ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...

#include <pcl/filters/approximate_voxel_grid.h>

Inheritance diagram for pcl::ApproximateVoxelGrid< PointT >:

Collaboration diagram for pcl::ApproximateVoxelGrid< PointT >:

Public Types
using	Ptr = shared_ptr<ApproximateVoxelGrid<PointT> >
using	ConstPtr = shared_ptr<const ApproximateVoxelGrid<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
	ApproximateVoxelGrid ()
	Empty constructor.
	ApproximateVoxelGrid (const ApproximateVoxelGrid &src)
	Copy constructor.
	~ApproximateVoxelGrid ()
	Destructor.
ApproximateVoxelGrid &	operator= (const ApproximateVoxelGrid &src)
	Copy operator.
void	setLeafSize (const Eigen::Vector3f &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 () const
	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 () const
	Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).
Public Member Functions inherited from pcl::Filter< PointT >
	Filter (bool extract_removed_indices=false)
	Empty constructor.
IndicesConstPtr const	getRemovedIndices () const
	Get the point indices being removed.
void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed.
void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output.
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

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

Protected Member Functions
void	applyFilter (PointCloud &output) override
	Downsample a Point Cloud using a voxelized grid approach.
void	flush (PointCloud &output, std::size_t op, he *hhe, int rgba_index, int centroid_size)
	Write a single point from the hash to the output cloud.
Protected Member Functions inherited from pcl::Filter< PointT >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
Eigen::Vector3f	leaf_size_
	The size of a leaf.
Eigen::Array3f	inverse_leaf_size_
	Compute 1/leaf_size_ to avoid division later.
bool	downsample_all_data_
	Set to true if all fields need to be downsampled, or false if just XYZ.
std::size_t	histsize_
	history buffer size, power of 2
struct he *	history_
	history buffer
Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr	removed_indices_
	Indices of the points that are removed.
std::string	filter_name_
	The filter name.
bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

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

ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.

Author: James Bowman, Radu B. Rusu

Definition at line 98 of file approximate_voxel_grid.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT>

using pcl::ApproximateVoxelGrid< PointT >::ConstPtr = shared_ptr<const ApproximateVoxelGrid<PointT> >

Definition at line 121 of file approximate_voxel_grid.h.

◆ FieldList

template<typename PointT>

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

protected

Definition at line 229 of file approximate_voxel_grid.h.

◆ Ptr

template<typename PointT>

using pcl::ApproximateVoxelGrid< PointT >::Ptr = shared_ptr<ApproximateVoxelGrid<PointT> >

Definition at line 120 of file approximate_voxel_grid.h.

Constructor & Destructor Documentation

◆ ApproximateVoxelGrid() [1/2]

template<typename PointT>

pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid ( )

inline

Empty constructor.

Definition at line 125 of file approximate_voxel_grid.h.

References downsample_all_data_, pcl::Filter< PointT >::Filter(), pcl::Filter< PointT >::filter_name_, history_, histsize_, inverse_leaf_size_, and leaf_size_.

Referenced by ApproximateVoxelGrid(), and operator=().

◆ ApproximateVoxelGrid() [2/2]

template<typename PointT>

pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid ( const ApproximateVoxelGrid< PointT > & src )

inline

Copy constructor.

Parameters

[in] src the approximate voxel grid to copy into this.

Definition at line 138 of file approximate_voxel_grid.h.

References ApproximateVoxelGrid(), downsample_all_data_, pcl::Filter< PointT >::Filter(), history_, histsize_, inverse_leaf_size_, and leaf_size_.

◆ ~ApproximateVoxelGrid()

template<typename PointT>

pcl::ApproximateVoxelGrid< PointT >::~ApproximateVoxelGrid ( )

inline

Destructor.

Definition at line 154 of file approximate_voxel_grid.h.

References history_.

Member Function Documentation

◆ applyFilter()

template<typename PointT>

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

overrideprotectedvirtual

Downsample a Point Cloud using a voxelized grid approach.

Parameters

output the resultant point cloud message

Implements pcl::Filter< PointT >.

Definition at line 65 of file approximate_voxel_grid.hpp.

References downsample_all_data_, flush(), pcl::for_each_type(), pcl::getFieldIndex(), history_, histsize_, pcl::PCLBase< PointT >::input_, and inverse_leaf_size_.

◆ flush()

template<typename PointT>

void pcl::ApproximateVoxelGrid< PointT >::flush	(	PointCloud &	output,
		std::size_t	op,
		he *	hhe,
		int	rgba_index,
		int	centroid_size )

protected

Write a single point from the hash to the output cloud.

Definition at line 47 of file approximate_voxel_grid.hpp.

References pcl::for_each_type().

