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
using	Ptr = shared_ptr< VoxelGrid< PointT > >

using	ConstPtr = shared_ptr< const VoxelGrid< 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
PCL_MAKE_ALIGNED_OPERATOR_NEW	VoxelGrid ()
	Empty constructor. More...

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

void	setLeafSize (const Eigen::Vector4f &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...

void	setMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel)
	Set the minimum number of points required for a voxel to be used. More...

unsigned int	getMinimumPointsNumberPerVoxel () const
	Return the minimum number of points required for a voxel to be used. More...

void	setSaveLeafLayout (bool save_leaf_layout)
	Set to true if leaf layout information needs to be saved for later access. More...

bool	getSaveLeafLayout () const
	Returns true if leaf layout information will to be saved for later access. More...

Eigen::Vector3i	getMinBoxCoordinates () const
	Get the minimum coordinates of the bounding box (after filtering is performed). More...

Eigen::Vector3i	getMaxBoxCoordinates () const
	Get the minimum coordinates of the bounding box (after filtering is performed). More...

Eigen::Vector3i	getNrDivisions () const
	Get the number of divisions along all 3 axes (after filtering is performed). More...

Eigen::Vector3i	getDivisionMultiplier () const
	Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed). More...

int	getCentroidIndex (const PointT &p) const
	Returns the index in the resulting downsampled cloud of the specified point. More...

std::vector< int >	getNeighborCentroidIndices (const PointT &reference_point, const Eigen::MatrixXi &relative_coordinates) const
	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). More...

std::vector< int >	getLeafLayout () const
	Returns the layout of the leafs for fast access to cells relative to current position. More...

Eigen::Vector3i	getGridCoordinates (float x, float y, float z) const
	Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z). More...

int	getCentroidIndexAt (const Eigen::Vector3i &ijk) const
	Returns the index in the downsampled cloud corresponding to a given set of coordinates. More...

void	setFilterFieldName (const std::string &field_name)
	Provide the name of the field to be used for filtering data. More...

std::string const	getFilterFieldName () const
	Get the name of the field used for filtering. More...

void	setFilterLimits (const double &limit_min, const double &limit_max)
	Set the field filter limits. More...

void	getFilterLimits (double &limit_min, double &limit_max) const
	Get the field filter limits (min/max) set by the user. More...

void	setFilterLimitsNegative (const bool limit_negative)
	Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). More...

void	getFilterLimitsNegative (bool &limit_negative) const
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). More...

bool	getFilterLimitsNegative () const
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). 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 Filter< PointT >::PointCloud

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

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...

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::Vector4f	leaf_size_
	The size of a leaf. More...

Eigen::Array4f	inverse_leaf_size_
	Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. More...

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

bool	save_leaf_layout_ {false}
	Set to true if leaf layout information needs to be saved in leaf_layout_. More...

std::vector< int >	leaf_layout_
	The leaf layout information for fast access to cells relative to current position. More...

Eigen::Vector4i	min_b_
	The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. More...

Eigen::Vector4i	max_b_

Eigen::Vector4i	div_b_

Eigen::Vector4i	divb_mul_

std::string	filter_field_name_
	The desired user filter field name. More...

double	filter_limit_min_ {std::numeric_limits<float>::lowest()}
	The minimum allowed filter value a point will be considered from. More...

double	filter_limit_max_ {std::numeric_limits<float>::max()}
	The maximum allowed filter value a point will be considered from. More...

bool	filter_limit_negative_ {false}
	Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). More...

unsigned int	min_points_per_voxel_ {0}
	Minimum number of points per voxel for the centroid to be computed. 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::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 209 of file voxel_grid.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

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

Definition at line 224 of file voxel_grid.h.

◆ FieldList

template<typename PointT >

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

protected

Definition at line 515 of file voxel_grid.h.

◆ PointCloud

template<typename PointT >

using pcl::VoxelGrid< PointT >::PointCloud = typename Filter<PointT>::PointCloud

protected

Definition at line 217 of file voxel_grid.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::VoxelGrid< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

protected

Definition at line 219 of file voxel_grid.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::VoxelGrid< PointT >::PointCloudPtr = typename PointCloud::Ptr

protected

Definition at line 218 of file voxel_grid.h.

◆ Ptr

template<typename PointT >

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

Definition at line 223 of file voxel_grid.h.

Constructor & Destructor Documentation

◆ VoxelGrid()

template<typename PointT >

PCL_MAKE_ALIGNED_OPERATOR_NEW pcl::VoxelGrid< PointT >::VoxelGrid ( )

inline

Empty constructor.

Definition at line 229 of file voxel_grid.h.

