Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
pcl::GridMinimum< PointT > Class Template Reference

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 >:

Public Member Functions

 GridMinimum (const float resolution)
 Empty constructor. More...
 
virtual ~GridMinimum ()
 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...
 
virtual ~FilterIndices ()
 Empty virtual destructor. More...
 
void filter (PointCloud &output)
 
void filter (std::vector< int > &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 ()
 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 ()
 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...
 
virtual ~Filter ()
 Empty destructor. More...
 
IndicesConstPtr const getRemovedIndices ()
 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 ()
 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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const 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 PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Types

typedef FilterIndices< PointT >
::PointCloud 
PointCloud
 

Protected Member Functions

void applyFilter (PointCloud &output)
 Downsample a Point Cloud using a 2D grid approach. More...
 
void applyFilter (std::vector< int > &indices)
 Filtered results are indexed by an indices array. More...
 
void applyFilterIndices (std::vector< int > &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 = normal filter behavior (default), true = inverted behavior. More...
 
bool keep_organized_
 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 >
typedef pcl::PointCloud< PointTPointCloud
 
typedef boost::shared_ptr
< FilterIndices< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const FilterIndices< PointT > > 
ConstPtr
 
- Public Types inherited from pcl::Filter< PointT >
typedef boost::shared_ptr
< Filter< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const Filter< PointT > > 
ConstPtr
 
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

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 63 of file grid_minimum.h.

Member Typedef Documentation

template<typename PointT >
typedef FilterIndices<PointT>::PointCloud pcl::GridMinimum< PointT >::PointCloud
protected

Definition at line 71 of file grid_minimum.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::GridMinimum< PointT >::GridMinimum ( const float  resolution)
inline

Empty constructor.

Definition at line 75 of file grid_minimum.h.

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

template<typename PointT >
virtual pcl::GridMinimum< PointT >::~GridMinimum ( )
inlinevirtual

Destructor.

Definition at line 82 of file grid_minimum.h.

Member Function Documentation

template<typename PointT >
void pcl::GridMinimum< PointT >::applyFilter ( PointCloud output)
protectedvirtual

Downsample a Point Cloud using a 2D grid approach.

Parameters
[out]outputthe resultant point cloud message

Implements pcl::FilterIndices< PointT >.

Definition at line 60 of file grid_minimum.hpp.

References pcl::PointCloud< T >::height, pcl::PointCloud< T >::is_dense, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.

template<typename PointT >
void pcl::GridMinimum< PointT >::applyFilter ( std::vector< int > &  indices)
inlineprotectedvirtual

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Implements pcl::FilterIndices< PointT >.

Definition at line 118 of file grid_minimum.h.

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

template<typename PointT >
void pcl::GridMinimum< PointT >::applyFilterIndices ( std::vector< int > &  indices)
protected

Filtered results are indexed by an indices array.

Parameters
[out]indicesThe resultant indices.

Definition at line 80 of file grid_minimum.hpp.

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

template<typename PointT >
float pcl::GridMinimum< PointT >::getResolution ( )
inline

Get the grid resolution.

Definition at line 99 of file grid_minimum.h.

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

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

Set the grid resolution.

Parameters
[in]resolutionthe grid resolution

Definition at line 90 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

template<typename PointT >
float pcl::GridMinimum< PointT >::inverse_resolution_
protected

Internal resolution stored as 1/resolution_ for efficiency reasons.

Definition at line 106 of file grid_minimum.h.

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

template<typename PointT >
float pcl::GridMinimum< PointT >::resolution_
protected

The resolution.

Definition at line 103 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: