Point Cloud Library (PCL)
1.14.1-dev
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GridMinimum assembles a local 2D grid over a given PointCloud, and downsamples the data. More...
#include <pcl/filters/grid_minimum.h>
Public Member Functions | |
GridMinimum (const float resolution) | |
Empty constructor. More... | |
~GridMinimum () override=default | |
Destructor. More... | |
void | setResolution (const float resolution) |
Set the grid resolution. More... | |
float | getResolution () |
Get the grid resolution. More... | |
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FilterIndices (bool extract_removed_indices=false) | |
Constructor. More... | |
void | filter (Indices &indices) |
Calls the filtering method and returns the filtered point cloud indices. More... | |
void | setNegative (bool negative) |
Set whether the regular conditions for points filtering should apply, or the inverted conditions. More... | |
bool | getNegative () const |
Get whether the regular conditions for points filtering should apply, or the inverted conditions. More... | |
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... | |
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... | |
void | setUserFilterValue (float value) |
Provide a value that the filtered points should be set to instead of removing them. More... | |
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Filter (bool extract_removed_indices=false) | |
Empty constructor. 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 (PointCloud &output) |
Calls the filtering method and returns the filtered dataset in output. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase ()=default |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
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... | |
IndicesPtr | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointT & | operator[] (std::size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Types | |
using | PointCloud = typename FilterIndices< PointT >::PointCloud |
Protected Member Functions | |
void | applyFilter (PointCloud &output) override |
Downsample a Point Cloud using a 2D grid approach. More... | |
void | applyFilter (Indices &indices) override |
Filtered results are indexed by an indices array. More... | |
void | applyFilterIndices (Indices &indices) |
Filtered results are indexed by an indices array. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Protected Attributes | |
float | resolution_ |
The resolution. More... | |
float | inverse_resolution_ |
Internal resolution stored as 1/resolution_ for efficiency reasons. More... | |
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bool | negative_ {false} |
False = normal filter behavior (default), true = inverted behavior. More... | |
bool | keep_organized_ {false} |
False = remove points (default), true = redefine points, keep structure. More... | |
float | user_filter_value_ |
The user given value that the filtered point dimensions should be set to (default = NaN). More... | |
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IndicesPtr | removed_indices_ |
Indices of the points that are removed. More... | |
std::string | filter_name_ |
The filter name. More... | |
bool | extract_removed_indices_ |
Set to true if we want to return the indices of the removed points. More... | |
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PointCloudConstPtr | 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... | |
Additional Inherited Members | |
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using | PointCloud = pcl::PointCloud< PointT > |
using | Ptr = shared_ptr< FilterIndices< PointT > > |
using | ConstPtr = shared_ptr< const FilterIndices< 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 |
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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 |
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.
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protected |
Definition at line 69 of file grid_minimum.h.
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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().
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overridedefault |
Destructor.
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inlineoverrideprotectedvirtual |
Filtered results are indexed by an indices array.
[out] | indices | The resultant indices. |
Implements pcl::FilterIndices< PointT >.
Definition at line 114 of file grid_minimum.h.
References pcl::GridMinimum< PointT >::applyFilterIndices().
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overrideprotectedvirtual |
Downsample a Point Cloud using a 2D grid approach.
[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.
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protected |
Filtered results are indexed by an indices array.
[out] | indices | The resultant indices. |
Definition at line 81 of file grid_minimum.hpp.
References pcl::isXYZFinite().
Referenced by pcl::GridMinimum< PointT >::applyFilter().
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inline |
Get the grid resolution.
Definition at line 95 of file grid_minimum.h.
References pcl::GridMinimum< PointT >::resolution_.
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inline |
Set the grid resolution.
[in] | resolution | the grid resolution |
Definition at line 86 of file grid_minimum.h.
References pcl::GridMinimum< PointT >::inverse_resolution_, and pcl::GridMinimum< PointT >::resolution_.
Referenced by pcl::GridMinimum< PointT >::GridMinimum().
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protected |
Internal resolution stored as 1/resolution_ for efficiency reasons.
Definition at line 102 of file grid_minimum.h.
Referenced by pcl::GridMinimum< PointT >::setResolution().
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protected |
The resolution.
Definition at line 99 of file grid_minimum.h.
Referenced by pcl::GridMinimum< PointT >::getResolution(), and pcl::GridMinimum< PointT >::setResolution().