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

◆ ~VoxelGrid()

template<typename PointT >

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

overridedefault

Destructor.

Member Function Documentation

◆ applyFilter()

template<typename PointT >

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

overrideprotectedvirtual

Downsample a Point Cloud using a voxelized grid approach.

Parameters

[out] output the resultant point cloud message

Implements pcl::Filter< PointT >.

Reimplemented in pcl::VoxelGridCovariance< PointT >, and pcl::VoxelGridCovariance< PointTarget >.

Definition at line 216 of file voxel_grid.hpp.

References pcl::CentroidPoint< PointT >::add(), pcl::PointCloud< PointT >::clear(), pcl::CentroidPoint< PointT >::get(), pcl::PointCloud< PointT >::height, pcl::internal::cloud_point_index_idx::idx, pcl::PointCloud< PointT >::is_dense, pcl::isXYZFinite(), pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ getCentroidIndex()

template<typename PointT >

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

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 343 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::divb_mul_, pcl::VoxelGrid< PointT >::inverse_leaf_size_, pcl::VoxelGrid< PointT >::leaf_layout_, and pcl::VoxelGrid< PointT >::min_b_.

Referenced by pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud().

◆ getCentroidIndexAt()

template<typename PointT >

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

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 400 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::divb_mul_, pcl::VoxelGrid< PointT >::leaf_layout_, and pcl::VoxelGrid< PointT >::min_b_.

◆ getDivisionMultiplier()

template<typename PointT >

Eigen::Vector3i pcl::VoxelGrid< PointT >::getDivisionMultiplier ( ) const

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 332 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::divb_mul_.

◆ getDownsampleAllData()

template<typename PointT >

bool pcl::VoxelGrid< 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 287 of file voxel_grid.h.

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

◆ getFilterFieldName()

template<typename PointT >

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

inline

Get the name of the field used for filtering.

Definition at line 424 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::filter_field_name_.

◆ getFilterLimits()

template<typename PointT >

void pcl::VoxelGrid< PointT >::getFilterLimits	(	double &	limit_min,
		double &	limit_max
	)		const

inline

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

The default values are std::numeric_limits<float>::lowest(), std::numeric_limits<float>::max().

Parameters

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

Definition at line 446 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::filter_limit_max_, and pcl::VoxelGrid< PointT >::filter_limit_min_.

◆ getFilterLimitsNegative() [1/2]

template<typename PointT >

bool pcl::VoxelGrid< PointT >::getFilterLimitsNegative ( ) const

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 476 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::filter_limit_negative_.

◆ getFilterLimitsNegative() [2/2]

template<typename PointT >

void pcl::VoxelGrid< PointT >::getFilterLimitsNegative ( bool & limit_negative ) const

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

Deprecated:: Scheduled for removal in version 1 . 16 : "use bool getFilterLimitsNegative() instead"

Definition at line 467 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::filter_limit_negative_.

◆ getGridCoordinates()

template<typename PointT >

Eigen::Vector3i pcl::VoxelGrid< PointT >::getGridCoordinates	(	float	x,
		float	y,
		float	z
	)		const

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 389 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::inverse_leaf_size_.

◆ getLeafLayout()

template<typename PointT >

std::vector<int> pcl::VoxelGrid< PointT >::getLeafLayout ( ) const

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 381 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::leaf_layout_.

◆ getLeafSize()

template<typename PointT >

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

inline

Get the voxel grid leaf size.

Definition at line 275 of file voxel_grid.h.

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

◆ getMaxBoxCoordinates()

template<typename PointT >

Eigen::Vector3i pcl::VoxelGrid< PointT >::getMaxBoxCoordinates ( ) const

inline

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

Definition at line 320 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::max_b_.

◆ getMinBoxCoordinates()

template<typename PointT >

Eigen::Vector3i pcl::VoxelGrid< PointT >::getMinBoxCoordinates ( ) const

inline

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

Definition at line 314 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::min_b_.

◆ getMinimumPointsNumberPerVoxel()

template<typename PointT >

unsigned int pcl::VoxelGrid< PointT >::getMinimumPointsNumberPerVoxel ( ) const

inline

Return the minimum number of points required for a voxel to be used.

Definition at line 298 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::min_points_per_voxel_.

◆ getNeighborCentroidIndices()

template<typename PointT >

std::vector<int> pcl::VoxelGrid< PointT >::getNeighborCentroidIndices	(	const PointT &	reference_point,
		const Eigen::MatrixXi &	relative_coordinates
	)		const

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 357 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::divb_mul_, pcl::VoxelGrid< PointT >::inverse_leaf_size_, pcl::VoxelGrid< PointT >::leaf_layout_, pcl::VoxelGrid< PointT >::max_b_, and pcl::VoxelGrid< PointT >::min_b_.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature().

