Point Cloud Library (PCL)  1.8.1-dev
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::VoxelGrid< pcl::PCLPointCloud2 > Class Template Reference

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< pcl::PCLPointCloud2 >:

Public Member Functions

 VoxelGrid ()
 Empty constructor. More...
 
virtual ~VoxelGrid ()
 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 (float x, float y, float z) const
 Returns the index in the resulting downsampled cloud of the specified point. More...
 
std::vector< int > getNeighborCentroidIndices (float x, float y, float z, 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 > getNeighborCentroidIndices (float x, float y, float z, const std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &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< pcl::PCLPointCloud2 >
 Filter (bool extract_removed_indices=false)
 Empty constructor. More...
 
virtual ~Filter ()
 Empty destructor. 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 (PCLPointCloud2 &output)
 Calls the filtering method and returns the filtered dataset in output. More...
 
- Public Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
 PCLBase ()
 Empty constructor. More...
 
virtual ~PCLBase ()
 destructor. More...
 
void setInputCloud (const PCLPointCloud2ConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PCLPointCloud2ConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
IndicesPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 

Protected Member Functions

void applyFilter (PCLPointCloud2 &output)
 Downsample a Point Cloud using a voxelized grid approach. More...
 
- Protected Member Functions inherited from pcl::Filter< pcl::PCLPointCloud2 >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
bool initCompute ()
 
bool deinitCompute ()
 

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_
 Set to true if all fields need to be downsampled, or false if just XYZ. More...
 
bool save_leaf_layout_
 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_
 The minimum allowed filter value a point will be considered from. More...
 
double filter_limit_max_
 The maximum allowed filter value a point will be considered from. More...
 
bool filter_limit_negative_
 Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). More...
 
unsigned int min_points_per_voxel_
 Minimum number of points per voxel for the centroid to be computed. More...
 
- Protected Attributes inherited from pcl::Filter< pcl::PCLPointCloud2 >
IndicesPtr removed_indices_
 Indices of the points that are removed. More...
 
bool extract_removed_indices_
 Set to true if we want to return the indices of the removed points. More...
 
std::string filter_name_
 The filter name. More...
 
- Protected Attributes inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
PCLPointCloud2ConstPtr 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...
 
std::vector< int > field_sizes_
 The size of each individual field. More...
 
int x_idx_
 The x-y-z fields indices. More...
 
int y_idx_
 
int z_idx_
 
std::string x_field_name_
 The desired x-y-z field names. More...
 
std::string y_field_name_
 
std::string z_field_name_
 

Additional Inherited Members

- Public Types inherited from pcl::Filter< pcl::PCLPointCloud2 >
typedef boost::shared_ptr
< Filter< pcl::PCLPointCloud2 > > 
Ptr
 
typedef boost::shared_ptr
< const Filter
< pcl::PCLPointCloud2 > > 
ConstPtr
 
typedef pcl::PCLPointCloud2 PCLPointCloud2
 
typedef PCLPointCloud2::Ptr PCLPointCloud2Ptr
 
typedef PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
 
- Public Types inherited from pcl::PCLBase< pcl::PCLPointCloud2 >
typedef pcl::PCLPointCloud2 PCLPointCloud2
 
typedef boost::shared_ptr
< PCLPointCloud2
PCLPointCloud2Ptr
 
typedef boost::shared_ptr
< PCLPointCloud2 const > 
PCLPointCloud2ConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Detailed Description

template<>
class pcl::VoxelGrid< pcl::PCLPointCloud2 >

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, Radoslaw Cybulski

Definition at line 512 of file voxel_grid.h.

Constructor & Destructor Documentation

Empty constructor.

Definition at line 523 of file voxel_grid.h.

virtual pcl::VoxelGrid< pcl::PCLPointCloud2 >::~VoxelGrid ( )
inlinevirtual

Destructor.

Definition at line 543 of file voxel_grid.h.

Member Function Documentation

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::applyFilter ( PCLPointCloud2 output)
protectedvirtual

Downsample a Point Cloud using a voxelized grid approach.

Parameters
[out]outputthe resultant point cloud

Implements pcl::Filter< pcl::PCLPointCloud2 >.

int pcl::VoxelGrid< pcl::PCLPointCloud2 >::getCentroidIndex ( float  x,
float  y,
float  z 
) 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]xthe X point coordinate to get the index at
[in]ythe Y point coordinate to get the index at
[in]zthe Z point coordinate to get the index at

Definition at line 646 of file voxel_grid.h.

int pcl::VoxelGrid< pcl::PCLPointCloud2 >::getCentroidIndexAt ( const Eigen::Vector3i &  ijk) const
inline

Returns the index in the downsampled cloud corresponding to a given set of coordinates.

Parameters
[in]ijkthe coordinates (i,j,k) in the grid (-1 if empty)

Definition at line 726 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< pcl::PCLPointCloud2 >::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 636 of file voxel_grid.h.

bool pcl::VoxelGrid< pcl::PCLPointCloud2 >::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 591 of file voxel_grid.h.

std::string const pcl::VoxelGrid< pcl::PCLPointCloud2 >::getFilterFieldName ( ) const
inline

Get the name of the field used for filtering.

Definition at line 750 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::getFilterLimits ( double &  limit_min,
double &  limit_max 
) const
inline

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

The default values are -FLT_MAX, FLT_MAX.

Parameters
[out]limit_minthe minimum allowed field value
[out]limit_maxthe maximum allowed field value

Definition at line 771 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::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_negativetrue if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 791 of file voxel_grid.h.

bool pcl::VoxelGrid< pcl::PCLPointCloud2 >::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 800 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< pcl::PCLPointCloud2 >::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]xthe X point coordinate to get the (i, j, k) index at
[in]ythe Y point coordinate to get the (i, j, k) index at
[in]zthe Z point coordinate to get the (i, j, k) index at

Definition at line 715 of file voxel_grid.h.

std::vector<int> pcl::VoxelGrid< pcl::PCLPointCloud2 >::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 707 of file voxel_grid.h.

