pcl::VoxelGrid< PointT > Class Template Reference

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 >:

Classes
struct	Leaf
	Simple structure to hold an nD centroid and the number of points in a leaf. More...
Public Member Functions
int	getCentroidIndex (PointT p)
	Returns the index in the resulting downsampled cloud of the specified point.
int	getCentroidIndexAt (Eigen::Vector3i ijk, bool verbose=true)
	Returns the index in the downsampled cloud corresponding to coordinates (i,j,k) in the grid (-1 if empty).
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).
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 (PointT reference_point, 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	setLeafSize (float lx, float ly, float lz)
	Set the voxel grid leaf size.
void	setLeafSize (const Eigen::Vector4f &leaf_size)
	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.
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.
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::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.
std::map< size_t, Leaf >	leaves_
	The 3D grid leaves.
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_.
Private Types
typedef Filter< PointT > ::PointCloud	PointCloud
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointCloud::Ptr	PointCloudPtr

Detailed Description

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

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

Author:: Radu Bogdan Rusu, Bastian Steder

Definition at line 125 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 297 of file voxel_grid.h.

template<typename PointT>

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

Reimplemented from pcl::Filter< PointT >.

Definition at line 136 of file voxel_grid.h.

template<typename PointT>

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

Reimplemented from pcl::Filter< PointT >.

Definition at line 138 of file voxel_grid.h.

template<typename PointT>

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

Reimplemented from pcl::Filter< PointT >.

Definition at line 137 of file voxel_grid.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Empty constructor.

Definition at line 142 of file voxel_grid.h.

Member Function Documentation

template<typename PointT >

void pcl::VoxelGrid< PointT >::applyFilter ( PointCloud & output ) [inline, 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 93 of file voxel_grid.hpp.

template<typename PointT>

int pcl::VoxelGrid< PointT >::getCentroidIndex ( 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)

Definition at line 213 of file voxel_grid.h.

template<typename PointT>

int pcl::VoxelGrid< PointT >::getCentroidIndexAt	(	Eigen::Vector3i	ijk,
		bool	verbose = `true`
	)			`[inline]`

Returns the index in the downsampled cloud corresponding to coordinates (i,j,k) in the grid (-1 if empty).

Definition at line 258 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 206 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 180 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).

Definition at line 251 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 247 of file voxel_grid.h.

template<typename PointT>

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

Get the voxel grid leaf size.

Definition at line 169 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 198 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 194 of file voxel_grid.h.

template<typename PointT>

std::vector<int> pcl::VoxelGrid< PointT >::getNeighborCentroidIndices	(	PointT	reference_point,
		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:

	reference_point	the coordinates of the reference point (corresponding cell is allowed to be empty/out of bounds)
	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 225 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 202 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 190 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:

downsample

the new value (true/false)

Definition at line 175 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:

	lx	the leaf size for X
	ly	the leaf size for Y
	lz	the leaf size for Z

Definition at line 162 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:

leaf_size

the voxel grid leaf size

Definition at line 154 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:

save_leaf_layout

the new value (true/false)

Definition at line 186 of file voxel_grid.h.

Member Data Documentation

template<typename PointT>

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

Definition at line 295 of file voxel_grid.h.

template<typename PointT>

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

Definition at line 295 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 286 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 292 of file voxel_grid.h.

template<typename PointT>

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

The size of a leaf.

Definition at line 283 of file voxel_grid.h.

template<typename PointT>

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

The 3D grid leaves.

Definition at line 280 of file voxel_grid.h.

template<typename PointT>

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

Definition at line 295 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 295 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 289 of file voxel_grid.h.

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

pcl::VoxelGrid< PointT > Class Template Reference

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Types

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 >