Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::ApproximateVoxelGrid Class Reference

ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...

#include <pcl/filters/approximate_voxel_grid.h>

Inheritance diagram for pcl::ApproximateVoxelGrid:
Inheritance graph
[legend]
Collaboration diagram for pcl::ApproximateVoxelGrid:
Collaboration graph
[legend]

List of all members.

Public Types

typedef boost::shared_ptr
< Filter< PointT > > 
Ptr
typedef boost::shared_ptr
< const Filter< PointT > > 
ConstPtr

Public Member Functions

 ApproximateVoxelGrid ()
 Empty constructor.
virtual ~ApproximateVoxelGrid ()
 Destructor.
void setLeafSize (const Eigen::Vector3f &leaf_size)
 Set the voxel grid leaf size.
void setLeafSize (float lx, float ly, float lz)
 Set the voxel grid leaf size.
Eigen::Vector3f getLeafSize ()
 Get the voxel grid leaf size.
void setDownsampleAllData (bool downsample)
 Set to true if all fields need to be downsampled, or false if just XYZ.
bool getDownsampleAllData ()
 Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).
IndicesConstPtr const getRemovedIndices ()
 Get the point indices being removed.
void setFilterFieldName (const std::string &field_name)
 Provide the name of the field to be used for filtering data.
std::string const getFilterFieldName ()
 Get the name of the field used for filtering.
void setFilterLimits (const double &limit_min, const double &limit_max)
 Set the field filter limits.
void getFilterLimits (double &limit_min, double &limit_max)
 Get the field filter limits (min/max) set by the user.
void setFilterLimitsNegative (const bool limit_negative)
 Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max).
void getFilterLimitsNegative (bool &limit_negative)
 Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).
bool getFilterLimitsNegative ()
void filter (PointCloud &output)
 Calls the filtering method and returns the filtered dataset in output.

Detailed Description

ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.

The ApproximateVoxelGrid 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.

Author:
Radu Bogdan Rusu, Bastian Steder

Member Typedef Documentation

typedef boost::shared_ptr< const Filter<PointT> > pcl::Filter::ConstPtr [inherited]

Definition at line 75 of file filter.h.

typedef boost::shared_ptr< Filter<PointT> > pcl::Filter::Ptr [inherited]

Definition at line 74 of file filter.h.


Constructor & Destructor Documentation

pcl::ApproximateVoxelGrid::ApproximateVoxelGrid ( ) [inline]

Empty constructor.

Definition at line 130 of file approximate_voxel_grid.h.

virtual pcl::ApproximateVoxelGrid::~ApproximateVoxelGrid ( ) [inline, virtual]

Destructor.

Definition at line 138 of file approximate_voxel_grid.h.


Member Function Documentation

void pcl::Filter::filter ( PointCloud output) [inline, inherited]

Calls the filtering method and returns the filtered dataset in output.

Parameters:
outputthe resultant filtered point cloud dataset

Reimplemented in pcl::FilterIndices.

Definition at line 160 of file filter.h.

bool pcl::ApproximateVoxelGrid::getDownsampleAllData ( ) [inline]

Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ).

Definition at line 177 of file approximate_voxel_grid.h.

std::string const pcl::Filter::getFilterFieldName ( ) [inline, inherited]

Get the name of the field used for filtering.

Definition at line 110 of file filter.h.

void pcl::Filter::getFilterLimits ( double &  limit_min,
double &  limit_max 
) [inline, inherited]

Get the field filter limits (min/max) set by the user.

The default values are -FLT_MAX, FLT_MAX.

Definition at line 128 of file filter.h.

void pcl::Filter::getFilterLimitsNegative ( bool &  limit_negative) [inline, inherited]

Get whether the data outside the interval (min/max) is to be returned (true) or inside (false).

Definition at line 146 of file filter.h.

bool pcl::Filter::getFilterLimitsNegative ( ) [inline, inherited]

Definition at line 151 of file filter.h.

Eigen::Vector3f pcl::ApproximateVoxelGrid::getLeafSize ( ) [inline]

Get the voxel grid leaf size.

Definition at line 165 of file approximate_voxel_grid.h.

IndicesConstPtr const pcl::Filter::getRemovedIndices ( ) [inline, inherited]

Get the point indices being removed.

Definition at line 93 of file filter.h.

void pcl::ApproximateVoxelGrid::setDownsampleAllData ( bool  downsample) [inline]

Set to true if all fields need to be downsampled, or false if just XYZ.

Parameters:
downsamplethe new value (true/false)

Definition at line 171 of file approximate_voxel_grid.h.

void pcl::Filter::setFilterFieldName ( const std::string &  field_name) [inline, inherited]

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.

Parameters:
field_namethe name of the field that contains values used for filtering

Definition at line 103 of file filter.h.

void pcl::Filter::setFilterLimits ( const double &  limit_min,
const double &  limit_max 
) [inline, inherited]

Set the field filter limits.

All points having field values outside this interval will be discarded.

Parameters:
limit_minthe minimum allowed field value
limit_maxthe maximum allowed field value

Definition at line 120 of file filter.h.

void pcl::Filter::setFilterLimitsNegative ( const bool  limit_negative) [inline, inherited]

Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max).

Default: false.

Parameters:
limit_negativereturn data inside the interval (false) or outside (true)

Definition at line 139 of file filter.h.

void pcl::ApproximateVoxelGrid::setLeafSize ( const Eigen::Vector3f &  leaf_size) [inline]

Set the voxel grid leaf size.

Parameters:
leaf_sizethe voxel grid leaf size

Definition at line 146 of file approximate_voxel_grid.h.

void pcl::ApproximateVoxelGrid::setLeafSize ( float  lx,
float  ly,
float  lz 
) [inline]

Set the voxel grid leaf size.

Parameters:
lxthe leaf size for X
lythe leaf size for Y
lzthe leaf size for Z

Definition at line 158 of file approximate_voxel_grid.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines