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< sensor_msgs::PointCloud2 >:

Collaboration diagram for pcl::VoxelGrid< sensor_msgs::PointCloud2 >:

Public Types
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 (float x, float y, float z)
	Returns the index in the resulting downsampled cloud of the specified point.
std::vector< int >	getNeighborCentroidIndices (float x, float y, float z, 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 >	getNeighborCentroidIndices (float x, float y, float z, const std::vector< Eigen::Vector3i > &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 (PointCloud2 &output)
	Calls the filtering method and returns the filtered dataset in output.
void	setInputCloud (const PointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloud2ConstPtr 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 PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.

Detailed Description

template<>
class pcl::VoxelGrid< sensor_msgs::PointCloud2 >

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, Radoslaw Cybulski

Definition at line 464 of file voxel_grid.h.

Member Typedef Documentation

typedef PointIndices::ConstPtr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesConstPtr [inherited]

Definition at line 280 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< sensor_msgs::PointCloud2 >::PointIndicesPtr [inherited]

Definition at line 279 of file pcl_base.h.

Constructor & Destructor Documentation

pcl::VoxelGrid< sensor_msgs::PointCloud2 >::VoxelGrid ( ) [inline]

Empty constructor.

Definition at line 475 of file voxel_grid.h.

virtual pcl::VoxelGrid< sensor_msgs::PointCloud2 >::~VoxelGrid ( ) [inline, virtual]

Destructor.

Definition at line 487 of file voxel_grid.h.

Member Function Documentation

void pcl::Filter< sensor_msgs::PointCloud2 >::filter ( PointCloud2 & output ) [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< sensor_msgs::PointCloud2 >.

int pcl::VoxelGrid< sensor_msgs::PointCloud2 >::getCentroidIndex	(	float	x,
		float	y,
		float	z
	)		`[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]	x	the X point coordinate to get the index at
[in]	y	the Y point coordinate to get the index at
[in]	z	the Z point coordinate to get the index at

Definition at line 579 of file voxel_grid.h.

int pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 651 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 569 of file voxel_grid.h.

bool pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 535 of file voxel_grid.h.

std::string const pcl::VoxelGrid< sensor_msgs::PointCloud2 >::getFilterFieldName ( ) [inline]

Get the name of the field used for filtering.

Definition at line 675 of file voxel_grid.h.

void pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 696 of file voxel_grid.h.

void pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 716 of file voxel_grid.h.

bool pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 725 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 642 of file voxel_grid.h.

IndicesPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 329 of file pcl_base.h.

PointCloud2ConstPtr const pcl::PCLBase< sensor_msgs::PointCloud2 >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 303 of file pcl_base.h.

std::vector<int> pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 634 of file voxel_grid.h.

Eigen::Vector3f pcl::VoxelGrid< sensor_msgs::PointCloud2 >::getLeafSize ( ) [inline]

Get the voxel grid leaf size.

Definition at line 523 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< sensor_msgs::PointCloud2 >::getMaxBoxCoordinates ( ) [inline]

Get the minimum coordinates of the bounding box (after filtering is performed).

Definition at line 557 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< sensor_msgs::PointCloud2 >::getMinBoxCoordinates ( ) [inline]

Get the minimum coordinates of the bounding box (after filtering is performed).

Definition at line 551 of file voxel_grid.h.

std::vector<int> pcl::VoxelGrid< sensor_msgs::PointCloud2 >::getNeighborCentroidIndices	(	float	x,
		float	y,
		float	z,
		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]	x	the X coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]	y	the Y coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]	z	the Z coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[out]	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 593 of file voxel_grid.h.

std::vector<int> pcl::VoxelGrid< sensor_msgs::PointCloud2 >::getNeighborCentroidIndices	(	float	x,
		float	y,
		float	z,
		const std::vector< Eigen::Vector3i > &	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]	x	the X coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]	y	the Y coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]	z	the Z coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[out]	relative_coordinates	vector with the elements 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 620 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< sensor_msgs::PointCloud2 >::getNrDivisions ( ) [inline]

Get the number of divisions along all 3 axes (after filtering is performed).

Definition at line 563 of file voxel_grid.h.

IndicesConstPtr const pcl::Filter< sensor_msgs::PointCloud2 >::getRemovedIndices ( ) [inline, inherited]

Get the point indices being removed.

Definition at line 177 of file filter.h.

bool pcl::VoxelGrid< sensor_msgs::PointCloud2 >::getSaveLeafLayout ( ) [inline]

Returns true if leaf layout information will to be saved for later access.

Definition at line 545 of file voxel_grid.h.

void pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 529 of file voxel_grid.h.

void pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 668 of file voxel_grid.h.

void pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 685 of file voxel_grid.h.

void pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 707 of file voxel_grid.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::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 309 of file pcl_base.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::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 320 of file pcl_base.h.

void pcl::PCLBase< sensor_msgs::PointCloud2 >::setInputCloud ( const PointCloud2ConstPtr & cloud ) [inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

void pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 495 of file voxel_grid.h.

void pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 511 of file voxel_grid.h.

void pcl::VoxelGrid< sensor_msgs::PointCloud2 >::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 541 of file voxel_grid.h.

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

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

Public Types

Public Member Functions

Detailed Description

template<> class pcl::VoxelGrid< sensor_msgs::PointCloud2 >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<>
class pcl::VoxelGrid< sensor_msgs::PointCloud2 >