#include <pcl/filters/voxel_grid_label.h>
Public Types |
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| using | Ptr = shared_ptr< VoxelGridLabel > |
| using | ConstPtr = shared_ptr< const VoxelGridLabel > |
 Public Types inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > |
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| using | Ptr = shared_ptr< VoxelGrid< pcl::PointXYZRGBL > > |
| using | ConstPtr = shared_ptr< const VoxelGrid< pcl::PointXYZRGBL > > |
| Public Types inherited from pcl::Filter< pcl::PointXYZRGBL > |
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| using | Ptr = shared_ptr< Filter< pcl::PointXYZRGBL > > |
| using | ConstPtr = shared_ptr< const Filter< pcl::PointXYZRGBL > > |
| using | PointCloud = pcl::PointCloud< pcl::PointXYZRGBL > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| Public Types inherited from pcl::PCLBase< pcl::PointXYZRGBL > |
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| using | PointCloud = pcl::PointCloud< pcl::PointXYZRGBL > |
| 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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| VoxelGridLabel () | |
| Constructor. More... |
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| Public Member Functions inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > |
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| VoxelGrid () | |
| Empty constructor. More... |
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| ~VoxelGrid () | |
| Destructor. More... |
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| void | setLeafSize (const Eigen::Vector4f &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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| void | setMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel) |
| Set the minimum number of points required for a voxel to be used. More... |
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| unsigned int | getMinimumPointsNumberPerVoxel () const |
| Return the minimum number of points required for a voxel to be used. More... |
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| void | setSaveLeafLayout (bool save_leaf_layout) |
| Set to true if leaf layout information needs to be saved for later access. More... |
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| bool | getSaveLeafLayout () const |
| Returns true if leaf layout information will to be saved for later access. More... |
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| Eigen::Vector3i | getMinBoxCoordinates () const |
| Get the minimum coordinates of the bounding box (after filtering is performed). More... |
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| Eigen::Vector3i | getMaxBoxCoordinates () const |
| Get the minimum coordinates of the bounding box (after filtering is performed). More... |
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| Eigen::Vector3i | getNrDivisions () const |
| Get the number of divisions along all 3 axes (after filtering is performed). More... |
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| 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... |
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| int | getCentroidIndex (const pcl::PointXYZRGBL &p) const |
| Returns the index in the resulting downsampled cloud of the specified point. More... |
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| std::vector< int > | getNeighborCentroidIndices (const pcl::PointXYZRGBL &reference_point, 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... |
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| std::vector< int > | getLeafLayout () const |
| Returns the layout of the leafs for fast access to cells relative to current position. More... |
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| 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... |
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| int | getCentroidIndexAt (const Eigen::Vector3i &ijk) const |
| Returns the index in the downsampled cloud corresponding to a given set of coordinates. More... |
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| void | setFilterFieldName (const std::string &field_name) |
| Provide the name of the field to be used for filtering data. More... |
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| const std::string | getFilterFieldName () const |
| Get the name of the field used for filtering. More... |
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| void | setFilterLimits (const double &limit_min, const double &limit_max) |
| Set the field filter limits. More... |
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| void | getFilterLimits (double &limit_min, double &limit_max) const |
| Get the field filter limits (min/max) set by the user. More... |
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| 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... |
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| void | getFilterLimitsNegative (bool &limit_negative) const |
| Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). More... |
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| bool | getFilterLimitsNegative () const |
| Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). More... |
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| Public Member Functions inherited from pcl::Filter< pcl::PointXYZRGBL > |
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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< pcl::PointXYZRGBL > |
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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 pcl::PointXYZRGBL & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| void | applyFilter (PointCloud &output) override |
| Filter cloud and initializes voxel structure. More... |
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| Protected Member Functions inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > |
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| void | applyFilter (PointCloud &output) override |
| Downsample a Point Cloud using a voxelized grid approach. More... |
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| Protected Member Functions inherited from pcl::Filter< pcl::PointXYZRGBL > |
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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< pcl::PointXYZRGBL > |
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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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Additional Inherited Members |
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| Protected Types inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > |
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| using | PointCloud = typename Filter< pcl::PointXYZRGBL >::PointCloud |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | FieldList = typename pcl::traits::fieldList< pcl::PointXYZRGBL >::type |
| Protected Attributes inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > |
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| Eigen::Vector4f | leaf_size_ |
| The size of a leaf. More... |
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| Eigen::Array4f | inverse_leaf_size_ |
| Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. 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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| bool | save_leaf_layout_ |
| Set to true if leaf layout information needs to be saved in leaf_layout_. More... |
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| std::vector< int > | leaf_layout_ |
| The leaf layout information for fast access to cells relative to current position. More... |
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| Eigen::Vector4i | min_b_ |
| The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. More... |
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| Eigen::Vector4i | max_b_ |
| Eigen::Vector4i | div_b_ |
| Eigen::Vector4i | divb_mul_ |
| std::string | filter_field_name_ |
| The desired user filter field name. More... |
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| double | filter_limit_min_ |
| The minimum allowed filter value a point will be considered from. More... |
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| double | filter_limit_max_ |
| The maximum allowed filter value a point will be considered from. More... |
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| bool | filter_limit_negative_ |
| Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). More... |
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| unsigned int | min_points_per_voxel_ |
| Minimum number of points per voxel for the centroid to be computed. More... |
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| Protected Attributes inherited from pcl::Filter< pcl::PointXYZRGBL > |
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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< pcl::PointXYZRGBL > |
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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
Definition at line 50 of file voxel_grid_label.h.
Member Typedef Documentation
ConstPtr
| using pcl::VoxelGridLabel::ConstPtr = shared_ptr<const VoxelGridLabel> |
Definition at line 55 of file voxel_grid_label.h.
Ptr
| using pcl::VoxelGridLabel::Ptr = shared_ptr<VoxelGridLabel> |
Definition at line 54 of file voxel_grid_label.h.
Constructor & Destructor Documentation
VoxelGridLabel()
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inline |
Member Function Documentation
applyFilter()
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overrideprotectedvirtual |
Filter cloud and initializes voxel structure.
- Parameters
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[out] output cloud containing centroids of voxels containing a sufficient number of points
Implements pcl::Filter< pcl::PointXYZRGBL >.
The documentation for this class was generated from the following file:
- pcl/filters/voxel_grid_label.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_voxel_grid_label.html
