Point Cloud Library (PCL)
1.7.0
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#include <pcl/filters/voxel_grid_label.h>
Public Types | |
typedef boost::shared_ptr < VoxelGridLabel > | Ptr |
typedef boost::shared_ptr < const VoxelGridLabel > | ConstPtr |
Public Member Functions | |
VoxelGridLabel () | |
Constructor. More... | |
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VoxelGrid () | |
Empty constructor. More... | |
virtual | ~VoxelGrid () |
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 () |
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 () |
Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). More... | |
void | setSaveLeafLayout (bool save_leaf_layout) |
Set to true if leaf layout information needs to be saved for later access. More... | |
bool | getSaveLeafLayout () |
Returns true if leaf layout information will to be saved for later access. More... | |
Eigen::Vector3i | getMinBoxCoordinates () |
Get the minimum coordinates of the bounding box (after filtering is performed). More... | |
Eigen::Vector3i | getMaxBoxCoordinates () |
Get the minimum coordinates of the bounding box (after filtering is performed). More... | |
Eigen::Vector3i | getNrDivisions () |
Get the number of divisions along all 3 axes (after filtering is performed). More... | |
Eigen::Vector3i | getDivisionMultiplier () |
Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed). More... | |
int | getCentroidIndex (const pcl::PointXYZRGBL &p) |
Returns the index in the resulting downsampled cloud of the specified point. More... | |
std::vector< int > | getNeighborCentroidIndices (const pcl::PointXYZRGBL &reference_point, const Eigen::MatrixXi &relative_coordinates) |
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 () |
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) |
Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z). More... | |
int | getCentroidIndexAt (const Eigen::Vector3i &ijk) |
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 () |
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) |
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) |
Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). More... | |
bool | getFilterLimitsNegative () |
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... | |
virtual | ~Filter () |
Empty destructor. More... | |
IndicesConstPtr const | getRemovedIndices () |
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 () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const pcl::PointXYZRGBL & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
void | applyFilter (PointCloud &output) |
Filter cloud and initializes voxel structure. More... | |
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void | applyFilter (PointCloud &output) |
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 () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Additional Inherited Members | |
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typedef Filter < pcl::PointXYZRGBL > ::PointCloud | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < VoxelGrid< pcl::PointXYZRGBL > > | Ptr |
typedef boost::shared_ptr < const VoxelGrid < pcl::PointXYZRGBL > > | ConstPtr |
typedef pcl::traits::fieldList < pcl::PointXYZRGBL >::type | FieldList |
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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_ |
Set to true if all fields need to be downsampled, or false if just XYZ. More... | |
bool | save_leaf_layout_ |
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_ |
The minimum allowed filter value a point will be considered from. More... | |
double | filter_limit_max_ |
The maximum allowed filter value a point will be considered from. More... | |
bool | filter_limit_negative_ |
Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). More... | |
Definition at line 51 of file voxel_grid_label.h.
typedef boost::shared_ptr< const VoxelGridLabel > pcl::VoxelGridLabel::ConstPtr |
Definition at line 56 of file voxel_grid_label.h.
typedef boost::shared_ptr< VoxelGridLabel > pcl::VoxelGridLabel::Ptr |
Definition at line 55 of file voxel_grid_label.h.
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inline |
Constructor.
Sets leaf_size_ to 0 and searchable_ to false.
Definition at line 62 of file voxel_grid_label.h.
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protectedvirtual |
Filter cloud and initializes voxel structure.
[out] | output | cloud containing centroids of voxels containing a sufficient number of points |
Implements pcl::Filter< pcl::PointXYZRGBL >.