ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...
#include <pcl/filters/approximate_voxel_grid.h>
Public Types |
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| using | Ptr = shared_ptr< ApproximateVoxelGrid< PointT > > |
| using | ConstPtr = shared_ptr< const ApproximateVoxelGrid< PointT > > |
 Public Types inherited from pcl::Filter< PointT > |
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| 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 > |
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| 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 |
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| ApproximateVoxelGrid () | |
| Empty constructor. More... |
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| ApproximateVoxelGrid (const ApproximateVoxelGrid &src) | |
| Copy constructor. More... |
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| ~ApproximateVoxelGrid () | |
| Destructor. More... |
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| ApproximateVoxelGrid & | operator= (const ApproximateVoxelGrid &src) |
| Copy operator. More... |
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| void | setLeafSize (const Eigen::Vector3f &leaf_size) |
| Set the voxel grid leaf size. More... |
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| void | setLeafSize (float lx, float ly, float lz) |
| Set the voxel grid leaf size. More... |
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| Eigen::Vector3f | getLeafSize () const |
| Get the voxel grid leaf size. More... |
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| void | setDownsampleAllData (bool downsample) |
| Set to true if all fields need to be downsampled, or false if just XYZ. More... |
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| bool | getDownsampleAllData () const |
| Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). More... |
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| Public Member Functions inherited from pcl::Filter< PointT > |
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| Filter (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| const IndicesConstPtr | getRemovedIndices () const |
| Get the point indices being removed. More... |
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| void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed. More... |
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| void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Types |
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| using | FieldList = typename pcl::traits::fieldList< PointT >::type |
Protected Member Functions |
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| void | applyFilter (PointCloud &output) override |
| Downsample a Point Cloud using a voxelized grid approach. More... |
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| 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. More... |
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| Protected Member Functions inherited from pcl::Filter< PointT > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes |
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| Eigen::Vector3f | leaf_size_ |
| The size of a leaf. More... |
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| Eigen::Array3f | inverse_leaf_size_ |
| Compute 1/leaf_size_ to avoid division later. More... |
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| bool | downsample_all_data_ |
| Set to true if all fields need to be downsampled, or false if just XYZ. More... |
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| std::size_t | histsize_ |
| history buffer size, power of 2 More... |
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| struct he * | history_ |
| history buffer More... |
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| Protected Attributes inherited from pcl::Filter< PointT > |
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| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. More... |
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| std::string | filter_name_ |
| The filter name. More... |
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| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointT>
class pcl::ApproximateVoxelGrid< PointT >
ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
Definition at line 98 of file approximate_voxel_grid.h.
Member Typedef Documentation
ConstPtr
| using pcl::ApproximateVoxelGrid< PointT >::ConstPtr = shared_ptr<const ApproximateVoxelGrid<PointT> > |
Definition at line 121 of file approximate_voxel_grid.h.
FieldList
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protected |
Definition at line 229 of file approximate_voxel_grid.h.
Ptr
| 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]
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inline |
Empty constructor.
Definition at line 125 of file approximate_voxel_grid.h.
References pcl::Filter< PointT >::filter_name_.
ApproximateVoxelGrid() [2/2]
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inline |
Copy constructor.
- Parameters
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[in] src the approximate voxel grid to copy into this.
Definition at line 138 of file approximate_voxel_grid.h.
References pcl::ApproximateVoxelGrid< PointT >::history_, and pcl::ApproximateVoxelGrid< PointT >::histsize_.
~ApproximateVoxelGrid()
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inline |
Destructor.
Definition at line 154 of file approximate_voxel_grid.h.
References pcl::ApproximateVoxelGrid< PointT >::history_.
Member Function Documentation
applyFilter()
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overrideprotectedvirtual |
Downsample a Point Cloud using a voxelized grid approach.
- Parameters
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output the resultant point cloud message
Implements pcl::Filter< PointT >.
Definition at line 65 of file approximate_voxel_grid.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
flush()
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protected |
Write a single point from the hash to the output cloud.
Definition at line 47 of file approximate_voxel_grid.hpp.
getDownsampleAllData()
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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 pcl::ApproximateVoxelGrid< PointT >::downsample_all_data_.
getLeafSize()
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inline |
Get the voxel grid leaf size.
Definition at line 199 of file approximate_voxel_grid.h.
References pcl::ApproximateVoxelGrid< PointT >::leaf_size_.
operator=()
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inline |
Copy operator.
- Parameters
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[in] src the approximate voxel grid to copy into this.
Definition at line 164 of file approximate_voxel_grid.h.
References pcl::ApproximateVoxelGrid< PointT >::downsample_all_data_, pcl::ApproximateVoxelGrid< PointT >::history_, pcl::ApproximateVoxelGrid< PointT >::histsize_, pcl::ApproximateVoxelGrid< PointT >::inverse_leaf_size_, and pcl::ApproximateVoxelGrid< PointT >::leaf_size_.
setDownsampleAllData()
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inline |
Set to true if all fields need to be downsampled, or false if just XYZ.
- Parameters
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downsample the new value (true/false)
Definition at line 205 of file approximate_voxel_grid.h.
References pcl::ApproximateVoxelGrid< PointT >::downsample_all_data_.
setLeafSize() [1/2]
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inline |
Set the voxel grid leaf size.
- Parameters
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[in] leaf_size the voxel grid leaf size
Definition at line 180 of file approximate_voxel_grid.h.
References pcl::ApproximateVoxelGrid< PointT >::inverse_leaf_size_, and pcl::ApproximateVoxelGrid< PointT >::leaf_size_.
Referenced by pcl::ApproximateVoxelGrid< PointT >::setLeafSize().
setLeafSize() [2/2]
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inline |
Set the voxel grid leaf size.
- Parameters
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[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 pcl::ApproximateVoxelGrid< PointT >::setLeafSize().
Member Data Documentation
downsample_all_data_
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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 pcl::ApproximateVoxelGrid< PointT >::getDownsampleAllData(), pcl::ApproximateVoxelGrid< PointT >::operator=(), and pcl::ApproximateVoxelGrid< PointT >::setDownsampleAllData().
history_
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protected |
history buffer
Definition at line 227 of file approximate_voxel_grid.h.
Referenced by pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid(), pcl::ApproximateVoxelGrid< PointT >::operator=(), and pcl::ApproximateVoxelGrid< PointT >::~ApproximateVoxelGrid().
histsize_
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protected |
history buffer size, power of 2
Definition at line 224 of file approximate_voxel_grid.h.
Referenced by pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid(), and pcl::ApproximateVoxelGrid< PointT >::operator=().
inverse_leaf_size_
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protected |
Compute 1/leaf_size_ to avoid division later.
Definition at line 218 of file approximate_voxel_grid.h.
Referenced by pcl::ApproximateVoxelGrid< PointT >::operator=(), and pcl::ApproximateVoxelGrid< PointT >::setLeafSize().
leaf_size_
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protected |
The size of a leaf.
Definition at line 215 of file approximate_voxel_grid.h.
Referenced by pcl::ApproximateVoxelGrid< PointT >::getLeafSize(), pcl::ApproximateVoxelGrid< PointT >::operator=(), and pcl::ApproximateVoxelGrid< PointT >::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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_approximate_voxel_grid.html