◆ getNrDivisions()

template<typename PointT >

Eigen::Vector3i pcl::VoxelGrid< PointT >::getNrDivisions ( ) const

inline

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

Definition at line 326 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::div_b_.

◆ getSaveLeafLayout()

template<typename PointT >

bool pcl::VoxelGrid< PointT >::getSaveLeafLayout ( ) const

inline

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

Definition at line 308 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::save_leaf_layout_.

◆ setDownsampleAllData()

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 281 of file voxel_grid.h.

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

Referenced by pcl::CrfSegmentation< PointT >::createVoxelGrid(), and pcl::HypothesisVerification< ModelT, SceneT >::setSceneCloud().

◆ setFilterFieldName()

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 417 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::filter_field_name_.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::filter().

◆ setFilterLimits()

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 434 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::filter_limit_max_, and pcl::VoxelGrid< PointT >::filter_limit_min_.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::filter().

◆ setFilterLimitsNegative()

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 457 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::filter_limit_negative_.

◆ setLeafSize() [1/2]

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 247 of file voxel_grid.h.

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

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::CrfSegmentation< PointT >::createVoxelGrid(), pcl::SIFTKeypoint< PointInT, PointOutT >::detectKeypoints(), pcl::people::GroundBasedPeopleDetectionApp< PointT >::filter(), pcl::NormalDistributionsTransform< PointSource, PointTarget, Scalar >::init(), pcl::HypothesisVerification< ModelT, SceneT >::setSceneCloud(), and pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud().

◆ setLeafSize() [2/2]

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 263 of file voxel_grid.h.

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

◆ setMinimumPointsNumberPerVoxel()

template<typename PointT >

void pcl::VoxelGrid< PointT >::setMinimumPointsNumberPerVoxel ( unsigned int min_points_per_voxel )

inline

Set the minimum number of points required for a voxel to be used.

Parameters

[in] min_points_per_voxel the minimum number of points for required for a voxel to be used

Definition at line 293 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::min_points_per_voxel_.

◆ setSaveLeafLayout()

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 304 of file voxel_grid.h.

References pcl::VoxelGrid< PointT >::save_leaf_layout_.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud(), and pcl::VoxelGridOcclusionEstimation< PointT >::VoxelGridOcclusionEstimation().

Member Data Documentation

◆ div_b_

template<typename PointT >

Eigen::Vector4i pcl::VoxelGrid< PointT >::div_b_

protected

Definition at line 498 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getNrDivisions().

◆ divb_mul_

template<typename PointT >

Eigen::Vector4i pcl::VoxelGrid< PointT >::divb_mul_

protected

Definition at line 498 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getCentroidIndex(), pcl::VoxelGrid< PointT >::getCentroidIndexAt(), pcl::VoxelGrid< PointT >::getDivisionMultiplier(), pcl::VoxelGridCovariance< PointT >::getLeaf(), and pcl::VoxelGrid< PointT >::getNeighborCentroidIndices().

◆ downsample_all_data_

template<typename PointT >

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

protected

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

Definition at line 489 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getDownsampleAllData(), pcl::VoxelGrid< PointT >::setDownsampleAllData(), and pcl::VoxelGridCovariance< PointT >::VoxelGridCovariance().

◆ filter_field_name_

template<typename PointT >

std::string pcl::VoxelGrid< PointT >::filter_field_name_

protected

The desired user filter field name.

Definition at line 501 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getFilterFieldName(), and pcl::VoxelGrid< PointT >::setFilterFieldName().

◆ filter_limit_max_

template<typename PointT >

double pcl::VoxelGrid< PointT >::filter_limit_max_ {std::numeric_limits<float>::max()}

protected

The maximum allowed filter value a point will be considered from.

Definition at line 507 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getFilterLimits(), and pcl::VoxelGrid< PointT >::setFilterLimits().

◆ filter_limit_min_

template<typename PointT >

double pcl::VoxelGrid< PointT >::filter_limit_min_ {std::numeric_limits<float>::lowest()}

protected

The minimum allowed filter value a point will be considered from.

Definition at line 504 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getFilterLimits(), and pcl::VoxelGrid< PointT >::setFilterLimits().

◆ filter_limit_negative_

template<typename PointT >

bool pcl::VoxelGrid< PointT >::filter_limit_negative_ {false}

protected

Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_).

Default: false.

Definition at line 510 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getFilterLimitsNegative(), and pcl::VoxelGrid< PointT >::setFilterLimitsNegative().

◆ inverse_leaf_size_

template<typename PointT >

Eigen::Array4f pcl::VoxelGrid< PointT >::inverse_leaf_size_

protected

Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.

