engen values are precomputed. More...
Public Types
typedef boost::shared_ptr < const VoxelGrid< PointT > >	ConstPtr
typedef const Leaf *	LeafConstPtr
	Const pointer to VoxelGridCovariance leaf structure.
typedef Leaf *	LeafPtr
	Pointer to VoxelGridCovariance leaf structure.
typedef boost::shared_ptr < VoxelGrid< PointT > >	Ptr
Public Member Functions
void	filter (PointCloud &output, bool searchable=false)
	Filter cloud and initializes voxel structure.
void	filter (bool searchable=false)
	Initializes voxel structure.
PointCloudPtr	getCentroids ()
	Get a pointcloud containing the voxel centroids.
double	getCovEigValueInflationRatio ()
	Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.
void	getDisplayCloud (pcl::PointCloud< PointXYZ > &cell_cloud)
	Get a cloud to visualize each voxels normal distribution.
LeafConstPtr	getLeaf (int index)
	Get the voxel containing point p.
LeafConstPtr	getLeaf (PointT &p)
	Get the voxel containing point p.
LeafConstPtr	getLeaf (Eigen::Vector3f &p)
	Get the voxel containing point p.
const std::map< size_t, Leaf > &	getLeaves ()
	Get the leaf structure map.
int	getMinPointPerVoxel ()
	Get the minimum number of points required for a cell to be used.
int	getNeighborhoodAtPoint (const PointT &reference_point, std::vector< LeafConstPtr > &neighbors)
	Get the voxels surrounding point p, not including the voxel contating point p.
int	nearestKSearch (const PointT &point, int k, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances)
	Search for the k-nearest occupied voxels for the given query point.
int	nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances)
	Search for the k-nearest occupied voxels for the given query point.
int	radiusSearch (const PointT &point, double radius, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances, unsigned int max_nn=0)
	Search for all the nearest occupied voxels of the query point in a given radius.
int	radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances, unsigned int max_nn=0)
	Search for all the nearest occupied voxels of the query point in a given radius.
void	setCovEigValueInflationRatio (double min_covar_eigvalue_mult)
	Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.
void	setMinPointPerVoxel (int min_points_per_voxel)
	Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation).
	VoxelGridCovariance ()
	Constructor. Sets leaf_size_ to 0 and searchable_ to false.
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)
	Filter cloud and initializes voxel structure.
Protected Attributes
KdTreeFLANN< PointT >	kdtree_
	KdTree generated using voxel_centroids_ (used for searching).
std::map< size_t, Leaf >	leaves_
	Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of points).
double	min_covar_eigvalue_mult_
	Minimum allowable ratio between eigenvalues to prevent singular covariance matrices.
int	min_points_per_voxel_
	Minimum points contained with in a voxel to allow it to be useable.
bool	searchable_
	Flag to determine if voxel structure is searchable.
PointCloudPtr	voxel_centroids_
	Point cloud containing centroids of voxels containing atleast minimum number of points.
std::vector< int >	voxel_centroids_leaf_indices_
	Indices of leaf structurs associated with each point in voxel_centroids_ (used for searching).

Detailed Description

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

A searchable voxel strucure containing the mean and covariance of the data.

Note:: For more information please see Magnusson, M. (2009). The Three-Dimensional Normal-Distributions Transform — an Efﬁcient Representation for Registration, Surface Analysis, and Loop Detection. PhD thesis, Orebro University. Orebro Studies in Technology 36

Author:: Brian Okorn (Space and Naval Warfare Systems Center Pacific)

Definition at line 57 of file voxel_grid_covariance.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const VoxelGrid<PointT> > pcl::VoxelGridCovariance< PointT >::ConstPtr

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 88 of file voxel_grid_covariance.h.

template<typename PointT>

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

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 80 of file voxel_grid_covariance.h.

template<typename PointT>

typedef const Leaf* pcl::VoxelGridCovariance< PointT >::LeafConstPtr

Const pointer to VoxelGridCovariance leaf structure.

Definition at line 194 of file voxel_grid_covariance.h.

template<typename PointT>

typedef Leaf* pcl::VoxelGridCovariance< PointT >::LeafPtr

Pointer to VoxelGridCovariance leaf structure.

Definition at line 191 of file voxel_grid_covariance.h.

template<typename PointT>

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

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 81 of file voxel_grid_covariance.h.

template<typename PointT>

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

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 83 of file voxel_grid_covariance.h.

template<typename PointT>

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

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 82 of file voxel_grid_covariance.h.

template<typename PointT>

typedef boost::shared_ptr< VoxelGrid<PointT> > pcl::VoxelGridCovariance< PointT >::Ptr

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 87 of file voxel_grid_covariance.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Constructor. Sets leaf_size_ to 0 and searchable_ to false.

Definition at line 201 of file voxel_grid_covariance.h.

Member Function Documentation

template<typename PointT >

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

Filter cloud and initializes voxel structure.

Parameters:

[out] output cloud containing centroids of voxels containing a sufficient number of points

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 49 of file voxel_grid_covariance.hpp.

template<typename PointT>

void pcl::VoxelGridCovariance< PointT >::filter	(	PointCloud &	output,
		bool	searchable = `false`
	)		`[inline]`

Filter cloud and initializes voxel structure.

Parameters:

[out]	output	cloud containing centroids of voxels containing a sufficient number of points
[in]	searchable	flag if voxel structure is searchable, if true then kdtree is built

Definition at line 267 of file voxel_grid_covariance.h.

template<typename PointT>

void pcl::VoxelGridCovariance< PointT >::filter ( bool searchable = false ) [inline]

Initializes voxel structure.

Parameters:

[in] searchable flag if voxel structure is searchable, if true then kdtree is built

Definition at line 285 of file voxel_grid_covariance.h.

template<typename PointT>

PointCloudPtr pcl::VoxelGridCovariance< PointT >::getCentroids ( ) [inline]

Get a pointcloud containing the voxel centroids.

Note:: Only voxels containing a sufficient number of points are used.

Returns:: a map contataining all leaves

Definition at line 393 of file voxel_grid_covariance.h.

template<typename PointT>

double pcl::VoxelGridCovariance< PointT >::getCovEigValueInflationRatio ( ) [inline]

Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.

Returns:: the minimum allowable ratio between eigenvalues

Definition at line 257 of file voxel_grid_covariance.h.

template<typename PointT >

void pcl::VoxelGridCovariance< PointT >::getDisplayCloud ( pcl::PointCloud< PointXYZ > & cell_cloud )

Get a cloud to visualize each voxels normal distribution.

Parameters:

[out] a cloud created by sampling the normal distributions of each voxel

Definition at line 408 of file voxel_grid_covariance.hpp.

template<typename PointT>

LeafConstPtr pcl::VoxelGridCovariance< PointT >::getLeaf ( int index ) [inline]

Get the voxel containing point p.

Parameters:

[in] index the index of the leaf structure node

Returns:: const pointer to leaf structure

Definition at line 303 of file voxel_grid_covariance.h.

template<typename PointT>

LeafConstPtr pcl::VoxelGridCovariance< PointT >::getLeaf ( PointT & p ) [inline]

Get the voxel containing point p.

Parameters:

[in] p the point to get the leaf structure at

Returns:: const pointer to leaf structure

Definition at line 320 of file voxel_grid_covariance.h.

template<typename PointT>

LeafConstPtr pcl::VoxelGridCovariance< PointT >::getLeaf ( Eigen::Vector3f & p ) [inline]

Get the voxel containing point p.

Parameters:

[in] p the point to get the leaf structure at

Returns:: const pointer to leaf structure

Definition at line 347 of file voxel_grid_covariance.h.

template<typename PointT>

const std::map<size_t, Leaf>& pcl::VoxelGridCovariance< PointT >::getLeaves ( ) [inline]

Get the leaf structure map.

Returns:: a map contataining all leaves

Definition at line 383 of file voxel_grid_covariance.h.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::getMinPointPerVoxel ( ) [inline]

Get the minimum number of points required for a cell to be used.

Returns:: the minimum number of points for required for a voxel to be used

Definition at line 239 of file voxel_grid_covariance.h.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::getNeighborhoodAtPoint	(	const PointT &	reference_point,
		std::vector< LeafConstPtr > &	neighbors
	)

Get the voxels surrounding point p, not including the voxel contating point p.

