Classes | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes

pcl::VoxelGrid< PointT > Class Template Reference
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VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...

#include <pcl/filters/voxel_grid.h>

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List of all members.

Classes

struct  Leaf
 Simple structure to hold an nD centroid and the number of points in a leaf. More...

Public Member Functions

 VoxelGrid ()
 Empty constructor.
void setLeafSize (const Eigen::Vector4f &leaf_size)
 Set the voxel grid leaf size.
void setLeafSize (float lx, float ly, float lz)
 Set the voxel grid leaf size.
Eigen::Vector3f getLeafSize ()
 Get the voxel grid leaf size.
void setDownsampleAllData (bool downsample)
 Set to true if all fields need to be downsampled, or false if just XYZ.
bool getDownsampleAllData ()
 Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).
void setSaveLeafLayout (bool save_leaf_layout)
 Set to true if leaf layout information needs to be saved for later access.
bool getSaveLeafLayout ()
 Returns true if leaf layout information will to be saved for later access.
Eigen::Vector3i getMinBoxCoordinates ()
 Get the minimum coordinates of the bounding box (after filtering is performed).
Eigen::Vector3i getMaxBoxCoordinates ()
 Get the minimum coordinates of the bounding box (after filtering is performed).
Eigen::Vector3i getNrDivisions ()
 Get the number of divisions along all 3 axes (after filtering is performed).
Eigen::Vector3i getDivisionMultiplier ()
 Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed).
int getCentroidIndex (const PointT &p)
 Returns the index in the resulting downsampled cloud of the specified point.
std::vector< int > getNeighborCentroidIndices (const PointT &reference_point, const Eigen::MatrixXi &relative_coordinates)
 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).
std::vector< int > getLeafLayout ()
 Returns the layout of the leafs for fast access to cells relative to current position.
Eigen::Vector3i getGridCoordinates (float x, float y, float z)
 Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).
int getCentroidIndexAt (const Eigen::Vector3i &ijk, bool verbose=true)
 Returns the index in the downsampled cloud corresponding to coordinates (i,j,k) in the grid (-1 if empty).

Protected Types

typedef pcl::traits::fieldList
< PointT >::type 
FieldList

Protected Member Functions

void applyFilter (PointCloud &output)
 Downsample a Point Cloud using a voxelized grid approach.

Protected Attributes

std::map< size_t, Leafleaves_
 The 3D grid leaves.
Eigen::Vector4f leaf_size_
 The size of a leaf.
bool downsample_all_data_
 Set to true if all fields need to be downsampled, or false if just XYZ.
bool save_leaf_layout_
 Set to true if leaf layout information needs to be saved in leaf_layout_.
std::vector< int > leaf_layout_
 The leaf layout information for fast access to cells relative to current position.
Eigen::Vector4i min_b_
 The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.
Eigen::Vector4i max_b_
Eigen::Vector4i div_b_
Eigen::Vector4i divb_mul_

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 Bogdan Rusu, Bastian Steder

Definition at line 134 of file voxel_grid.h.


Member Typedef Documentation

template<typename PointT>
typedef pcl::traits::fieldList<PointT>::type pcl::VoxelGrid< PointT >::FieldList [protected]

Definition at line 316 of file voxel_grid.h.


Constructor & Destructor Documentation

template<typename PointT>
pcl::VoxelGrid< PointT >::VoxelGrid (  )  [inline]

Empty constructor.

Definition at line 151 of file voxel_grid.h.


Member Function Documentation

template<typename PointT >
void pcl::VoxelGrid< PointT >::applyFilter ( PointCloud output  )  [protected, virtual]

Downsample a Point Cloud using a voxelized grid approach.

Parameters:
output the resultant point cloud message

Implements pcl::Filter< PointT >.

Definition at line 93 of file voxel_grid.hpp.

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

Definition at line 231 of file voxel_grid.h.

template<typename PointT>
int pcl::VoxelGrid< PointT >::getCentroidIndexAt ( const Eigen::Vector3i &  ijk,
bool  verbose = true 
) [inline]

Returns the index in the downsampled cloud corresponding to coordinates (i,j,k) in the grid (-1 if empty).

