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VoxelGridLabel () |
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Constructor. More...
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VoxelGrid () |
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Empty constructor. More...
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~VoxelGrid () |
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Destructor. More...
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void |
setLeafSize (const Eigen::Vector4f &leaf_size) |
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Set the voxel grid leaf size. More...
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void |
setLeafSize (float lx, float ly, float lz) |
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Set the voxel grid leaf size. More...
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Eigen::Vector3f |
getLeafSize () const |
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Get the voxel grid leaf size. More...
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void |
setDownsampleAllData (bool downsample) |
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Set to true if all fields need to be downsampled, or false if just XYZ. More...
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bool |
getDownsampleAllData () const |
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Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). More...
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void |
setMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel) |
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Set the minimum number of points required for a voxel to be used. More...
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unsigned int |
getMinimumPointsNumberPerVoxel () const |
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Return the minimum number of points required for a voxel to be used. More...
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void |
setSaveLeafLayout (bool save_leaf_layout) |
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Set to true if leaf layout information needs to be saved for later access. More...
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bool |
getSaveLeafLayout () const |
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Returns true if leaf layout information will to be saved for later access. More...
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Eigen::Vector3i |
getMinBoxCoordinates () const |
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Get the minimum coordinates of the bounding box (after filtering is performed). More...
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Eigen::Vector3i |
getMaxBoxCoordinates () const |
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Get the minimum coordinates of the bounding box (after filtering is performed). More...
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Eigen::Vector3i |
getNrDivisions () const |
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Get the number of divisions along all 3 axes (after filtering is performed). More...
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Eigen::Vector3i |
getDivisionMultiplier () const |
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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). More...
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int |
getCentroidIndex (const pcl::PointXYZRGBL &p) const |
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Returns the index in the resulting downsampled cloud of the specified point. More...
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std::vector< int > |
getNeighborCentroidIndices (const pcl::PointXYZRGBL &reference_point, const Eigen::MatrixXi &relative_coordinates) const |
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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). More...
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std::vector< int > |
getLeafLayout () const |
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Returns the layout of the leafs for fast access to cells relative to current position. More...
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Eigen::Vector3i |
getGridCoordinates (float x, float y, float z) const |
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Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z). More...
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int |
getCentroidIndexAt (const Eigen::Vector3i &ijk) const |
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Returns the index in the downsampled cloud corresponding to a given set of coordinates. More...
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void |
setFilterFieldName (const std::string &field_name) |
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Provide the name of the field to be used for filtering data. More...
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const std::string |
getFilterFieldName () const |
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Get the name of the field used for filtering. More...
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void |
setFilterLimits (const double &limit_min, const double &limit_max) |
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Set the field filter limits. More...
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void |
getFilterLimits (double &limit_min, double &limit_max) const |
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Get the field filter limits (min/max) set by the user. More...
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void |
setFilterLimitsNegative (const bool limit_negative) |
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Set to true if we want to return the data outside the interval specified by setFilterLimits (min, max). More...
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void |
getFilterLimitsNegative (bool &limit_negative) const |
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Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). More...
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bool |
getFilterLimitsNegative () const |
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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) |
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Empty constructor. More...
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const IndicesConstPtr |
getRemovedIndices () const |
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Get the point indices being removed. More...
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void |
getRemovedIndices (PointIndices &pi) |
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Get the point indices being removed. More...
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void |
filter (PointCloud &output) |
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Calls the filtering method and returns the filtered dataset in output. More...
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PCLBase () |
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Empty constructor. More...
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PCLBase (const PCLBase &base) |
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Copy constructor. More...
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virtual |
~PCLBase ()=default |
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Destructor. More...
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virtual void |
setInputCloud (const PointCloudConstPtr &cloud) |
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Provide a pointer to the input dataset. More...
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const PointCloudConstPtr |
getInputCloud () const |
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Get a pointer to the input point cloud dataset. More...
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virtual void |
setIndices (const IndicesPtr &indices) |
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Provide a pointer to the vector of indices that represents the input data. More...
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virtual void |
setIndices (const IndicesConstPtr &indices) |
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Provide a pointer to the vector of indices that represents the input data. More...
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virtual void |
setIndices (const PointIndicesConstPtr &indices) |
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Provide a pointer to the vector of indices that represents the input data. More...
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virtual void |
setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
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Set the indices for the points laying within an interest region of the point cloud. More...
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IndicesPtr |
getIndices () |
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Get a pointer to the vector of indices used. More...
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const IndicesConstPtr |
getIndices () const |
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Get a pointer to the vector of indices used. More...
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const pcl::PointXYZRGBL & |
operator[] (std::size_t pos) const |
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Override PointCloud operator[] to shorten code. More...
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