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

#include <pcl/filters/approximate_voxel_grid.h>

Inheritance diagram for pcl::ApproximateVoxelGrid< PointT >:

Collaboration diagram for pcl::ApproximateVoxelGrid< PointT >:

Public Types
using	Ptr = shared_ptr< ApproximateVoxelGrid< PointT > >

using	ConstPtr = shared_ptr< const ApproximateVoxelGrid< PointT > >

Public Types inherited from pcl::Filter< PointT >
using	Ptr = shared_ptr< Filter< PointT > >

using	ConstPtr = shared_ptr< const Filter< PointT > >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	ApproximateVoxelGrid ()
	Empty constructor. More...

	ApproximateVoxelGrid (const ApproximateVoxelGrid &src)
	Copy constructor. More...

	~ApproximateVoxelGrid () override
	Destructor. More...

ApproximateVoxelGrid &	operator= (const ApproximateVoxelGrid &src)
	Copy operator. More...

void	setLeafSize (const Eigen::Vector3f &leaf_size)
	Set the voxel grid leaf size. More...

void	setLeafSize (float lx, float ly, float lz)
	Set the voxel grid leaf size. More...

Eigen::Vector3f	getLeafSize () const
	Get the voxel grid leaf size. More...

void	setDownsampleAllData (bool downsample)
	Set to true if all fields need to be downsampled, or false if just XYZ. More...

bool	getDownsampleAllData () const
	Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). More...

Public Member Functions inherited from pcl::Filter< PointT >
	Filter (bool extract_removed_indices=false)
	Empty constructor. More...

IndicesConstPtr const	getRemovedIndices () const
	Get the point indices being removed. More...

void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed. More...

void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output. More...

Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Types
using	FieldList = typename pcl::traits::fieldList< PointT >::type

Protected Member Functions
void	applyFilter (PointCloud &output) override
	Downsample a Point Cloud using a voxelized grid approach. More...

void	flush (PointCloud &output, std::size_t op, he *hhe, int rgba_index, int centroid_size)
	Write a single point from the hash to the output cloud. More...

Protected Member Functions inherited from pcl::Filter< PointT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
Eigen::Vector3f	leaf_size_
	The size of a leaf. More...

Eigen::Array3f	inverse_leaf_size_
	Compute 1/leaf_size_ to avoid division later. More...

bool	downsample_all_data_ {true}
	Set to true if all fields need to be downsampled, or false if just XYZ. More...

std::size_t	histsize_ {512}
	history buffer size, power of 2 More...

struct he *	history_
	history buffer More...

Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr	removed_indices_
	Indices of the points that are removed. More...

std::string	filter_name_
	The filter name. More...

bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points. More...

Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

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

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

Thus, this is similar to the VoxelGrid filter. This class works best if points that are stored in memory next to each other (in the input point cloud), are also somewhat close in 3D euclidean space (this is for example usually the case for organized point clouds). If the points have no storage order (e.g. in synthetic, randomly generated point clouds), this class will give very poor results, and VoxelGrid should be used instead.

Author: James Bowman, Radu B. Rusu

Definition at line 99 of file approximate_voxel_grid.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::ApproximateVoxelGrid< PointT >::ConstPtr = shared_ptr<const ApproximateVoxelGrid<PointT> >

Definition at line 122 of file approximate_voxel_grid.h.

◆ FieldList

template<typename PointT >

using pcl::ApproximateVoxelGrid< PointT >::FieldList = typename pcl::traits::fieldList<PointT>::type

protected

Definition at line 230 of file approximate_voxel_grid.h.

◆ Ptr

template<typename PointT >

using pcl::ApproximateVoxelGrid< PointT >::Ptr = shared_ptr<ApproximateVoxelGrid<PointT> >

Definition at line 121 of file approximate_voxel_grid.h.

Constructor & Destructor Documentation

◆ ApproximateVoxelGrid() [1/2]

template<typename PointT >

pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid ( )

inline

Empty constructor.

Definition at line 126 of file approximate_voxel_grid.h.

References pcl::Filter< PointT >::filter_name_.

◆ ApproximateVoxelGrid() [2/2]

template<typename PointT >

pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid ( const ApproximateVoxelGrid< PointT > & src )

inline

Copy constructor.

Parameters

[in] src the approximate voxel grid to copy into this.

Definition at line 139 of file approximate_voxel_grid.h.

References pcl::ApproximateVoxelGrid< PointT >::history_, and pcl::ApproximateVoxelGrid< PointT >::histsize_.

◆ ~ApproximateVoxelGrid()

template<typename PointT >

pcl::ApproximateVoxelGrid< PointT >::~ApproximateVoxelGrid ( )

inlineoverride

Destructor.

Definition at line 155 of file approximate_voxel_grid.h.

References pcl::ApproximateVoxelGrid< PointT >::history_.

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::ApproximateVoxelGrid< PointT >::applyFilter ( PointCloud & output )

overrideprotectedvirtual

Downsample a Point Cloud using a voxelized grid approach.

Parameters

output the resultant point cloud message

Implements pcl::Filter< PointT >.

Definition at line 65 of file approximate_voxel_grid.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ flush()

template<typename PointT >

void pcl::ApproximateVoxelGrid< PointT >::flush	(	PointCloud &	output,
		std::size_t	op,
		he *	hhe,
		int	rgba_index,
		int	centroid_size
	)

protected

Write a single point from the hash to the output cloud.

