Point Cloud Library (PCL)
1.14.1-dev
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VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...
#include <pcl/filters/voxel_grid.h>
Public Member Functions | |
VoxelGrid () | |
Empty constructor. More... | |
~VoxelGrid () override=default | |
Destructor. More... | |
void | setLeafSize (const Eigen::Vector4f &leaf_size) |
Set the voxel grid leaf size. More... | |
void | setLeafSize (float lx, float ly, float lz) |
Set the voxel grid leaf size. More... | |
Eigen::Vector3f | getLeafSize () const |
Get the voxel grid leaf size. More... | |
void | setDownsampleAllData (bool downsample) |
Set to true if all fields need to be downsampled, or false if just XYZ. More... | |
bool | getDownsampleAllData () const |
Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). More... | |
void | setMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel) |
Set the minimum number of points required for a voxel to be used. More... | |
unsigned int | getMinimumPointsNumberPerVoxel () const |
Return the minimum number of points required for a voxel to be used. More... | |
void | setSaveLeafLayout (bool save_leaf_layout) |
Set to true if leaf layout information needs to be saved for later access. More... | |
bool | getSaveLeafLayout () const |
Returns true if leaf layout information will to be saved for later access. More... | |
Eigen::Vector3i | getMinBoxCoordinates () const |
Get the minimum coordinates of the bounding box (after filtering is performed). More... | |
Eigen::Vector3i | getMaxBoxCoordinates () const |
Get the minimum coordinates of the bounding box (after filtering is performed). More... | |
Eigen::Vector3i | getNrDivisions () const |
Get the number of divisions along all 3 axes (after filtering is performed). More... | |
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... | |
int | getCentroidIndex (float x, float y, float z) const |
Returns the index in the resulting downsampled cloud of the specified point. More... | |
std::vector< int > | getNeighborCentroidIndices (float x, float y, float z, 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... | |
std::vector< int > | getNeighborCentroidIndices (float x, float y, float z, const std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &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... | |
std::vector< int > | getLeafLayout () const |
Returns the layout of the leafs for fast access to cells relative to current position. More... | |
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... | |
int | getCentroidIndexAt (const Eigen::Vector3i &ijk) const |
Returns the index in the downsampled cloud corresponding to a given set of coordinates. More... | |
void | setFilterFieldName (const std::string &field_name) |
Provide the name of the field to be used for filtering data. More... | |
std::string const | getFilterFieldName () const |
Get the name of the field used for filtering. More... | |
void | setFilterLimits (const double &limit_min, const double &limit_max) |
Set the field filter limits. More... | |
void | getFilterLimits (double &limit_min, double &limit_max) const |
Get the field filter limits (min/max) set by the user. More... | |
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... | |
void | getFilterLimitsNegative (bool &limit_negative) const |
Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). More... | |
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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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 (PCLPointCloud2 &output) |
Calls the filtering method and returns the filtered dataset in output. More... | |
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PCLBase () | |
Empty constructor. More... | |
virtual | ~PCLBase ()=default |
destructor. More... | |
void | setInputCloud (const PCLPointCloud2ConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PCLPointCloud2ConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
IndicesPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
Protected Member Functions | |
void | applyFilter (PCLPointCloud2 &output) override |
Downsample a Point Cloud using a voxelized grid approach. 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 () |
bool | deinitCompute () |
Protected Attributes | |
Eigen::Vector4f | leaf_size_ |
The size of a leaf. More... | |
Eigen::Array4f | inverse_leaf_size_ |
Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. More... | |
bool | downsample_all_data_ {true} |
Set to true if all fields need to be downsampled, or false if just XYZ. More... | |
bool | save_leaf_layout_ {false} |
Set to true if leaf layout information needs to be saved in leaf_layout. More... | |
std::vector< int > | leaf_layout_ |
The leaf layout information for fast access to cells relative to current position. More... | |
Eigen::Vector4i | min_b_ |
The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. More... | |
Eigen::Vector4i | max_b_ |
Eigen::Vector4i | div_b_ |
Eigen::Vector4i | divb_mul_ |
std::string | filter_field_name_ |
The desired user filter field name. More... | |