Referenced by applyFilter().

◆ getDownsampleAllData()

template<typename PointT>

bool pcl::ApproximateVoxelGrid< PointT >::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 211 of file approximate_voxel_grid.h.

References downsample_all_data_.

◆ getLeafSize()

template<typename PointT>

Eigen::Vector3f pcl::ApproximateVoxelGrid< PointT >::getLeafSize ( ) const

inline

Get the voxel grid leaf size.

Definition at line 199 of file approximate_voxel_grid.h.

References leaf_size_.

◆ operator=()

template<typename PointT>

ApproximateVoxelGrid & pcl::ApproximateVoxelGrid< PointT >::operator= ( const ApproximateVoxelGrid< PointT > & src )

inline

Copy operator.

Parameters

[in] src the approximate voxel grid to copy into this.

Definition at line 164 of file approximate_voxel_grid.h.

References ApproximateVoxelGrid(), downsample_all_data_, history_, histsize_, inverse_leaf_size_, and leaf_size_.

◆ setDownsampleAllData()

template<typename PointT>

void pcl::ApproximateVoxelGrid< 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 205 of file approximate_voxel_grid.h.

References downsample_all_data_.

◆ setLeafSize() [1/2]

template<typename PointT>

void pcl::ApproximateVoxelGrid< PointT >::setLeafSize ( const Eigen::Vector3f & leaf_size )

inline

Set the voxel grid leaf size.

Parameters

[in] leaf_size the voxel grid leaf size

Definition at line 180 of file approximate_voxel_grid.h.

References inverse_leaf_size_, and leaf_size_.

Referenced by setLeafSize().

◆ setLeafSize() [2/2]

template<typename PointT>

void pcl::ApproximateVoxelGrid< PointT >::setLeafSize	(	float	lx,
		float	ly,
		float	lz )

inline

Set the voxel grid leaf size.

Parameters

[in]	lx	the leaf size for X
[in]	ly	the leaf size for Y
[in]	lz	the leaf size for Z

Definition at line 192 of file approximate_voxel_grid.h.

References setLeafSize().

Member Data Documentation

◆ downsample_all_data_

template<typename PointT>

bool pcl::ApproximateVoxelGrid< PointT >::downsample_all_data_

protected

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

Definition at line 221 of file approximate_voxel_grid.h.

Referenced by applyFilter(), ApproximateVoxelGrid(), ApproximateVoxelGrid(), getDownsampleAllData(), operator=(), and setDownsampleAllData().

◆ history_

template<typename PointT>

struct he* pcl::ApproximateVoxelGrid< PointT >::history_

protected

history buffer

Definition at line 227 of file approximate_voxel_grid.h.

Referenced by applyFilter(), ApproximateVoxelGrid(), ApproximateVoxelGrid(), operator=(), and ~ApproximateVoxelGrid().

◆ histsize_

template<typename PointT>

std::size_t pcl::ApproximateVoxelGrid< PointT >::histsize_

protected

history buffer size, power of 2

Definition at line 224 of file approximate_voxel_grid.h.

Referenced by applyFilter(), ApproximateVoxelGrid(), ApproximateVoxelGrid(), and operator=().

◆ inverse_leaf_size_

template<typename PointT>

Eigen::Array3f pcl::ApproximateVoxelGrid< PointT >::inverse_leaf_size_

protected

Compute 1/leaf_size_ to avoid division later.

Definition at line 218 of file approximate_voxel_grid.h.

Referenced by applyFilter(), ApproximateVoxelGrid(), ApproximateVoxelGrid(), operator=(), and setLeafSize().

◆ leaf_size_

template<typename PointT>

Eigen::Vector3f pcl::ApproximateVoxelGrid< PointT >::leaf_size_

protected

The size of a leaf.

Definition at line 215 of file approximate_voxel_grid.h.

Referenced by ApproximateVoxelGrid(), ApproximateVoxelGrid(), getLeafSize(), operator=(), and setLeafSize().

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

pcl/filters/approximate_voxel_grid.h
pcl/filters/impl/approximate_voxel_grid.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ FieldList

◆ Ptr

Constructor & Destructor Documentation

◆ ApproximateVoxelGrid() [1/2]

◆ ApproximateVoxelGrid() [2/2]

◆ ~ApproximateVoxelGrid()

Member Function Documentation

◆ applyFilter()

◆ flush()

◆ getDownsampleAllData()

◆ getLeafSize()

◆ operator=()

◆ setDownsampleAllData()

◆ setLeafSize() [1/2]

◆ setLeafSize() [2/2]

Member Data Documentation

◆ downsample_all_data_

◆ history_

◆ histsize_

◆ inverse_leaf_size_

◆ leaf_size_