A searchable voxel structure containing the mean and covariance of the data. More...

#include <pcl/filters/voxel_grid_covariance.h>

Inheritance diagram for pcl::VoxelGridCovariance< PointT >:

Collaboration diagram for pcl::VoxelGridCovariance< PointT >:

Classes
struct	Leaf
	Simple structure to hold a centroid, covarince and the number of points in a leaf. More...

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

using	ConstPtr = shared_ptr< const VoxelGrid< PointT > >

using	LeafPtr = Leaf *
	Pointer to VoxelGridCovariance leaf structure. More...

using	LeafConstPtr = const Leaf *
	Const pointer to VoxelGridCovariance leaf structure. More...

Public Types inherited from pcl::VoxelGrid< PointT >
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
	VoxelGridCovariance ()
	Constructor. More...

void	setMinPointPerVoxel (int min_points_per_voxel)
	Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation). More...

int	getMinPointPerVoxel ()
	Get the minimum number of points required for a cell to be used. More...

void	setCovEigValueInflationRatio (double min_covar_eigvalue_mult)
	Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices. More...

double	getCovEigValueInflationRatio ()
	Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices. More...

void	filter (PointCloud &output, bool searchable=false)
	Filter cloud and initializes voxel structure. More...

void	filter (bool searchable=false)
	Initializes voxel structure. More...

LeafConstPtr	getLeaf (int index)
	Get the voxel containing point p. More...

LeafConstPtr	getLeaf (PointT &p)
	Get the voxel containing point p. More...

LeafConstPtr	getLeaf (Eigen::Vector3f &p)
	Get the voxel containing point p. More...

int	getNeighborhoodAtPoint (const Eigen::Matrix< int, 3, Eigen::Dynamic > &relative_coordinates, const PointT &reference_point, std::vector< LeafConstPtr > &neighbors) const
	Get the voxels surrounding point p designated by `relative_coordinates`. More...

int	getNeighborhoodAtPoint (const PointT &reference_point, std::vector< LeafConstPtr > &neighbors) const
	Get the voxels surrounding point p, not including the voxel containing point p. More...

int	getVoxelAtPoint (const PointT &reference_point, std::vector< LeafConstPtr > &neighbors) const
	Get the voxel at p. More...

int	getFaceNeighborsAtPoint (const PointT &reference_point, std::vector< LeafConstPtr > &neighbors) const
	Get the voxel at p and its facing voxels (up to 7 voxels). More...

int	getAllNeighborsAtPoint (const PointT &reference_point, std::vector< LeafConstPtr > &neighbors) const
	Get all 3x3x3 neighbor voxels of p (up to 27 voxels). More...

const std::map< std::size_t, Leaf > &	getLeaves ()
	Get the leaf structure map. More...

PointCloudPtr	getCentroids ()
	Get a pointcloud containing the voxel centroids. More...

void	getDisplayCloud (pcl::PointCloud< PointXYZ > &cell_cloud, int pnt_per_cell=1000) const
	Get a cloud to visualize each voxels normal distribution. More...

int	nearestKSearch (const PointT &point, int k, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances) const
	Search for the k-nearest occupied voxels for the given query point. More...

int	nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances) const
	Search for the k-nearest occupied voxels for the given query point. More...

int	radiusSearch (const PointT &point, double radius, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest occupied voxels of the query point in a given radius. More...

int	radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest occupied voxels of the query point in a given radius. More...

Public Member Functions inherited from pcl::VoxelGrid< PointT >
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	FieldList = typename pcl::traits::fieldList< PointT >::type

using	PointCloud = typename Filter< PointT >::PointCloud

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

Protected Types inherited from pcl::VoxelGrid< PointT >
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
	Filter cloud and initializes voxel structure. 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
bool	searchable_ {true}
	Flag to determine if voxel structure is searchable. More...

int	min_points_per_voxel_ {6}
	Minimum points contained with in a voxel to allow it to be usable. More...

double	min_covar_eigvalue_mult_ {0.01}
	Minimum allowable ratio between eigenvalues to prevent singular covariance matrices. More...

std::map< std::size_t, Leaf >	leaves_
	Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of points). More...

PointCloudPtr	voxel_centroids_
	Point cloud containing centroids of voxels containing atleast minimum number of points. More...

std::vector< int >	voxel_centroids_leaf_indices_
	Indices of leaf structures associated with each point in voxel_centroids_ (used for searching). More...

pcl::search::Search< PointT >::Ptr	kdtree_
	KdTree generated using voxel_centroids_ (used for searching). More...