double | filter_limit_min_ {std::numeric_limits<float>::lowest()} |
The minimum allowed filter value a point will be considered from. More... | |
double | filter_limit_max_ {std::numeric_limits<float>::max()} |
The maximum allowed filter value a point will be considered from. More... | |
bool | filter_limit_negative_ {false} |
Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). More... | |
unsigned int | min_points_per_voxel_ {0} |
Minimum number of points per voxel for the centroid to be computed. More... | |
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IndicesPtr | removed_indices_ |
Indices of the points that are removed. More... | |
bool | extract_removed_indices_ |
Set to true if we want to return the indices of the removed points. More... | |
std::string | filter_name_ |
The filter name. More... | |
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PCLPointCloud2ConstPtr | 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... | |
std::vector< uindex_t > | field_sizes_ |
The size of each individual field. More... | |
index_t | x_idx_ |
The x-y-z fields indices. More... | |
index_t | y_idx_ |
index_t | z_idx_ |
std::string | x_field_name_ |
The desired x-y-z field names. More... | |
std::string | y_field_name_ |
std::string | z_field_name_ |
Additional Inherited Members | |
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using | Ptr = shared_ptr< Filter< pcl::PCLPointCloud2 > > |
using | ConstPtr = shared_ptr< const Filter< pcl::PCLPointCloud2 > > |
using | PCLPointCloud2 = pcl::PCLPointCloud2 |
using | PCLPointCloud2Ptr = PCLPointCloud2::Ptr |
using | PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr |
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using | PCLPointCloud2 = pcl::PCLPointCloud2 |
using | PCLPointCloud2Ptr = PCLPointCloud2::Ptr |
using | PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr |
using | PointIndicesPtr = PointIndices::Ptr |
using | PointIndicesConstPtr = PointIndices::ConstPtr |
VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
The VoxelGrid class creates a 3D voxel grid (think about a voxel grid as a set of tiny 3D boxes in space) over the input point cloud data. Then, in each voxel (i.e., 3D box), all the points present will be approximated (i.e., downsampled) with their centroid. This approach is a bit slower than approximating them with the center of the voxel, but it represents the underlying surface more accurately.
Definition at line 537 of file voxel_grid.h.
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Empty constructor.
Definition at line 548 of file voxel_grid.h.
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Destructor.
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Downsample a Point Cloud using a voxelized grid approach.
[out] | output | the resultant point cloud |
Implements pcl::Filter< pcl::PCLPointCloud2 >.
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Returns the index in the resulting downsampled cloud of the specified point.
[in] | x | the X point coordinate to get the index at |
[in] | y | the Y point coordinate to get the index at |
[in] | z | the Z point coordinate to get the index at |
Definition at line 662 of file voxel_grid.h.
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Returns the index in the downsampled cloud corresponding to a given set of coordinates.
[in] | ijk | the coordinates (i,j,k) in the grid (-1 if empty) |
Definition at line 742 of file voxel_grid.h.
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Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed).
Definition at line 652 of file voxel_grid.h.
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Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).
Definition at line 607 of file voxel_grid.h.
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Get the name of the field used for filtering.
Definition at line 766 of file voxel_grid.h.
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Get the field filter limits (min/max) set by the user.
The default values are std::numeric_limits<float>::lowest(), std::numeric_limits<float>::max().
[out] | limit_min | the minimum allowed field value |
[out] | limit_max | the maximum allowed field value |
Definition at line 788 of file voxel_grid.h.
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Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
Definition at line 818 of file voxel_grid.h.
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Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
[out] | limit_negative | true if data outside the interval [min; max] is to be returned, false otherwise |
Definition at line 809 of file voxel_grid.h.
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Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).
[in] | x | the X point coordinate to get the (i, j, k) index at |
[in] | y | the Y point coordinate to get the (i, j, k) index at |
[in] | z | the Z point coordinate to get the (i, j, k) index at |
Definition at line 731 of file voxel_grid.h.
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Returns the layout of the leafs for fast access to cells relative to current position.