Definition at line 486 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getCentroidIndex(), pcl::VoxelGrid< PointT >::getGridCoordinates(), pcl::VoxelGridOcclusionEstimation< PointT >::getGridCoordinatesRound(), pcl::VoxelGridCovariance< PointT >::getLeaf(), pcl::VoxelGrid< PointT >::getNeighborCentroidIndices(), and pcl::VoxelGrid< PointT >::setLeafSize().

◆ leaf_layout_

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 495 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getCentroidIndex(), pcl::VoxelGrid< PointT >::getCentroidIndexAt(), pcl::VoxelGrid< PointT >::getLeafLayout(), and pcl::VoxelGrid< PointT >::getNeighborCentroidIndices().

◆ leaf_size_

template<typename PointT >

Eigen::Vector4f pcl::VoxelGrid< PointT >::leaf_size_

protected

The size of a leaf.

Definition at line 483 of file voxel_grid.h.

Referenced by pcl::VoxelGridOcclusionEstimation< PointT >::getCentroidCoordinate(), pcl::VoxelGrid< PointT >::getLeafSize(), pcl::VoxelGrid< PointT >::setLeafSize(), and pcl::VoxelGridCovariance< PointT >::VoxelGridCovariance().

◆ max_b_

template<typename PointT >

Eigen::Vector4i pcl::VoxelGrid< PointT >::max_b_

protected

Definition at line 498 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getMaxBoxCoordinates(), pcl::VoxelGrid< PointT >::getNeighborCentroidIndices(), and pcl::VoxelGridCovariance< PointT >::VoxelGridCovariance().

◆ min_b_

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 498 of file voxel_grid.h.

Referenced by pcl::VoxelGridOcclusionEstimation< PointT >::getCentroidCoordinate(), pcl::VoxelGrid< PointT >::getCentroidIndex(), pcl::VoxelGrid< PointT >::getCentroidIndexAt(), pcl::VoxelGridCovariance< PointT >::getLeaf(), pcl::VoxelGrid< PointT >::getMinBoxCoordinates(), pcl::VoxelGrid< PointT >::getNeighborCentroidIndices(), and pcl::VoxelGridCovariance< PointT >::VoxelGridCovariance().

◆ min_points_per_voxel_

template<typename PointT >

unsigned int pcl::VoxelGrid< PointT >::min_points_per_voxel_ {0}

protected

Minimum number of points per voxel for the centroid to be computed.

Definition at line 513 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getMinimumPointsNumberPerVoxel(), and pcl::VoxelGrid< PointT >::setMinimumPointsNumberPerVoxel().

◆ save_leaf_layout_

template<typename PointT >

bool pcl::VoxelGrid< PointT >::save_leaf_layout_ {false}

protected

Set to true if leaf layout information needs to be saved in leaf_layout_.

Definition at line 492 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< PointT >::getSaveLeafLayout(), pcl::VoxelGrid< PointT >::setSaveLeafLayout(), and pcl::VoxelGridCovariance< PointT >::VoxelGridCovariance().

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

pcl/filters/voxel_grid.h
pcl/filters/impl/voxel_grid.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ FieldList

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ VoxelGrid()

◆ ~VoxelGrid()

Member Function Documentation

◆ applyFilter()

◆ getCentroidIndex()

◆ getCentroidIndexAt()

◆ getDivisionMultiplier()

◆ getDownsampleAllData()

◆ getFilterFieldName()

◆ getFilterLimits()

◆ getFilterLimitsNegative() [1/2]

◆ getFilterLimitsNegative() [2/2]

◆ getGridCoordinates()

◆ getLeafLayout()

◆ getLeafSize()

◆ getMaxBoxCoordinates()

◆ getMinBoxCoordinates()

◆ getMinimumPointsNumberPerVoxel()

◆ getNeighborCentroidIndices()

◆ getNrDivisions()

◆ getSaveLeafLayout()

◆ setDownsampleAllData()

◆ setFilterFieldName()

◆ setFilterLimits()

◆ setFilterLimitsNegative()

◆ setLeafSize() [1/2]

◆ setLeafSize() [2/2]

◆ setMinimumPointsNumberPerVoxel()

◆ setSaveLeafLayout()

Member Data Documentation

◆ div_b_

◆ divb_mul_

◆ downsample_all_data_

◆ filter_field_name_

◆ filter_limit_max_

◆ filter_limit_min_

◆ filter_limit_negative_

◆ inverse_leaf_size_

◆ leaf_layout_

◆ leaf_size_

◆ max_b_

◆ min_b_

◆ min_points_per_voxel_

◆ save_leaf_layout_

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