Protected Attributes inherited from pcl::VoxelGrid< PointT >
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::VoxelGridCovariance< PointT >

A searchable voxel structure containing the mean and covariance of the data.

Note: For more information please see Magnusson, M. (2009). The Three-Dimensional Normal-Distributions Transform — an Efﬁcient Representation for Registration, Surface Analysis, and Loop Detection. PhD thesis, Orebro University. Orebro Studies in Technology 36

Author: Brian Okorn (Space and Naval Warfare Systems Center Pacific)

Definition at line 56 of file voxel_grid_covariance.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

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

Definition at line 87 of file voxel_grid_covariance.h.

◆ FieldList

template<typename PointT >

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

protected

Definition at line 79 of file voxel_grid_covariance.h.

◆ LeafConstPtr

template<typename PointT >

using pcl::VoxelGridCovariance< PointT >::LeafConstPtr = const Leaf *

Const pointer to VoxelGridCovariance leaf structure.

Definition at line 191 of file voxel_grid_covariance.h.

◆ LeafPtr

template<typename PointT >

using pcl::VoxelGridCovariance< PointT >::LeafPtr = Leaf *

Pointer to VoxelGridCovariance leaf structure.

Definition at line 188 of file voxel_grid_covariance.h.

◆ PointCloud

template<typename PointT >

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

protected

Definition at line 80 of file voxel_grid_covariance.h.

◆ PointCloudConstPtr

template<typename PointT >

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

protected

Definition at line 82 of file voxel_grid_covariance.h.

◆ PointCloudPtr

template<typename PointT >

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

protected

Definition at line 81 of file voxel_grid_covariance.h.

◆ Ptr

template<typename PointT >

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

Definition at line 86 of file voxel_grid_covariance.h.

Constructor & Destructor Documentation

◆ VoxelGridCovariance()

template<typename PointT >

pcl::VoxelGridCovariance< PointT >::VoxelGridCovariance ( )

inline

Constructor.

Sets leaf_size_ to 0 and searchable_ to false.

Definition at line 198 of file voxel_grid_covariance.h.

References pcl::VoxelGrid< PointT >::downsample_all_data_, pcl::Filter< PointT >::filter_name_, pcl::VoxelGrid< PointT >::leaf_size_, pcl::VoxelGrid< PointT >::max_b_, pcl::VoxelGrid< PointT >::min_b_, and pcl::VoxelGrid< PointT >::save_leaf_layout_.

Member Function Documentation

◆ applyFilter()

template<typename PointT >

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

overrideprotectedvirtual

Filter cloud and initializes voxel structure.

Parameters

[out] output cloud containing centroids of voxels containing a sufficient number of points

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 53 of file voxel_grid_covariance.hpp.

References pcl::PointCloud< PointT >::back(), pcl::VoxelGridCovariance< PointT >::Leaf::centroid, pcl::PointCloud< PointT >::clear(), pcl::VoxelGridCovariance< PointT >::Leaf::cov_, pcl::VoxelGridCovariance< PointT >::Leaf::evals_, pcl::VoxelGridCovariance< PointT >::Leaf::evecs_, pcl::PointCloud< PointT >::height, pcl::VoxelGridCovariance< PointT >::Leaf::icov_, pcl::PointCloud< PointT >::is_dense, pcl::isXYZFinite(), pcl::VoxelGridCovariance< PointT >::Leaf::mean_, pcl::VoxelGridCovariance< PointT >::Leaf::nr_points, pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::reserve(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Referenced by pcl::VoxelGridCovariance< PointT >::filter().

◆ filter() [1/2]

template<typename PointT >

void pcl::VoxelGridCovariance< PointT >::filter ( bool searchable = false )

inline

Initializes voxel structure.

Parameters

[in] searchable flag if voxel structure is searchable, if true then kdtree is built

Definition at line 282 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::applyFilter(), pcl::Filter< PointT >::getClassName(), pcl::VoxelGridCovariance< PointT >::kdtree_, pcl::VoxelGridCovariance< PointT >::searchable_, and pcl::VoxelGridCovariance< PointT >::voxel_centroids_.

◆ filter() [2/2]

template<typename PointT >

void pcl::VoxelGridCovariance< PointT >::filter	(	PointCloud &	output,
		bool	searchable = `false`
	)

inline

Filter cloud and initializes voxel structure.

