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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 Types

using Ptr = shared_ptr< VoxelGrid< PointT > >
using ConstPtr = shared_ptr< const VoxelGrid< PointT > >
- Public Types inherited from pcl::Filter< PointT >
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
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions

VoxelGrid ()
Empty constructor. More...
~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 () 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 (const PointT &p) const
Returns the index in the resulting downsampled cloud of the specified point. More...
std::vector< int > getNeighborCentroidIndices (const PointT &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...
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...
const std::string 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...
- Public Member Functions inherited from pcl::Filter< PointT >
Filter (bool extract_removed_indices=false)
Empty constructor. More...
const IndicesConstPtr 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...
- Public Member Functions inherited from pcl::PCLBase< PointT >
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...
const PointCloudConstPtr 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...
const IndicesConstPtr 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 Filter< PointT >::PointCloud
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using FieldList = typename pcl::traits::fieldList< PointT >::type

Protected Member Functions

void applyFilter (PointCloud &output) override
Downsample a Point Cloud using a voxelized grid approach. More...
- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
- Protected Member Functions inherited from pcl::PCLBase< PointT >
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

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...
unsigned int min_points_per_voxel_
Minimum number of points per voxel for the centroid to be computed. More...
- Protected Attributes inherited from pcl::Filter< PointT >
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...
- Protected Attributes inherited from pcl::PCLBase< PointT >
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...

Detailed Description

template<typename PointT>
class pcl::VoxelGrid< PointT >

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.

Author
Radu B. Rusu, Bastian Steder

Definition at line 176 of file voxel_grid.h.

Member Typedef Documentation

ConstPtr

template<typename PointT >
using pcl::VoxelGrid< PointT >::ConstPtr = shared_ptr<const VoxelGrid<PointT> >

Definition at line 191 of file voxel_grid.h.

FieldList

template<typename PointT >
using pcl::VoxelGrid< PointT >::FieldList = typename pcl::traits::fieldList<PointT>::type
protected

Definition at line 488 of file voxel_grid.h.

PointCloud

template<typename PointT >
using pcl::VoxelGrid< PointT >::PointCloud = typename Filter<PointT>::PointCloud
protected

Definition at line 184 of file voxel_grid.h.

PointCloudConstPtr

template<typename PointT >
using pcl::VoxelGrid< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr
protected

Definition at line 186 of file voxel_grid.h.

PointCloudPtr

template<typename PointT >
using pcl::VoxelGrid< PointT >::PointCloudPtr = typename PointCloud::Ptr
protected

Definition at line 185 of file voxel_grid.h.

Ptr

template<typename PointT >
using pcl::VoxelGrid< PointT >::Ptr = shared_ptr<VoxelGrid<PointT> >

Definition at line 190 of file voxel_grid.h.

Constructor & Destructor Documentation

VoxelGrid()

template<typename PointT >
pcl::VoxelGrid< PointT >::VoxelGrid ( )
inline

Empty constructor.

Definition at line 194 of file voxel_grid.h.

~VoxelGrid()

template<typename PointT >
pcl::VoxelGrid< PointT >::~VoxelGrid ( )
inline

Destructor.

Definition at line 213 of file voxel_grid.h.

Member Function Documentation

applyFilter()

template<typename PointT >
void pcl::VoxelGrid< PointT >::applyFilter ( PointCloud & output )
overrideprotectedvirtual

Downsample a Point Cloud using a voxelized grid approach.

Parameters
[out] output the resultant point cloud message

Implements pcl::Filter< PointT >.

Reimplemented in pcl::VoxelGridCovariance< PointT >, and pcl::VoxelGridCovariance< PointTarget >.

Definition at line 214 of file voxel_grid.hpp.

getCentroidIndex()

template<typename PointT >
int pcl::VoxelGrid< PointT >::getCentroidIndex ( const PointT & p ) const
inline

Returns the index in the resulting downsampled cloud of the specified point.

Note
for efficiency, user must make sure that the saving of the leaf layout is enabled and filtering performed, and that the point is inside the grid, to avoid invalid access (or use getGridCoordinates+getCentroidIndexAt)
Parameters
[in] p the point to get the index at

Definition at line 317 of file voxel_grid.h.

Referenced by pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud().

getCentroidIndexAt()

template<typename PointT >
int pcl::VoxelGrid< PointT >::getCentroidIndexAt ( const Eigen::Vector3i & ijk ) const
inline

Returns the index in the downsampled cloud corresponding to a given set of coordinates.

Parameters
[in] ijk the coordinates (i,j,k) in the grid (-1 if empty)

Definition at line 374 of file voxel_grid.h.

getDivisionMultiplier()

template<typename PointT >
Eigen::Vector3i pcl::VoxelGrid< PointT >::getDivisionMultiplier ( ) const
inline

Get the multipliers to be applied to the grid coordinates in order to find the centroid index (after filtering is performed).

