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

#include <pcl/filters/voxel_grid.h>

Inheritance diagram for pcl::VoxelGrid< PointT >:

Collaboration diagram for pcl::VoxelGrid< PointT >:

Public Types
typedef boost::shared_ptr < Filter< PointT > >	Ptr
typedef boost::shared_ptr < const Filter< PointT > >	ConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	VoxelGrid ()
	Empty constructor.
virtual	~VoxelGrid ()
	Destructor.
void	setLeafSize (const Eigen::Vector4f &leaf_size)
	Set the voxel grid leaf size.
void	setLeafSize (float lx, float ly, float lz)
	Set the voxel grid leaf size.
Eigen::Vector3f	getLeafSize ()
	Get the voxel grid leaf size.
void	setDownsampleAllData (bool downsample)
	Set to true if all fields need to be downsampled, or false if just XYZ.
bool	getDownsampleAllData ()
	Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).
void	setSaveLeafLayout (bool save_leaf_layout)
	Set to true if leaf layout information needs to be saved for later access.
bool	getSaveLeafLayout ()
	Returns true if leaf layout information will to be saved for later access.
Eigen::Vector3i	getMinBoxCoordinates ()
	Get the minimum coordinates of the bounding box (after filtering is performed).
Eigen::Vector3i	getMaxBoxCoordinates ()
	Get the minimum coordinates of the bounding box (after filtering is performed).
Eigen::Vector3i	getNrDivisions ()
	Get the number of divisions along all 3 axes (after filtering is performed).
Eigen::Vector3i	getDivisionMultiplier ()
	Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed).
int	getCentroidIndex (const PointT &p)
	Returns the index in the resulting downsampled cloud of the specified point.
std::vector< int >	getNeighborCentroidIndices (const PointT &reference_point, const 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).
std::vector< int >	getLeafLayout ()
	Returns the layout of the leafs for fast access to cells relative to current position.
Eigen::Vector3i	getGridCoordinates (float x, float y, float z)
	Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).
int	getCentroidIndexAt (const Eigen::Vector3i &ijk)
	Returns the index in the downsampled cloud corresponding to a given set of coordinates.
void	setFilterFieldName (const std::string &field_name)
	Provide the name of the field to be used for filtering data.
std::string const	getFilterFieldName ()
	Get the name of the field used for filtering.
void	setFilterLimits (const double &limit_min, const double &limit_max)
	Set the field filter limits.
void	getFilterLimits (double &limit_min, double &limit_max)
	Get the field filter limits (min/max) set by the user.
void	setFilterLimitsNegative (const bool limit_negative)
	Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max).
void	getFilterLimitsNegative (bool &limit_negative)
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
bool	getFilterLimitsNegative ()
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed.
void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

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

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

The VoxelGrid class creates a 3D voxel grid (think about a voxel grid as a set of tiny 3D boxes in space) over the input point cloud data. Then, in each voxel (i.e., 3D box), all the points present will be approximated (i.e., downsampled) with their centroid. This approach is a bit slower than approximating them with the center of the voxel, but it represents the underlying surface more accurately.

Author:: Radu B. Rusu, Bastian Steder

Definition at line 161 of file voxel_grid.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const Filter<PointT> > pcl::Filter< PointT >::ConstPtr [inherited]

Definition at line 76 of file filter.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 78 of file pcl_base.h.

template<typename PointT>

typedef boost::shared_ptr< Filter<PointT> > pcl::Filter< PointT >::Ptr [inherited]

Definition at line 75 of file filter.h.

Constructor & Destructor Documentation

template<typename PointT >

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

Empty constructor.

Definition at line 175 of file voxel_grid.h.

template<typename PointT >

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

Destructor.

Definition at line 188 of file voxel_grid.h.

Member Function Documentation

template<typename PointT>

void pcl::Filter< PointT >::filter ( PointCloud & output ) [inline, inherited]

Calls the filtering method and returns the filtered dataset in output.

Parameters:

[out] output the resultant filtered point cloud dataset

Reimplemented in pcl::FilterIndices< PointT >.

