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< PointT >:

Collaboration diagram for pcl::ApproximateVoxelGrid< PointT >:

Public Types
typedef boost::shared_ptr < Filter< PointT > >	Ptr

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

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	ApproximateVoxelGrid ()
	Empty constructor. More...

	ApproximateVoxelGrid (const ApproximateVoxelGrid &src)
	Copy constructor. More...

ApproximateVoxelGrid &	operator= (const ApproximateVoxelGrid &src)
	Copy operator. More...

void	setLeafSize (const Eigen::Vector3f &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...

IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed. More...

void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output. 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...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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 PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Detailed Description

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

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

Author: James Bowman, Radu B. Rusu

Definition at line 100 of file approximate_voxel_grid.h.

Member Typedef Documentation

template<typename PointT>

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

inherited

Definition at line 76 of file filter.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

template<typename PointT>

typedef boost::shared_ptr< Filter<PointT> > pcl::Filter< PointT >::Ptr

inherited

Definition at line 75 of file filter.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid ( )

inline

Empty constructor.

Definition at line 122 of file approximate_voxel_grid.h.

template<typename PointT >

pcl::ApproximateVoxelGrid< PointT >::ApproximateVoxelGrid ( const ApproximateVoxelGrid< PointT > & src )

inline

Copy constructor.

Parameters

[in] src the approximate voxel grid to copy into this.

Definition at line 135 of file approximate_voxel_grid.h.

Member Function Documentation

template<typename PointT>

void pcl::Filter< PointT >::filter ( PointCloud & output )

inlineinherited

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

Parameters

[out] output the resultant filtered point cloud dataset

Definition at line 104 of file filter.h.

template<typename PointT >

bool pcl::ApproximateVoxelGrid< 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 199 of file approximate_voxel_grid.h.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT >

Eigen::Vector3f pcl::ApproximateVoxelGrid< PointT >::getLeafSize ( ) const

inline

Get the voxel grid leaf size.

Definition at line 187 of file approximate_voxel_grid.h.

template<typename PointT>

IndicesConstPtr const pcl::Filter< PointT >::getRemovedIndices ( )

inlineinherited

Get the point indices being removed.

Definition at line 95 of file filter.h.

template<typename PointT >

ApproximateVoxelGrid& pcl::ApproximateVoxelGrid< PointT >::operator= ( const ApproximateVoxelGrid< PointT > & src )

inline

Copy operator.

Parameters

[in] src the approximate voxel grid to copy into this.

Definition at line 152 of file approximate_voxel_grid.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos )

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT >

void pcl::ApproximateVoxelGrid< PointT >::setDownsampleAllData ( bool downsample )

inline

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

Parameters

downsample the new value (true/false)

Definition at line 193 of file approximate_voxel_grid.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

template<typename PointT >

void pcl::ApproximateVoxelGrid< PointT >::setLeafSize ( const Eigen::Vector3f & leaf_size )

inline

Set the voxel grid leaf size.

Parameters

[in] leaf_size the voxel grid leaf size

Definition at line 168 of file approximate_voxel_grid.h.

template<typename PointT >

void pcl::ApproximateVoxelGrid< 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 180 of file approximate_voxel_grid.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/filters/include/pcl/filters/approximate_voxel_grid.h
/builddir/build/BUILD/PCL-1.6.0-Source/filters/include/pcl/filters/impl/approximate_voxel_grid.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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