Definition at line 306 of file voxel_grid.h.

getDownsampleAllData()

template<typename PointT >
bool pcl::VoxelGrid< PointT >::getDownsampleAllData ( ) const
inline

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

Definition at line 261 of file voxel_grid.h.

getFilterFieldName()

template<typename PointT >
const std::string pcl::VoxelGrid< PointT >::getFilterFieldName ( ) const
inline

Get the name of the field used for filtering.

Definition at line 398 of file voxel_grid.h.

getFilterLimits()

template<typename PointT >
void pcl::VoxelGrid< PointT >::getFilterLimits ( double & limit_min,
double & limit_max
) const
inline

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

The default values are -FLT_MAX, FLT_MAX.

Parameters
[out] limit_min the minimum allowed field value
[out] limit_max the maximum allowed field value

Definition at line 419 of file voxel_grid.h.

getFilterLimitsNegative() [1/2]

template<typename PointT >
bool pcl::VoxelGrid< PointT >::getFilterLimitsNegative ( ) const
inline

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

Returns
true if data outside the interval [min; max] is to be returned, false otherwise

Definition at line 449 of file voxel_grid.h.

getFilterLimitsNegative() [2/2]

template<typename PointT >
void pcl::VoxelGrid< PointT >::getFilterLimitsNegative ( bool & limit_negative ) const
inline

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

Parameters
[out] limit_negative true if data outside the interval [min; max] is to be returned, false otherwise
Deprecated:
Scheduled for removal in version 1 . 16 : "use bool getFilterLimitsNegative() instead"

Definition at line 440 of file voxel_grid.h.

getGridCoordinates()

template<typename PointT >
Eigen::Vector3i pcl::VoxelGrid< PointT >::getGridCoordinates ( float x,
float y,
float z
) const
inline

Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).

Parameters
[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 363 of file voxel_grid.h.

getLeafLayout()

template<typename PointT >
std::vector<int> pcl::VoxelGrid< PointT >::getLeafLayout ( ) const
inline

Returns the layout of the leafs for fast access to cells relative to current position.

Note
position at (i-min_x) + (j-min_y)*div_x + (k-min_z)*div_x*div_y holds the index of the element at coordinates (i,j,k) in the grid (-1 if empty)

Definition at line 355 of file voxel_grid.h.

getLeafSize()

template<typename PointT >
Eigen::Vector3f pcl::VoxelGrid< PointT >::getLeafSize ( ) const
inline

Get the voxel grid leaf size.

Definition at line 249 of file voxel_grid.h.

getMaxBoxCoordinates()

template<typename PointT >
Eigen::Vector3i pcl::VoxelGrid< PointT >::getMaxBoxCoordinates ( ) const
inline

Get the minimum coordinates of the bounding box (after filtering is performed).

Definition at line 294 of file voxel_grid.h.

getMinBoxCoordinates()

template<typename PointT >
Eigen::Vector3i pcl::VoxelGrid< PointT >::getMinBoxCoordinates ( ) const
inline

Get the minimum coordinates of the bounding box (after filtering is performed).

Definition at line 288 of file voxel_grid.h.

getMinimumPointsNumberPerVoxel()

template<typename PointT >
unsigned int pcl::VoxelGrid< PointT >::getMinimumPointsNumberPerVoxel ( ) const
inline

Return the minimum number of points required for a voxel to be used.

Definition at line 272 of file voxel_grid.h.

getNeighborCentroidIndices()

template<typename PointT >
std::vector<int> pcl::VoxelGrid< PointT >::getNeighborCentroidIndices ( const PointT & reference_point,
const Eigen::MatrixXi & relative_coordinates
) const
inline

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).

Parameters
[in] reference_point the coordinates of the reference point (corresponding cell is allowed to be empty/out of bounds)
[in] relative_coordinates matrix with the columns being the coordinates of the requested cells, relative to the reference point's cell
Note
for efficiency, user must make sure that the saving of the leaf layout is enabled and filtering performed

Definition at line 331 of file voxel_grid.h.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature().

getNrDivisions()

template<typename PointT >
Eigen::Vector3i pcl::VoxelGrid< PointT >::getNrDivisions ( ) const
inline

Get the number of divisions along all 3 axes (after filtering is performed).

Definition at line 300 of file voxel_grid.h.

getSaveLeafLayout()

template<typename PointT >
bool pcl::VoxelGrid< PointT >::getSaveLeafLayout ( ) const
inline

Returns true if leaf layout information will to be saved for later access.

Definition at line 282 of file voxel_grid.h.

setDownsampleAllData()

template<typename PointT >
void pcl::VoxelGrid< PointT >::setDownsampleAllData ( bool downsample )
inline

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

Parameters
[in] downsample the new value (true/false)

Definition at line 255 of file voxel_grid.h.

Referenced by pcl::CrfSegmentation< PointT >::createVoxelGrid(), and pcl::HypothesisVerification< ModelT, SceneT >::setSceneCloud().

setFilterFieldName()

template<typename PointT >
void pcl::VoxelGrid< PointT >::setFilterFieldName ( const std::string & field_name )
inline

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
[in] field_name the name of the field that contains values used for filtering

Definition at line 391 of file voxel_grid.h.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::filter().

setFilterLimits()

template<typename PointT >
void pcl::VoxelGrid< PointT >::setFilterLimits ( const double & limit_min,
const double & limit_max
)
inline

Set the field filter limits.

