GridMinimum assembles a local 2D grid over a given PointCloud, and downsamples the data. More...
#include <pcl/filters/grid_minimum.h>
Public Member Functions |
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| GridMinimum (const float resolution) | |
| Empty constructor. More... |
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| ~GridMinimum () | |
| Destructor. More... |
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| void | setResolution (const float resolution) |
| Set the grid resolution. More... |
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| float | getResolution () |
| Get the grid resolution. More... |
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 Public Member Functions inherited from pcl::FilterIndices< PointT > |
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| FilterIndices (bool extract_removed_indices=false) | |
| Constructor. More... |
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| void | filter (Indices &indices) |
| Calls the filtering method and returns the filtered point cloud indices. More... |
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| void | setNegative (bool negative) |
| Set whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| bool | getNegative () const |
| Get whether the regular conditions for points filtering should apply, or the inverted conditions. More... |
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| 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... |
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| bool | getKeepOrganized () const |
| 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... |
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| void | setUserFilterValue (float value) |
| Provide a value that the filtered points should be set to instead of removing them. 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 | PointCloud = typename FilterIndices< PointT >::PointCloud |
Protected Member Functions |
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| void | applyFilter (PointCloud &output) override |
| Downsample a Point Cloud using a 2D grid approach. More... |
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| void | applyFilter (Indices &indices) override |
| Filtered results are indexed by an indices array. More... |
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| void | applyFilterIndices (Indices &indices) |
| Filtered results are indexed by an indices array. 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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| float | resolution_ |
| The resolution. More... |
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| float | inverse_resolution_ |
| Internal resolution stored as 1/resolution_ for efficiency reasons. More... |
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| Protected Attributes inherited from pcl::FilterIndices< PointT > |
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| bool | negative_ |
| False = normal filter behavior (default), true = inverted behavior. More... |
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| bool | keep_organized_ |
| False = remove points (default), true = redefine points, keep structure. More... |
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| float | user_filter_value_ |
| The user given value that the filtered point dimensions should be set to (default = NaN). 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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Additional Inherited Members |
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| Public Types inherited from pcl::FilterIndices< PointT > |
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| using | PointCloud = pcl::PointCloud< PointT > |
| using | Ptr = shared_ptr< FilterIndices< PointT > > |
| using | ConstPtr = shared_ptr< const FilterIndices< 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 |
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.
Definition at line 61 of file grid_minimum.h.
Member Typedef Documentation
PointCloud
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protected |
Definition at line 69 of file grid_minimum.h.
Constructor & Destructor Documentation
GridMinimum()
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inline |
Empty constructor.
Definition at line 73 of file grid_minimum.h.
References pcl::Filter< PointT >::filter_name_, and pcl::GridMinimum< PointT >::setResolution().
~GridMinimum()
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inline |
Destructor.
Definition at line 80 of file grid_minimum.h.
Member Function Documentation
applyFilter() [1/2]
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inlineoverrideprotectedvirtual |
Filtered results are indexed by an indices array.
- Parameters
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[out] indices The resultant indices.
Implements pcl::FilterIndices< PointT >.
Definition at line 116 of file grid_minimum.h.
References pcl::GridMinimum< PointT >::applyFilterIndices().
applyFilter() [2/2]
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overrideprotectedvirtual |
Downsample a Point Cloud using a 2D grid approach.
- Parameters
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[out] output the resultant point cloud message
Reimplemented from pcl::FilterIndices< PointT >.
Definition at line 61 of file grid_minimum.hpp.
References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, and pcl::PointCloud< PointT >::width.
applyFilterIndices()
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protected |
Filtered results are indexed by an indices array.
- Parameters
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[out] indices The resultant indices.
Definition at line 81 of file grid_minimum.hpp.
References pcl::isXYZFinite().
Referenced by pcl::GridMinimum< PointT >::applyFilter().
getResolution()
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inline |
Get the grid resolution.
Definition at line 97 of file grid_minimum.h.
References pcl::GridMinimum< PointT >::resolution_.
setResolution()
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inline |
Set the grid resolution.
- Parameters
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[in] resolution the grid resolution
Definition at line 88 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
inverse_resolution_
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protected |
Internal resolution stored as 1/resolution_ for efficiency reasons.
Definition at line 104 of file grid_minimum.h.
Referenced by pcl::GridMinimum< PointT >::setResolution().
resolution_
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protected |
The resolution.
Definition at line 101 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:
- pcl/filters/grid_minimum.h
- pcl/filters/impl/grid_minimum.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_grid_minimum.html