Parameters

[out]	output	cloud containing centroids of voxels containing a sufficient number of points
[in]	searchable	flag if voxel structure is searchable, if true then kdtree is built

Definition at line 259 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::applyFilter(), pcl::Filter< PointT >::getClassName(), pcl::VoxelGridCovariance< PointT >::kdtree_, pcl::VoxelGridCovariance< PointT >::searchable_, and pcl::VoxelGridCovariance< PointT >::voxel_centroids_.

Referenced by pcl::NormalDistributionsTransform< PointSource, PointTarget, Scalar >::init().

◆ getAllNeighborsAtPoint()

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::getAllNeighborsAtPoint	(	const PointT &	reference_point,
		std::vector< LeafConstPtr > &	neighbors
	)		const

Get all 3x3x3 neighbor voxels of p (up to 27 voxels).

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	reference_point	the point to get the leaf structure at
[out]	neighbors

Returns: number of neighbors found (up to 27)

Definition at line 434 of file voxel_grid_covariance.hpp.

References pcl::getAllNeighborCellIndices().

◆ getCentroids()

template<typename PointT >

PointCloudPtr pcl::VoxelGridCovariance< PointT >::getCentroids ( )

inline

Get a pointcloud containing the voxel centroids.

Note: Only voxels containing a sufficient number of points are used.

Returns: a map contataining all leaves

Definition at line 429 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::voxel_centroids_.

Referenced by pcl::NormalDistributionsTransform< PointSource, PointTarget, Scalar >::init().

◆ getCovEigValueInflationRatio()

template<typename PointT >

double pcl::VoxelGridCovariance< PointT >::getCovEigValueInflationRatio ( )

inline

Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.

Returns: the minimum allowable ratio between eigenvalues

Definition at line 249 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::min_covar_eigvalue_mult_.

◆ getDisplayCloud()

template<typename PointT >

void pcl::VoxelGridCovariance< PointT >::getDisplayCloud	(	pcl::PointCloud< PointXYZ > &	cell_cloud,
		int	pnt_per_cell = `1000`
	)		const

Get a cloud to visualize each voxels normal distribution.

Parameters

[out]	cell_cloud	a cloud created by sampling the normal distributions of each voxel
[in]	pnt_per_cell	how many points should be generated for each cell

Definition at line 445 of file voxel_grid_covariance.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::VoxelGridCovariance< PointT >::Leaf::cov_, pcl::VoxelGridCovariance< PointT >::Leaf::mean_, pcl::VoxelGridCovariance< PointT >::Leaf::nr_points, pcl::PointCloud< PointT >::push_back(), and pcl::PointCloud< PointT >::reserve().

◆ getFaceNeighborsAtPoint()

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::getFaceNeighborsAtPoint	(	const PointT &	reference_point,
		std::vector< LeafConstPtr > &	neighbors
	)		const

Get the voxel at p and its facing voxels (up to 7 voxels).

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	reference_point	the point to get the leaf structure at
[out]	neighbors

Returns: number of neighbors found (up to 7)

Definition at line 418 of file voxel_grid_covariance.hpp.

◆ getLeaf() [1/3]

template<typename PointT >

LeafConstPtr pcl::VoxelGridCovariance< PointT >::getLeaf ( Eigen::Vector3f & p )

inline

Get the voxel containing point p.

Parameters

[in] p the point to get the leaf structure at

Returns: const pointer to leaf structure

Definition at line 347 of file voxel_grid_covariance.h.

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

◆ getLeaf() [2/3]

template<typename PointT >

LeafConstPtr pcl::VoxelGridCovariance< PointT >::getLeaf ( int index )

inline

Get the voxel containing point p.

Parameters

[in] index the index of the leaf structure node

Returns: const pointer to leaf structure

Definition at line 305 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::leaves_.

◆ getLeaf() [3/3]

template<typename PointT >

LeafConstPtr pcl::VoxelGridCovariance< PointT >::getLeaf ( PointT & p )

inline

Get the voxel containing point p.

Parameters

[in] p the point to get the leaf structure at

Returns: const pointer to leaf structure

Definition at line 321 of file voxel_grid_covariance.h.

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

◆ getLeaves()

template<typename PointT >

const std::map<std::size_t, Leaf>& pcl::VoxelGridCovariance< PointT >::getLeaves ( )

inline

Get the leaf structure map.

Returns: a map contataining all leaves

Definition at line 419 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::leaves_.

◆ getMinPointPerVoxel()

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::getMinPointPerVoxel ( )

inline

Get the minimum number of points required for a cell to be used.

Returns: the minimum number of points for required for a voxel to be used

Definition at line 231 of file voxel_grid_covariance.h.