Eigen::Vector3f pcl::VoxelGrid< pcl::PCLPointCloud2 >::getLeafSize ( ) const
inline

Get the voxel grid leaf size.

Definition at line 579 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< pcl::PCLPointCloud2 >::getMaxBoxCoordinates ( ) const
inline

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

Definition at line 624 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< pcl::PCLPointCloud2 >::getMinBoxCoordinates ( ) const
inline

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

Definition at line 618 of file voxel_grid.h.

unsigned int pcl::VoxelGrid< pcl::PCLPointCloud2 >::getMinimumPointsNumberPerVoxel ( ) const
inline

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

Definition at line 602 of file voxel_grid.h.

std::vector<int> pcl::VoxelGrid< pcl::PCLPointCloud2 >::getNeighborCentroidIndices ( float  x,
float  y,
float  z,
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]xthe X coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]ythe Y coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]zthe Z coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[out]relative_coordinatesmatrix 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 664 of file voxel_grid.h.

std::vector<int> pcl::VoxelGrid< pcl::PCLPointCloud2 >::getNeighborCentroidIndices ( float  x,
float  y,
float  z,
const std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &  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]xthe X coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]ythe Y coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in]zthe Z coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds)
[out]relative_coordinatesvector with the elements 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 693 of file voxel_grid.h.

Eigen::Vector3i pcl::VoxelGrid< pcl::PCLPointCloud2 >::getNrDivisions ( ) const
inline

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

Definition at line 630 of file voxel_grid.h.

bool pcl::VoxelGrid< pcl::PCLPointCloud2 >::getSaveLeafLayout ( ) const
inline

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

Definition at line 612 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::setDownsampleAllData ( bool  downsample)
inline

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

Parameters
[in]downsamplethe new value (true/false)

Definition at line 585 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::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_namethe name of the field that contains values used for filtering

Definition at line 743 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::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_minthe minimum allowed field value
[in]limit_maxthe maximum allowed field value

Definition at line 760 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::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_negativereturn data inside the interval (false) or outside (true)

Definition at line 782 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::setLeafSize ( const Eigen::Vector4f &  leaf_size)
inline

Set the voxel grid leaf size.

Parameters
[in]leaf_sizethe voxel grid leaf size

Definition at line 551 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::setLeafSize ( float  lx,
float  ly,
float  lz 
)
inline

Set the voxel grid leaf size.

Parameters
[in]lxthe leaf size for X
[in]lythe leaf size for Y
[in]lzthe leaf size for Z

Definition at line 567 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::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_voxelthe minimum number of points for required for a voxel to be used

Definition at line 597 of file voxel_grid.h.

void pcl::VoxelGrid< pcl::PCLPointCloud2 >::setSaveLeafLayout ( bool  save_leaf_layout)
inline

Set to true if leaf layout information needs to be saved for later access.

Parameters
[in]save_leaf_layoutthe new value (true/false)

Definition at line 608 of file voxel_grid.h.

Member Data Documentation

Eigen::Vector4i pcl::VoxelGrid< pcl::PCLPointCloud2 >::div_b_
protected

Definition at line 828 of file voxel_grid.h.

Eigen::Vector4i pcl::VoxelGrid< pcl::PCLPointCloud2 >::divb_mul_
protected

Definition at line 828 of file voxel_grid.h.

bool pcl::VoxelGrid< pcl::PCLPointCloud2 >::downsample_all_data_
protected

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

Definition at line 813 of file voxel_grid.h.

std::string pcl::VoxelGrid< pcl::PCLPointCloud2 >::filter_field_name_
protected

The desired user filter field name.

Definition at line 831 of file voxel_grid.h.

double pcl::VoxelGrid< pcl::PCLPointCloud2 >::filter_limit_max_
protected

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

Definition at line 837 of file voxel_grid.h.

double pcl::VoxelGrid< pcl::PCLPointCloud2 >::filter_limit_min_
protected

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

Definition at line 834 of file voxel_grid.h.

bool pcl::VoxelGrid< pcl::PCLPointCloud2 >::filter_limit_negative_
protected

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

Default: false.

Definition at line 840 of file voxel_grid.h.

Eigen::Array4f pcl::VoxelGrid< pcl::PCLPointCloud2 >::inverse_leaf_size_
protected

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

Definition at line 810 of file voxel_grid.h.

std::vector<int> pcl::VoxelGrid< pcl::PCLPointCloud2 >::leaf_layout_
protected

The leaf layout information for fast access to cells relative to current position.

Definition at line 823 of file voxel_grid.h.

Eigen::Vector4f pcl::VoxelGrid< pcl::PCLPointCloud2 >::leaf_size_
protected

The size of a leaf.

Definition at line 807 of file voxel_grid.h.

Eigen::Vector4i pcl::VoxelGrid< pcl::PCLPointCloud2 >::max_b_
protected

Definition at line 828 of file voxel_grid.h.

Eigen::Vector4i pcl::VoxelGrid< pcl::PCLPointCloud2 >::min_b_
protected

The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.

Definition at line 828 of file voxel_grid.h.

unsigned int pcl::VoxelGrid< pcl::PCLPointCloud2 >::min_points_per_voxel_
protected

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

Definition at line 843 of file voxel_grid.h.

bool pcl::VoxelGrid< pcl::PCLPointCloud2 >::save_leaf_layout_
protected

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

Definition at line 818 of file voxel_grid.h.


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