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

Parameters
[in] limit_min the minimum allowed field value
[in] limit_max the maximum allowed field value

Definition at line 408 of file voxel_grid.h.

Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::filter().

setFilterLimitsNegative()

template<typename PointT >
void pcl::VoxelGrid< PointT >::setFilterLimitsNegative ( const bool limit_negative )
inline

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

Default: false.

Parameters
[in] limit_negative return data inside the interval (false) or outside (true)

Definition at line 430 of file voxel_grid.h.

setLeafSize() [1/2]

setLeafSize() [2/2]

template<typename PointT >
void pcl::VoxelGrid< PointT >::setLeafSize ( float lx,
float ly,
float lz
)
inline

Set the voxel grid leaf size.

Parameters
[in] lx the leaf size for X
[in] ly the leaf size for Y
[in] lz the leaf size for Z

Definition at line 237 of file voxel_grid.h.

setMinimumPointsNumberPerVoxel()

template<typename PointT >
void pcl::VoxelGrid< PointT >::setMinimumPointsNumberPerVoxel ( unsigned int min_points_per_voxel )
inline

Set the minimum number of points required for a voxel to be used.

Parameters
[in] min_points_per_voxel the minimum number of points for required for a voxel to be used

Definition at line 267 of file voxel_grid.h.

setSaveLeafLayout()

template<typename PointT >
void pcl::VoxelGrid< PointT >::setSaveLeafLayout ( bool save_leaf_layout )
inline

Set to true if leaf layout information needs to be saved for later access.

Parameters
[in] save_leaf_layout the new value (true/false)

Definition at line 278 of file voxel_grid.h.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud(), and pcl::VoxelGridOcclusionEstimation< PointT >::VoxelGridOcclusionEstimation().

Member Data Documentation

div_b_

template<typename PointT >
Eigen::Vector4i pcl::VoxelGrid< PointT >::div_b_
protected

Definition at line 471 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< pcl::PointXYZRGBL >::getNrDivisions().

divb_mul_

downsample_all_data_

template<typename PointT >
bool pcl::VoxelGrid< PointT >::downsample_all_data_
protected

filter_field_name_

template<typename PointT >
std::string pcl::VoxelGrid< PointT >::filter_field_name_
protected

The desired user filter field name.

Definition at line 474 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< pcl::PointXYZRGBL >::getFilterFieldName(), and pcl::VoxelGrid< pcl::PointXYZRGBL >::setFilterFieldName().

filter_limit_max_

template<typename PointT >
double pcl::VoxelGrid< PointT >::filter_limit_max_
protected

The maximum allowed filter value a point will be considered from.

Definition at line 480 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< pcl::PointXYZRGBL >::getFilterLimits(), and pcl::VoxelGrid< pcl::PointXYZRGBL >::setFilterLimits().

filter_limit_min_

template<typename PointT >
double pcl::VoxelGrid< PointT >::filter_limit_min_
protected

The minimum allowed filter value a point will be considered from.

Definition at line 477 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< pcl::PointXYZRGBL >::getFilterLimits(), and pcl::VoxelGrid< pcl::PointXYZRGBL >::setFilterLimits().

filter_limit_negative_

template<typename PointT >
bool pcl::VoxelGrid< PointT >::filter_limit_negative_
protected

Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_).

Default: false.

Definition at line 483 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< pcl::PointXYZRGBL >::getFilterLimitsNegative(), and pcl::VoxelGrid< pcl::PointXYZRGBL >::setFilterLimitsNegative().

inverse_leaf_size_

leaf_layout_

template<typename PointT >
std::vector<int> pcl::VoxelGrid< PointT >::leaf_layout_
protected

leaf_size_

max_b_

min_b_

min_points_per_voxel_

template<typename PointT >
unsigned int pcl::VoxelGrid< PointT >::min_points_per_voxel_
protected

Minimum number of points per voxel for the centroid to be computed.

Definition at line 486 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< pcl::PointXYZRGBL >::getMinimumPointsNumberPerVoxel(), and pcl::VoxelGrid< pcl::PointXYZRGBL >::setMinimumPointsNumberPerVoxel().

save_leaf_layout_

template<typename PointT >
bool pcl::VoxelGrid< PointT >::save_leaf_layout_
protected

Set to true if leaf layout information needs to be saved in leaf_layout_.

Definition at line 465 of file voxel_grid.h.

Referenced by pcl::VoxelGrid< pcl::PointXYZRGBL >::getSaveLeafLayout(), pcl::VoxelGrid< pcl::PointXYZRGBL >::setSaveLeafLayout(), and pcl::VoxelGridCovariance< PointTarget >::VoxelGridCovariance().


The documentation for this class was generated from the following files:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_voxel_grid.html