Definition at line 723 of file voxel_grid.h.
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Get the voxel grid leaf size.
Definition at line 595 of file voxel_grid.h.
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Get the minimum coordinates of the bounding box (after filtering is performed).
Definition at line 640 of file voxel_grid.h.
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Get the minimum coordinates of the bounding box (after filtering is performed).
Definition at line 634 of file voxel_grid.h.
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Return the minimum number of points required for a voxel to be used.
Definition at line 618 of file voxel_grid.h.
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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).
[in] | x | the X coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) |
[in] | y | the Y coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) |
[in] | z | the Z coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) |
[out] | relative_coordinates | matrix with the columns being the coordinates of the requested cells, relative to the reference point's cell |
Definition at line 680 of file voxel_grid.h.
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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).
[in] | x | the X coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) |
[in] | y | the Y coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) |
[in] | z | the Z coordinate of the reference point (corresponding cell is allowed to be empty/out of bounds) |
[out] | relative_coordinates | vector with the elements being the coordinates of the requested cells, relative to the reference point's cell |
Definition at line 709 of file voxel_grid.h.
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Get the number of divisions along all 3 axes (after filtering is performed).
Definition at line 646 of file voxel_grid.h.
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Returns true if leaf layout information will to be saved for later access.
Definition at line 628 of file voxel_grid.h.
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Set to true if all fields need to be downsampled, or false if just XYZ.
[in] | downsample | the new value (true/false) |
Definition at line 601 of file voxel_grid.h.
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Provide the name of the field to be used for filtering data.
In conjunction with setFilterLimits, points having values outside this interval will be discarded.
[in] | field_name | the name of the field that contains values used for filtering |
Definition at line 759 of file voxel_grid.h.
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Set the field filter limits.
All points having field values outside this interval will be discarded.
[in] | limit_min | the minimum allowed field value |
[in] | limit_max | the maximum allowed field value |
Definition at line 776 of file voxel_grid.h.
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Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max).
Default: false.
[in] | limit_negative | return data inside the interval (false) or outside (true) |
Definition at line 799 of file voxel_grid.h.
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Set the voxel grid leaf size.
[in] | leaf_size | the voxel grid leaf size |
Definition at line 567 of file voxel_grid.h.
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Set the voxel grid leaf size.
[in] | lx | the leaf size for X |
[in] | ly | the leaf size for Y |
[in] | lz | the leaf size for Z |
Definition at line 583 of file voxel_grid.h.
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Set the minimum number of points required for a voxel to be used.
[in] | min_points_per_voxel | the minimum number of points for required for a voxel to be used |
Definition at line 613 of file voxel_grid.h.
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Set to true if leaf layout information needs to be saved for later access.
[in] | save_leaf_layout | the new value (true/false) |
Definition at line 624 of file voxel_grid.h.
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Definition at line 846 of file voxel_grid.h.
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Definition at line 846 of file voxel_grid.h.
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Set to true if all fields need to be downsampled, or false if just XYZ.
Definition at line 831 of file voxel_grid.h.
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The desired user filter field name.
Definition at line 849 of file voxel_grid.h.
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The maximum allowed filter value a point will be considered from.
Definition at line 855 of file voxel_grid.h.
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The minimum allowed filter value a point will be considered from.
Definition at line 852 of file voxel_grid.h.
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Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_).
Default: false.
Definition at line 858 of file voxel_grid.h.
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Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons.
Definition at line 828 of file voxel_grid.h.
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The leaf layout information for fast access to cells relative to current position.
Definition at line 841 of file voxel_grid.h.
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The size of a leaf.
Definition at line 825 of file voxel_grid.h.
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Definition at line 846 of file voxel_grid.h.
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The minimum and maximum bin coordinates, the number of divisions, and the division multiplier.
Definition at line 846 of file voxel_grid.h.
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Minimum number of points per voxel for the centroid to be computed.
Definition at line 861 of file voxel_grid.h.
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Set to true if leaf layout information needs to be saved in leaf_layout.
Definition at line 836 of file voxel_grid.h.