Note:: Only voxels containing a sufficient number of points are used (slower than radius search in practice).

Parameters:

[in]	reference_point	the point to get the leaf structure at
[out]	neighbors

Returns:: number of neighbors found

Definition at line 373 of file voxel_grid_covariance.hpp.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::nearestKSearch	(	const PointT &	point,
		int	k,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances
	)		`[inline]`

Search for the k-nearest occupied voxels for the given query point.

Note:: Only voxels containing a sufficient number of points are used.

Parameters:

[in]	point	the given query point
[in]	k	the number of neighbors to search for
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points

Returns:: number of neighbors found

Definition at line 414 of file voxel_grid_covariance.h.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::nearestKSearch	(	const PointCloud &	cloud,
		int	index,
		int	k,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances
	)		`[inline]`

Search for the k-nearest occupied voxels for the given query point.

Note:: Only voxels containing a sufficient number of points are used.

Parameters:

[in]	point	the given query point
[in]	k	the number of neighbors to search for
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points

Returns:: number of neighbors found

Definition at line 448 of file voxel_grid_covariance.h.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::radiusSearch	(	const PointT &	point,
		double	radius,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		`[inline]`

Search for all the nearest occupied voxels of the query point in a given radius.

Note:: Only voxels containing a sufficient number of points are used.

Parameters:

[in]	point	the given query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points

Returns:: number of neighbors found

Definition at line 466 of file voxel_grid_covariance.h.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::radiusSearch	(	const PointCloud &	cloud,
		int	index,
		double	radius,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		`[inline]`

Search for all the nearest occupied voxels of the query point in a given radius.

Note:: Only voxels containing a sufficient number of points are used.

Parameters:

[in]	cloud	the given query point
[in]	index	a valid index in cloud representing a valid (i.e., finite) query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points

Returns:: number of neighbors found

Definition at line 501 of file voxel_grid_covariance.h.

template<typename PointT>

void pcl::VoxelGridCovariance< PointT >::setCovEigValueInflationRatio ( double min_covar_eigvalue_mult ) [inline]

Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.

Parameters:

[in] min_points_per_voxel the minimum allowable ratio between eigenvalues

Definition at line 248 of file voxel_grid_covariance.h.

template<typename PointT>

void pcl::VoxelGridCovariance< PointT >::setMinPointPerVoxel ( int min_points_per_voxel ) [inline]

Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation).

Parameters:

[in] min_points_per_voxel the minimum number of points for required for a voxel to be used

Definition at line 222 of file voxel_grid_covariance.h.

Member Data Documentation

template<typename PointT>

KdTreeFLANN<PointT> pcl::VoxelGridCovariance< PointT >::kdtree_ [protected]

KdTree generated using voxel_centroids_ (used for searching).

Definition at line 536 of file voxel_grid_covariance.h.

template<typename PointT>

std::map<size_t, Leaf> pcl::VoxelGridCovariance< PointT >::leaves_ [protected]

Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of points).

Definition at line 527 of file voxel_grid_covariance.h.

template<typename PointT>

double pcl::VoxelGridCovariance< PointT >::min_covar_eigvalue_mult_ [protected]

Minimum allowable ratio between eigenvalues to prevent singular covariance matrices.

Definition at line 524 of file voxel_grid_covariance.h.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::min_points_per_voxel_ [protected]

Minimum points contained with in a voxel to allow it to be useable.

Definition at line 521 of file voxel_grid_covariance.h.

template<typename PointT>

bool pcl::VoxelGridCovariance< PointT >::searchable_ [protected]

Flag to determine if voxel structure is searchable.

Definition at line 518 of file voxel_grid_covariance.h.

template<typename PointT>

PointCloudPtr pcl::VoxelGridCovariance< PointT >::voxel_centroids_ [protected]

Point cloud containing centroids of voxels containing atleast minimum number of points.

Definition at line 530 of file voxel_grid_covariance.h.

template<typename PointT>

std::vector<int> pcl::VoxelGridCovariance< PointT >::voxel_centroids_leaf_indices_ [protected]

Indices of leaf structurs associated with each point in voxel_centroids_ (used for searching).

Definition at line 533 of file voxel_grid_covariance.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

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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