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

◆ getNeighborhoodAtPoint() [1/2]

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::getNeighborhoodAtPoint	(	const Eigen::Matrix< int, 3, Eigen::Dynamic > &	relative_coordinates,
		const PointT &	reference_point,
		std::vector< LeafConstPtr > &	neighbors
	)		const

Get the voxels surrounding point p designated by relative_coordinates.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	relative_coordinates	3xN matrix that represents relative coordinates of N neighboring voxels with respect to the center voxel
[in]	reference_point	the point to get the leaf structure at
[out]	neighbors

Returns: number of neighbors found

Definition at line 371 of file voxel_grid_covariance.hpp.

◆ getNeighborhoodAtPoint() [2/2]

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::getNeighborhoodAtPoint	(	const PointT &	reference_point,
		std::vector< LeafConstPtr > &	neighbors
	)		const

Get the voxels surrounding point p, not including the voxel containing point p.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	reference_point	the point to get the leaf structure at
[out]	neighbors

Returns: number of neighbors found (up to 26)

Definition at line 403 of file voxel_grid_covariance.hpp.

◆ getVoxelAtPoint()

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::getVoxelAtPoint	(	const PointT &	reference_point,
		std::vector< LeafConstPtr > &	neighbors
	)		const

Get the voxel at p.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	reference_point	the point to get the leaf structure at
[out]	neighbors

Returns: number of neighbors found (up to 1)

Definition at line 411 of file voxel_grid_covariance.hpp.

◆ nearestKSearch() [1/2]

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::nearestKSearch	(	const PointCloud &	cloud,
		int	index,
		int	k,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances
	)		const

inline

Search for the k-nearest occupied voxels for the given query point.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	cloud	the given query point
[in]	index	the index
[in]	k	the number of neighbors to search for
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points

Returns: number of neighbors found

Definition at line 491 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::nearestKSearch(), and pcl::PointCloud< PointT >::size().

◆ nearestKSearch() [2/2]

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::nearestKSearch	(	const PointT &	point,
		int	k,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances
	)		const

inline

Search for the k-nearest occupied voxels for the given query point.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	point	the given query point
[in]	k	the number of neighbors to search for
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points

Returns: number of neighbors found

Definition at line 451 of file voxel_grid_covariance.h.

References pcl::Filter< PointT >::getClassName(), pcl::VoxelGridCovariance< PointT >::kdtree_, pcl::VoxelGridCovariance< PointT >::leaves_, pcl::VoxelGridCovariance< PointT >::searchable_, and pcl::VoxelGridCovariance< PointT >::voxel_centroids_leaf_indices_.

Referenced by pcl::VoxelGridCovariance< PointT >::nearestKSearch().

◆ radiusSearch() [1/2]

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::radiusSearch	(	const PointCloud &	cloud,
		int	index,
		double	radius,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const

inline

Search for all the nearest occupied voxels of the query point in a given radius.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	cloud	the given query point
[in]	index	a valid index in cloud representing a valid (i.e., finite) query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points
[in]	max_nn

Returns: number of neighbors found

Definition at line 551 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::radiusSearch(), and pcl::PointCloud< PointT >::size().

◆ radiusSearch() [2/2]

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::radiusSearch	(	const PointT &	point,
		double	radius,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const

inline

Search for all the nearest occupied voxels of the query point in a given radius.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	point	the given query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points
[in]	max_nn

Returns: number of neighbors found

Definition at line 510 of file voxel_grid_covariance.h.

References pcl::Filter< PointT >::getClassName(), pcl::VoxelGridCovariance< PointT >::kdtree_, pcl::VoxelGridCovariance< PointT >::leaves_, pcl::VoxelGridCovariance< PointT >::searchable_, and pcl::VoxelGridCovariance< PointT >::voxel_centroids_leaf_indices_.

Referenced by pcl::VoxelGridCovariance< PointT >::radiusSearch().

◆ setCovEigValueInflationRatio()

template<typename PointT >

void pcl::VoxelGridCovariance< PointT >::setCovEigValueInflationRatio ( double min_covar_eigvalue_mult )

inline

Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.

Parameters

[in] min_covar_eigvalue_mult the minimum allowable ratio between eigenvalues

Definition at line 240 of file voxel_grid_covariance.h.

References pcl::VoxelGridCovariance< PointT >::min_covar_eigvalue_mult_.

