pcl::VoxelGridLabel Class Reference
#include <pcl/filters/voxel_grid_label.h>
Inheritance diagram for pcl::VoxelGridLabel:
Collaboration diagram for pcl::VoxelGridLabel:
Public Types | |
| using | Ptr = shared_ptr<VoxelGridLabel> |
| using | ConstPtr = shared_ptr<const VoxelGridLabel> |
| Public Types inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > | |
| using | Ptr |
| using | ConstPtr |
| Public Types inherited from pcl::Filter< pcl::PointXYZRGBL > | |
| using | Ptr |
| using | ConstPtr |
| using | PointCloud |
| using | PointCloudPtr |
| using | PointCloudConstPtr |
| Public Types inherited from pcl::PCLBase< pcl::PointXYZRGBL > | |
| using | PointCloud |
| using | PointCloudPtr |
| using | PointCloudConstPtr |
| using | PointIndicesPtr |
| using | PointIndicesConstPtr |
Public Member Functions | |
| VoxelGridLabel ()=default | |
| Constructor. | |
| Public Member Functions inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > | |
| PCL_MAKE_ALIGNED_OPERATOR_NEW | VoxelGrid () |
| Empty constructor. | |
| ~VoxelGrid () override=default | |
| Destructor. | |
| void | setLeafSize (const Eigen::Vector4f &leaf_size) |
| Set the voxel grid leaf size. | |
| Eigen::Vector3f | getLeafSize () const |
| 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 () const |
| Get the state of the internal downsampling parameter (true if all fields need to be downsampled, false if just XYZ). | |
| void | setMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel) |
| Set the minimum number of points required for a voxel to be used. | |
| unsigned int | getMinimumPointsNumberPerVoxel () const |
| Return the minimum number of points required for a voxel to be used. | |
| void | setSaveLeafLayout (bool save_leaf_layout) |
| Set to true if leaf layout information needs to be saved for later access. | |
| bool | getSaveLeafLayout () const |
| Returns true if leaf layout information will to be saved for later access. | |
| Eigen::Vector3i | getMinBoxCoordinates () const |
| Get the minimum coordinates of the bounding box (after filtering is performed). | |
| Eigen::Vector3i | getMaxBoxCoordinates () const |
| Get the minimum coordinates of the bounding box (after filtering is performed). | |
| Eigen::Vector3i | getNrDivisions () const |
| Get the number of divisions along all 3 axes (after filtering is performed). | |
| 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). | |
| int | getCentroidIndex (const pcl::PointXYZRGBL &p) const |
| Returns the index in the resulting downsampled cloud of the specified point. | |
| std::vector< int > | getNeighborCentroidIndices (const pcl::PointXYZRGBL &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). | |
| std::vector< int > | getLeafLayout () const |
| Returns the layout of the leafs for fast access to cells relative to current position. | |
| 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). | |
| int | getCentroidIndexAt (const Eigen::Vector3i &ijk) const |
| Returns the index in the downsampled cloud corresponding to a given set of coordinates. | |
| void | setFilterFieldName (const std::string &field_name) |
| Provide the name of the field to be used for filtering data. | |
| std::string const | getFilterFieldName () const |
| 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) const |
| 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) const |
| Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). | |
| Public Member Functions inherited from pcl::Filter< pcl::PointXYZRGBL > | |
| Filter (bool extract_removed_indices=false) | |
| Empty constructor. | |
| IndicesConstPtr const | getRemovedIndices () const |
| Get the point indices being removed. | |
| void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output. | |
| Public Member Functions inherited from pcl::PCLBase< pcl::PointXYZRGBL > | |
| PCLBase () | |
| Empty constructor. | |
| virtual | ~PCLBase ()=default |
| Destructor. | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. | |
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. | |
| const pcl::PointXYZRGBL & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. | |
Protected Member Functions | |
| void | applyFilter (PointCloud &output) override |
| Filter cloud and initializes voxel structure. | |
| Protected Member Functions inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > | |
| void | applyFilter (PointCloud &output) override |
| Downsample a Point Cloud using a voxelized grid approach. | |
| Protected Member Functions inherited from pcl::Filter< pcl::PointXYZRGBL > | |
| virtual void | applyFilter (PointCloud &output)=0 |
| Abstract filter method. | |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. | |
| Protected Member Functions inherited from pcl::PCLBase< pcl::PointXYZRGBL > | |
| bool | initCompute () |
| This method should get called before starting the actual computation. | |
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. | |
Additional Inherited Members | |
| Protected Types inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > | |
| using | PointCloud |
| using | PointCloudPtr |
| using | PointCloudConstPtr |
| using | FieldList |
| Protected Attributes inherited from pcl::VoxelGrid< pcl::PointXYZRGBL > | |
| Eigen::Vector4f | leaf_size_ |
| The size of a leaf. | |
| Eigen::Array4f | inverse_leaf_size_ |
| Internal leaf sizes stored as 1/leaf_size_ for efficiency reasons. | |
| bool | downsample_all_data_ |
| Set to true if all fields need to be downsampled, or false if just XYZ. | |
| bool | save_leaf_layout_ |
| Set to true if leaf layout information needs to be saved in leaf_layout_. | |
| std::vector< int > | leaf_layout_ |
| The leaf layout information for fast access to cells relative to current position. | |
| Eigen::Vector4i | min_b_ |
| The minimum and maximum bin coordinates, the number of divisions, and the division multiplier. | |
| Eigen::Vector4i | max_b_ |
| Eigen::Vector4i | div_b_ |
| Eigen::Vector4i | divb_mul_ |
| std::string | filter_field_name_ |
| The desired user filter field name. | |
| double | filter_limit_min_ |
| The minimum allowed filter value a point will be considered from. | |
| double | filter_limit_max_ |
| The maximum allowed filter value a point will be considered from. | |
| bool | filter_limit_negative_ |
| Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_). | |
| unsigned int | min_points_per_voxel_ |
| Minimum number of points per voxel for the centroid to be computed. | |
| Protected Attributes inherited from pcl::Filter< pcl::PointXYZRGBL > | |
| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. | |
| std::string | filter_name_ |
| The filter name. | |
| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. | |
| Protected Attributes inherited from pcl::PCLBase< pcl::PointXYZRGBL > | |
| PointCloudConstPtr | input_ |
| The input point cloud dataset. | |
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. | |
| bool | use_indices_ |
| Set to true if point indices are used. | |
| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. | |
Detailed Description
Definition at line 50 of file voxel_grid_label.h.
Member Typedef Documentation
◆ ConstPtr
| using pcl::VoxelGridLabel::ConstPtr = shared_ptr<const VoxelGridLabel> |
Definition at line 55 of file voxel_grid_label.h.
◆ Ptr
| using pcl::VoxelGridLabel::Ptr = shared_ptr<VoxelGridLabel> |
Definition at line 54 of file voxel_grid_label.h.
Constructor & Destructor Documentation
◆ VoxelGridLabel()
|
default |
Constructor.
Sets leaf_size_ to 0.
Member Function Documentation
◆ applyFilter()
|
overrideprotected |
Filter cloud and initializes voxel structure.
- Parameters
-
[out] output cloud containing centroids of voxels containing a sufficient number of points
The documentation for this class was generated from the following file:
- pcl/filters/voxel_grid_label.h