Definition at line 102 of file filter.h.

template<typename PointT >

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

Parameters:

[in] p the point to get the index at

Definition at line 281 of file voxel_grid.h.

template<typename PointT >

int pcl::VoxelGrid< PointT >::getCentroidIndexAt ( const Eigen::Vector3i & ijk ) [inline]

Returns the index in the downsampled cloud corresponding to a given set of coordinates.

Parameters:

[in] ijk the coordinates (i,j,k) in the grid (-1 if empty)

Definition at line 332 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 270 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 236 of file voxel_grid.h.

template<typename PointT >

std::string const pcl::VoxelGrid< PointT >::getFilterFieldName ( ) [inline]

Get the name of the field used for filtering.

Definition at line 356 of file voxel_grid.h.

template<typename PointT >

void pcl::VoxelGrid< PointT >::getFilterLimits	(	double &	limit_min,
		double &	limit_max
	)		`[inline]`

Get the field filter limits (min/max) set by the user.

The default values are -FLT_MAX, FLT_MAX.

Parameters:

[out]	limit_min	the minimum allowed field value
[out]	limit_max	the maximum allowed field value

Definition at line 377 of file voxel_grid.h.

template<typename PointT >

void pcl::VoxelGrid< PointT >::getFilterLimitsNegative ( bool & limit_negative ) [inline]

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Parameters:

[out] limit_negative true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 397 of file voxel_grid.h.

template<typename PointT >

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

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Returns:: true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 406 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).

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 323 of file voxel_grid.h.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.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 315 of file voxel_grid.h.

template<typename PointT >

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

Get the voxel grid leaf size.

Definition at line 224 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 258 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 252 of file voxel_grid.h.

template<typename PointT >

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

[in]	reference_point	the coordinates of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]	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 293 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 264 of file voxel_grid.h.

template<typename PointT>

IndicesConstPtr const pcl::Filter< PointT >::getRemovedIndices ( ) [inline, inherited]

Get the point indices being removed.

Definition at line 93 of file filter.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 246 of file voxel_grid.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.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:

[in] downsample the new value (true/false)

Definition at line 230 of file voxel_grid.h.

template<typename PointT >

void pcl::VoxelGrid< PointT >::setFilterFieldName ( const std::string & field_name ) [inline]

Provide the name of the field to be used for filtering data.

In conjunction with setFilterLimits, points having values outside this interval will be discarded.

Parameters:

[in] field_name the name of the field that contains values used for filtering

Definition at line 349 of file voxel_grid.h.

template<typename PointT >

void pcl::VoxelGrid< PointT >::setFilterLimits	(	const double &	limit_min,
		const double &	limit_max
	)		`[inline]`

Set the field filter limits.

All points having field values outside this interval will be discarded.

Parameters:

[in]	limit_min	the minimum allowed field value
[in]	limit_max	the maximum allowed field value

Definition at line 366 of file voxel_grid.h.

template<typename PointT >

void pcl::VoxelGrid< PointT >::setFilterLimitsNegative ( const bool limit_negative ) [inline]

Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max).

Default: false.

Parameters:

[in] limit_negative return data inside the interval (false) or outside (true)

Definition at line 388 of file voxel_grid.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >, and pcl::GeneralizedIterativeClosestPoint< PointT, PointT >.

Definition at line 103 of file pcl_base.h.

template<typename PointT >

void pcl::VoxelGrid< PointT >::setLeafSize ( const Eigen::Vector4f & leaf_size ) [inline]

Set the voxel grid leaf size.

Parameters:

[in] leaf_size the voxel grid leaf size

Definition at line 196 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:

[in]	lx	the leaf size for X
[in]	ly	the leaf size for Y
[in]	lz	the leaf size for Z

Definition at line 212 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:

[in] save_leaf_layout the new value (true/false)

Definition at line 242 of file voxel_grid.h.

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

/builddir/build/BUILD/PCL-1.5.1-Source/filters/include/pcl/filters/voxel_grid.h
/builddir/build/BUILD/PCL-1.5.1-Source/filters/include/pcl/filters/impl/voxel_grid.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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