GridMinimum assembles a local 2D grid over a given PointCloud, and downsamples the data. More...

#include <pcl/filters/grid_minimum.h>

Inheritance diagram for pcl::GridMinimum< PointT >:

Collaboration diagram for pcl::GridMinimum< PointT >:

Public Member Functions
	GridMinimum (const float resolution)
	Empty constructor. More...

	~GridMinimum () override=default
	Destructor. More...

void	setResolution (const float resolution)
	Set the grid resolution. More...

float	getResolution ()
	Get the grid resolution. More...

Public Member Functions inherited from pcl::FilterIndices< PointT >
	FilterIndices (bool extract_removed_indices=false)
	Constructor. More...

void	filter (Indices &indices)
	Calls the filtering method and returns the filtered point cloud indices. More...

void	setNegative (bool negative)
	Set whether the regular conditions for points filtering should apply, or the inverted conditions. More...

bool	getNegative () const
	Get whether the regular conditions for points filtering should apply, or the inverted conditions. More...

void	setKeepOrganized (bool keep_organized)
	Set whether the filtered points should be kept and set to the value given through setUserFilterValue (default: NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More...

bool	getKeepOrganized () const
	Get whether the filtered points should be kept and set to the value given through setUserFilterValue (default = NaN), or removed from the PointCloud, thus potentially breaking its organized structure. More...

void	setUserFilterValue (float value)
	Provide a value that the filtered points should be set to instead of removing them. 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	PointCloud = typename FilterIndices< PointT >::PointCloud

Protected Member Functions
void	applyFilter (PointCloud &output) override
	Downsample a Point Cloud using a 2D grid approach. More...

void	applyFilter (Indices &indices) override
	Filtered results are indexed by an indices array. More...

void	applyFilterIndices (Indices &indices)
	Filtered results are indexed by an indices array. 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
float	resolution_
	The resolution. More...

float	inverse_resolution_
	Internal resolution stored as 1/resolution_ for efficiency reasons. More...

Protected Attributes inherited from pcl::FilterIndices< PointT >
bool	negative_ {false}
	False = normal filter behavior (default), true = inverted behavior. More...

bool	keep_organized_ {false}
	False = remove points (default), true = redefine points, keep structure. More...

float	user_filter_value_
	The user given value that the filtered point dimensions should be set to (default = NaN). 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...

Additional Inherited Members
Public Types inherited from pcl::FilterIndices< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	Ptr = shared_ptr< FilterIndices< PointT > >

using	ConstPtr = shared_ptr< const FilterIndices< 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

Detailed Description

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

GridMinimum assembles a local 2D grid over a given PointCloud, and downsamples the data.

The GridMinimum class creates a 2D grid over the input point cloud data. Then, in each cell (i.e., 2D grid element), all the points present will be downsampled with the minimum z value. This grid minimum can be useful in a number of topographic processing tasks such as crudely estimating ground returns, especially under foliage.

Author: Bradley J Chambers

Definition at line 61 of file grid_minimum.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT >

using pcl::GridMinimum< PointT >::PointCloud = typename FilterIndices<PointT>::PointCloud

protected

Definition at line 69 of file grid_minimum.h.

Constructor & Destructor Documentation

◆ GridMinimum()

template<typename PointT >

pcl::GridMinimum< PointT >::GridMinimum ( const float resolution )

inline

Empty constructor.

Definition at line 73 of file grid_minimum.h.

References pcl::Filter< PointT >::filter_name_, and pcl::GridMinimum< PointT >::setResolution().

◆ ~GridMinimum()

template<typename PointT >

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

overridedefault

Destructor.

Member Function Documentation

◆ applyFilter() [1/2]

template<typename PointT >

void pcl::GridMinimum< PointT >::applyFilter ( Indices & indices )

inlineoverrideprotectedvirtual

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 114 of file grid_minimum.h.

References pcl::GridMinimum< PointT >::applyFilterIndices().

◆ applyFilter() [2/2]

template<typename PointT >

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

overrideprotectedvirtual

Downsample a Point Cloud using a 2D grid approach.

Parameters

[out] output the resultant point cloud message

Reimplemented from pcl::FilterIndices< PointT >.

Definition at line 61 of file grid_minimum.hpp.

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

◆ applyFilterIndices()

template<typename PointT >

void pcl::GridMinimum< PointT >::applyFilterIndices ( Indices & indices )

protected

Filtered results are indexed by an indices array.

Parameters

[out] indices The resultant indices.

Definition at line 81 of file grid_minimum.hpp.

References pcl::isXYZFinite().

Referenced by pcl::GridMinimum< PointT >::applyFilter().

◆ getResolution()

template<typename PointT >

float pcl::GridMinimum< PointT >::getResolution ( )

inline

Get the grid resolution.

Definition at line 95 of file grid_minimum.h.

References pcl::GridMinimum< PointT >::resolution_.

◆ setResolution()

template<typename PointT >

void pcl::GridMinimum< PointT >::setResolution ( const float resolution )

inline

Set the grid resolution.

Parameters

[in] resolution the grid resolution

Definition at line 86 of file grid_minimum.h.

References pcl::GridMinimum< PointT >::inverse_resolution_, and pcl::GridMinimum< PointT >::resolution_.

Referenced by pcl::GridMinimum< PointT >::GridMinimum().

Member Data Documentation

◆ inverse_resolution_

template<typename PointT >

float pcl::GridMinimum< PointT >::inverse_resolution_

protected

Internal resolution stored as 1/resolution_ for efficiency reasons.

Definition at line 102 of file grid_minimum.h.

Referenced by pcl::GridMinimum< PointT >::setResolution().

◆ resolution_

template<typename PointT >

float pcl::GridMinimum< PointT >::resolution_

protected

The resolution.

Definition at line 99 of file grid_minimum.h.

Referenced by pcl::GridMinimum< PointT >::getResolution(), and pcl::GridMinimum< PointT >::setResolution().

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

pcl/filters/grid_minimum.h
pcl/filters/impl/grid_minimum.hpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ PointCloud

Constructor & Destructor Documentation

◆ GridMinimum()

◆ ~GridMinimum()

Member Function Documentation

◆ applyFilter() [1/2]

◆ applyFilter() [2/2]

◆ applyFilterIndices()

◆ getResolution()

◆ setResolution()

Member Data Documentation

◆ inverse_resolution_

◆ resolution_

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