Definition at line 276 of file voxel_grid.h.

template<typename PointT>
Eigen::Vector3i pcl::VoxelGrid< PointT >::getDivisionMultiplier (  )  [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 224 of file voxel_grid.h.

template<typename PointT>
bool pcl::VoxelGrid< PointT >::getDownsampleAllData (  )  [inline]

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

Definition at line 190 of file voxel_grid.h.

template<typename PointT>
Eigen::Vector3i pcl::VoxelGrid< PointT >::getGridCoordinates ( float  x,
float  y,
float  z 
) [inline]

Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).

Definition at line 269 of file voxel_grid.h.

template<typename PointT>
std::vector<int> pcl::VoxelGrid< PointT >::getLeafLayout (  )  [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 265 of file voxel_grid.h.

template<typename PointT>
Eigen::Vector3f pcl::VoxelGrid< PointT >::getLeafSize (  )  [inline]

Get the voxel grid leaf size.

Definition at line 178 of file voxel_grid.h.

template<typename PointT>
Eigen::Vector3i pcl::VoxelGrid< PointT >::getMaxBoxCoordinates (  )  [inline]

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

Definition at line 212 of file voxel_grid.h.

template<typename PointT>
Eigen::Vector3i pcl::VoxelGrid< PointT >::getMinBoxCoordinates (  )  [inline]

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

Definition at line 206 of file voxel_grid.h.

template<typename PointT>
std::vector<int> pcl::VoxelGrid< PointT >::getNeighborCentroidIndices ( const PointT &  reference_point,
const Eigen::MatrixXi &  relative_coordinates 
) [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:
reference_point the coordinates of the reference point (corresponding cell is allowed to be empty/out of bounds)
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 243 of file voxel_grid.h.

template<typename PointT>
Eigen::Vector3i pcl::VoxelGrid< PointT >::getNrDivisions (  )  [inline]

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

Definition at line 218 of file voxel_grid.h.

template<typename PointT>
bool pcl::VoxelGrid< PointT >::getSaveLeafLayout (  )  [inline]

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

Definition at line 200 of file voxel_grid.h.

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:
downsample the new value (true/false)

Definition at line 184 of file voxel_grid.h.

template<typename PointT>
void pcl::VoxelGrid< PointT >::setLeafSize ( float  lx,
float  ly,
float  lz 
) [inline]

Set the voxel grid leaf size.

Parameters:
lx the leaf size for X
ly the leaf size for Y
lz the leaf size for Z

Definition at line 171 of file voxel_grid.h.

template<typename PointT>
void pcl::VoxelGrid< PointT >::setLeafSize ( const Eigen::Vector4f &  leaf_size  )  [inline]

Set the voxel grid leaf size.

Parameters:
leaf_size the voxel grid leaf size

Definition at line 163 of file voxel_grid.h.

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:
save_leaf_layout the new value (true/false)

Definition at line 196 of file voxel_grid.h.


Member Data Documentation

template<typename PointT>
Eigen::Vector4i pcl::VoxelGrid< PointT >::div_b_ [protected]

Definition at line 314 of file voxel_grid.h.

template<typename PointT>
Eigen::Vector4i pcl::VoxelGrid< PointT >::divb_mul_ [protected]

Definition at line 314 of file voxel_grid.h.

template<typename PointT>
bool pcl::VoxelGrid< PointT >::downsample_all_data_ [protected]

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

Definition at line 305 of file voxel_grid.h.

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 311 of file voxel_grid.h.

template<typename PointT>
Eigen::Vector4f pcl::VoxelGrid< PointT >::leaf_size_ [protected]

The size of a leaf.

Definition at line 302 of file voxel_grid.h.

template<typename PointT>
std::map<size_t, Leaf> pcl::VoxelGrid< PointT >::leaves_ [protected]

The 3D grid leaves.

Definition at line 299 of file voxel_grid.h.

template<typename PointT>
Eigen::Vector4i pcl::VoxelGrid< PointT >::max_b_ [protected]

Definition at line 314 of file voxel_grid.h.

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 314 of file voxel_grid.h.

template<typename PointT>
bool pcl::VoxelGrid< PointT >::save_leaf_layout_ [protected]

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

Definition at line 308 of file voxel_grid.h.


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