◆ setMinPointPerVoxel()

template<typename PointT >

void pcl::VoxelGridCovariance< PointT >::setMinPointPerVoxel ( int min_points_per_voxel )

inline

Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation).

Parameters

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

Definition at line 214 of file voxel_grid_covariance.h.

References pcl::Filter< PointT >::getClassName(), and pcl::VoxelGridCovariance< PointT >::min_points_per_voxel_.

Referenced by pcl::NormalDistributionsTransform< PointSource, PointTarget, Scalar >::setMinPointPerVoxel().

Member Data Documentation

◆ kdtree_

template<typename PointT >

pcl::search::Search<PointT>::Ptr pcl::VoxelGridCovariance< PointT >::kdtree_

protected

KdTree generated using voxel_centroids_ (used for searching).

Definition at line 586 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::filter(), pcl::VoxelGridCovariance< PointT >::nearestKSearch(), and pcl::VoxelGridCovariance< PointT >::radiusSearch().

◆ leaves_

template<typename PointT >

std::map<std::size_t, Leaf> pcl::VoxelGridCovariance< PointT >::leaves_

protected

Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of points).

Definition at line 577 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::getLeaf(), pcl::VoxelGridCovariance< PointT >::getLeaves(), pcl::VoxelGridCovariance< PointT >::nearestKSearch(), and pcl::VoxelGridCovariance< PointT >::radiusSearch().

◆ min_covar_eigvalue_mult_

template<typename PointT >

double pcl::VoxelGridCovariance< PointT >::min_covar_eigvalue_mult_ {0.01}

protected

Minimum allowable ratio between eigenvalues to prevent singular covariance matrices.

Definition at line 574 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::getCovEigValueInflationRatio(), and pcl::VoxelGridCovariance< PointT >::setCovEigValueInflationRatio().

◆ min_points_per_voxel_

template<typename PointT >

int pcl::VoxelGridCovariance< PointT >::min_points_per_voxel_ {6}

protected

Minimum points contained with in a voxel to allow it to be usable.

Definition at line 571 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::getMinPointPerVoxel(), and pcl::VoxelGridCovariance< PointT >::setMinPointPerVoxel().

◆ searchable_

template<typename PointT >

bool pcl::VoxelGridCovariance< PointT >::searchable_ {true}

protected

Flag to determine if voxel structure is searchable.

Definition at line 568 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::filter(), pcl::VoxelGridCovariance< PointT >::nearestKSearch(), and pcl::VoxelGridCovariance< PointT >::radiusSearch().

◆ voxel_centroids_

template<typename PointT >

PointCloudPtr pcl::VoxelGridCovariance< PointT >::voxel_centroids_

protected

Point cloud containing centroids of voxels containing atleast minimum number of points.

Definition at line 580 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::filter(), and pcl::VoxelGridCovariance< PointT >::getCentroids().

◆ voxel_centroids_leaf_indices_

template<typename PointT >

std::vector<int> pcl::VoxelGridCovariance< PointT >::voxel_centroids_leaf_indices_

protected

Indices of leaf structures associated with each point in voxel_centroids_ (used for searching).

Definition at line 583 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointT >::nearestKSearch(), and pcl::VoxelGridCovariance< PointT >::radiusSearch().

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

pcl/filters/voxel_grid_covariance.h
pcl/filters/impl/voxel_grid_covariance.hpp

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ FieldList

◆ LeafConstPtr

◆ LeafPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ VoxelGridCovariance()

Member Function Documentation

◆ applyFilter()

◆ filter() [1/2]

◆ filter() [2/2]

◆ getAllNeighborsAtPoint()

◆ getCentroids()

◆ getCovEigValueInflationRatio()

◆ getDisplayCloud()

◆ getFaceNeighborsAtPoint()

◆ getLeaf() [1/3]

◆ getLeaf() [2/3]

◆ getLeaf() [3/3]

◆ getLeaves()

◆ getMinPointPerVoxel()

◆ getNeighborhoodAtPoint() [1/2]

◆ getNeighborhoodAtPoint() [2/2]

◆ getVoxelAtPoint()

◆ nearestKSearch() [1/2]

◆ nearestKSearch() [2/2]

◆ radiusSearch() [1/2]

◆ radiusSearch() [2/2]

◆ setCovEigValueInflationRatio()

◆ setMinPointPerVoxel()

Member Data Documentation

◆ kdtree_

◆ leaves_

◆ min_covar_eigvalue_mult_

◆ min_points_per_voxel_

◆ searchable_

◆ voxel_centroids_

◆ voxel_centroids_leaf_indices_

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