Definition at line 47 of file approximate_voxel_grid.hpp.

◆ getDownsampleAllData()

template<typename PointT >

bool pcl::ApproximateVoxelGrid< PointT >::getDownsampleAllData ( ) const

inline

Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).

Definition at line 212 of file approximate_voxel_grid.h.

References pcl::ApproximateVoxelGrid< PointT >::downsample_all_data_.

◆ getLeafSize()

template<typename PointT >

Eigen::Vector3f pcl::ApproximateVoxelGrid< PointT >::getLeafSize ( ) const

inline

Get the voxel grid leaf size.

Definition at line 200 of file approximate_voxel_grid.h.

References pcl::ApproximateVoxelGrid< PointT >::leaf_size_.

◆ operator=()

template<typename PointT >

ApproximateVoxelGrid& pcl::ApproximateVoxelGrid< PointT >::operator= ( const ApproximateVoxelGrid< PointT > & src )

inline

Copy operator.

Parameters

[in] src the approximate voxel grid to copy into this.

Definition at line 165 of file approximate_voxel_grid.h.

References pcl::ApproximateVoxelGrid< PointT >::downsample_all_data_, pcl::ApproximateVoxelGrid< PointT >::history_, pcl::ApproximateVoxelGrid< PointT >::histsize_, pcl::ApproximateVoxelGrid< PointT >::inverse_leaf_size_, and pcl::ApproximateVoxelGrid< PointT >::leaf_size_.

◆ setDownsampleAllData()

template<typename PointT >

void pcl::ApproximateVoxelGrid< 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 206 of file approximate_voxel_grid.h.

References pcl::ApproximateVoxelGrid< PointT >::downsample_all_data_.

◆ setLeafSize() [1/2]

template<typename PointT >

void pcl::ApproximateVoxelGrid< PointT >::setLeafSize ( const Eigen::Vector3f & leaf_size )

inline

Set the voxel grid leaf size.

Parameters

[in] leaf_size the voxel grid leaf size

Definition at line 181 of file approximate_voxel_grid.h.

References pcl::ApproximateVoxelGrid< PointT >::inverse_leaf_size_, and pcl::ApproximateVoxelGrid< PointT >::leaf_size_.

Referenced by pcl::ApproximateVoxelGrid< PointT >::setLeafSize().

◆ setLeafSize() [2/2]

template<typename PointT >

void pcl::ApproximateVoxelGrid< 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 193 of file approximate_voxel_grid.h.

References pcl::ApproximateVoxelGrid< PointT >::setLeafSize().

Member Data Documentation

◆ downsample_all_data_

template<typename PointT >

bool pcl::ApproximateVoxelGrid< PointT >::downsample_all_data_ {true}

protected

Set to true if all fields need to be downsampled, or false if just XYZ.

Definition at line 222 of file approximate_voxel_grid.h.

Referenced by pcl::ApproximateVoxelGrid< PointT >::getDownsampleAllData(), pcl::ApproximateVoxelGrid< PointT >::operator=(), and pcl::ApproximateVoxelGrid< PointT >::setDownsampleAllData().

◆ history_

template<typename PointT >

struct he* pcl::ApproximateVoxelGrid< PointT >::history_

protected

history buffer

Definition at line 228 of file approximate_voxel_grid.h.

Referenced by pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid(), pcl::ApproximateVoxelGrid< PointT >::operator=(), and pcl::ApproximateVoxelGrid< PointT >::~ApproximateVoxelGrid().

◆ histsize_

template<typename PointT >

std::size_t pcl::ApproximateVoxelGrid< PointT >::histsize_ {512}

protected

history buffer size, power of 2

Definition at line 225 of file approximate_voxel_grid.h.

Referenced by pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid(), and pcl::ApproximateVoxelGrid< PointT >::operator=().

◆ inverse_leaf_size_

template<typename PointT >

Eigen::Array3f pcl::ApproximateVoxelGrid< PointT >::inverse_leaf_size_

protected

Compute 1/leaf_size_ to avoid division later.

Definition at line 219 of file approximate_voxel_grid.h.

Referenced by pcl::ApproximateVoxelGrid< PointT >::operator=(), and pcl::ApproximateVoxelGrid< PointT >::setLeafSize().

◆ leaf_size_

template<typename PointT >

Eigen::Vector3f pcl::ApproximateVoxelGrid< PointT >::leaf_size_

protected

The size of a leaf.

Definition at line 216 of file approximate_voxel_grid.h.

Referenced by pcl::ApproximateVoxelGrid< PointT >::getLeafSize(), pcl::ApproximateVoxelGrid< PointT >::operator=(), and pcl::ApproximateVoxelGrid< PointT >::setLeafSize().

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

pcl/filters/approximate_voxel_grid.h
pcl/filters/impl/approximate_voxel_grid.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ FieldList

◆ Ptr

Constructor & Destructor Documentation

◆ ApproximateVoxelGrid() [1/2]

◆ ApproximateVoxelGrid() [2/2]

◆ ~ApproximateVoxelGrid()

Member Function Documentation

◆ applyFilter()

◆ flush()

◆ getDownsampleAllData()

◆ getLeafSize()

◆ operator=()

◆ setDownsampleAllData()

◆ setLeafSize() [1/2]

◆ setLeafSize() [2/2]

Member Data Documentation

◆ downsample_all_data_

◆ history_

◆ histsize_

◆ inverse_leaf_size_

◆ leaf_size_

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