Point Cloud Library (PCL)  1.11.1-dev
grid_minimum.h
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41 
42 #pragma once
43 
44 #include <pcl/filters/filter.h>
45 #include <pcl/filters/filter_indices.h>
46 
47 namespace pcl
48 {
49  /** \brief GridMinimum assembles a local 2D grid over a given PointCloud, and downsamples the data.
50  *
51  * The GridMinimum class creates a *2D grid* over the input point cloud
52  * data. Then, in each *cell* (i.e., 2D grid element), all the points
53  * present will be *downsampled* with the minimum z value. This grid minimum
54  * can be useful in a number of topographic processing tasks such as crudely
55  * estimating ground returns, especially under foliage.
56  *
57  * \author Bradley J Chambers
58  * \ingroup filters
59  */
60  template <typename PointT>
61  class GridMinimum: public FilterIndices<PointT>
62  {
63  protected:
68 
70 
71  public:
72  /** \brief Empty constructor. */
73  GridMinimum (const float resolution)
74  {
75  setResolution (resolution);
76  filter_name_ = "GridMinimum";
77  }
78 
79  /** \brief Destructor. */
81  {
82  }
83 
84  /** \brief Set the grid resolution.
85  * \param[in] resolution the grid resolution
86  */
87  inline void
88  setResolution (const float resolution)
89  {
90  resolution_ = resolution;
91  // Use multiplications instead of divisions
93  }
94 
95  /** \brief Get the grid resolution. */
96  inline float
97  getResolution () { return (resolution_); }
98 
99  protected:
100  /** \brief The resolution. */
101  float resolution_;
102 
103  /** \brief Internal resolution stored as 1/resolution_ for efficiency reasons. */
105 
106  /** \brief Downsample a Point Cloud using a 2D grid approach
107  * \param[out] output the resultant point cloud message
108  */
109  void
110  applyFilter (PointCloud &output) override;
111 
112  /** \brief Filtered results are indexed by an indices array.
113  * \param[out] indices The resultant indices.
114  */
115  void
116  applyFilter (Indices &indices) override
117  {
118  applyFilterIndices (indices);
119  }
120 
121  /** \brief Filtered results are indexed by an indices array.
122  * \param[out] indices The resultant indices.
123  */
124  void
125  applyFilterIndices (Indices &indices);
126 
127  };
128 }
129 
130 #ifdef PCL_NO_PRECOMPILE
131 #include <pcl/filters/impl/grid_minimum.hpp>
132 #endif
pcl
Definition: convolution.h:46
pcl::GridMinimum::GridMinimum
GridMinimum(const float resolution)
Empty constructor.
Definition: grid_minimum.h:73
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::GridMinimum::setResolution
void setResolution(const float resolution)
Set the grid resolution.
Definition: grid_minimum.h:88
pcl::GridMinimum::applyFilter
void applyFilter(PointCloud &output) override
Downsample a Point Cloud using a 2D grid approach.
Definition: grid_minimum.hpp:61
pcl::GridMinimum::inverse_resolution_
float inverse_resolution_
Internal resolution stored as 1/resolution_ for efficiency reasons.
Definition: grid_minimum.h:104
pcl::GridMinimum::getResolution
float getResolution()
Get the grid resolution.
Definition: grid_minimum.h:97
pcl::GridMinimum::applyFilterIndices
void applyFilterIndices(Indices &indices)
Filtered results are indexed by an indices array.
Definition: grid_minimum.hpp:81
pcl::GridMinimum
GridMinimum assembles a local 2D grid over a given PointCloud, and downsamples the data.
Definition: grid_minimum.h:61
pcl::FilterIndices
FilterIndices represents the base class for filters that are about binary point removal.
Definition: filter_indices.h:74
pcl::Filter
Filter represents the base filter class.
Definition: filter.h:80
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
pcl::GridMinimum::~GridMinimum
~GridMinimum()
Destructor.
Definition: grid_minimum.h:80
pcl::Filter::filter_name_
std::string filter_name_
The filter name.
Definition: filter.h:158
pcl::GridMinimum::resolution_
float resolution_
The resolution.
Definition: grid_minimum.h:101
pcl::GridMinimum::applyFilter
void applyFilter(Indices &indices) override
Filtered results are indexed by an indices array.
Definition: grid_minimum.h:116