A searchable voxel strucure containing the mean and covariance of the data. More...

#include <pcl/filters/voxel_grid_covariance.h>

Inheritance diagram for pcl::VoxelGridCovariance< PointT >:

Classes
struct	Leaf
	Simple structure to hold a centroid, covarince and the number of points in a leaf. More...

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

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

typedef Leaf *	LeafPtr
	Pointer to VoxelGridCovariance leaf structure. More...

typedef const Leaf *	LeafConstPtr
	Const pointer to VoxelGridCovariance leaf structure. More...

Public Types inherited from pcl::Filter< PointT >
typedef boost::shared_ptr< Filter< PointT > >	Ptr

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

typedef pcl::PointCloud< PointT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef boost::shared_ptr< PointIndices >	PointIndicesPtr

typedef boost::shared_ptr< PointIndices const >	PointIndicesConstPtr

Public Member Functions
	VoxelGridCovariance ()
	Constructor. More...

void	setMinPointPerVoxel (int min_points_per_voxel)
	Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation). More...

int	getMinPointPerVoxel ()
	Get the minimum number of points required for a cell to be used. More...

void	setCovEigValueInflationRatio (double min_covar_eigvalue_mult)
	Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices. More...

double	getCovEigValueInflationRatio ()
	Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices. More...

void	filter (PointCloud &output, bool searchable=false)
	Filter cloud and initializes voxel structure. More...

void	filter (bool searchable=false)
	Initializes voxel structure. More...

LeafConstPtr	getLeaf (int index)
	Get the voxel containing point p. More...

LeafConstPtr	getLeaf (PointT &p)
	Get the voxel containing point p. More...

LeafConstPtr	getLeaf (Eigen::Vector3f &p)
	Get the voxel containing point p. More...

int	getNeighborhoodAtPoint (const PointT &reference_point, std::vector< LeafConstPtr > &neighbors)
	Get the voxels surrounding point p, not including the voxel contating point p. More...

const std::map< size_t, Leaf > &	getLeaves ()
	Get the leaf structure map. More...

PointCloudPtr	getCentroids ()
	Get a pointcloud containing the voxel centroids. More...

void	getDisplayCloud (pcl::PointCloud< PointXYZ > &cell_cloud)
	Get a cloud to visualize each voxels normal distribution. More...

int	nearestKSearch (const PointT &point, int k, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances)
	Search for the k-nearest occupied voxels for the given query point. More...

int	nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances)
	Search for the k-nearest occupied voxels for the given query point. More...

int	radiusSearch (const PointT &point, double radius, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances, unsigned int max_nn=0)
	Search for all the nearest occupied voxels of the query point in a given radius. More...

int	radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< LeafConstPtr > &k_leaves, std::vector< float > &k_sqr_distances, unsigned int max_nn=0)
	Search for all the nearest occupied voxels of the query point in a given radius. More...

Public Member Functions inherited from pcl::VoxelGrid< PointT >
	VoxelGrid ()
	Empty constructor. More...

virtual	~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 ()
	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 ()
	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 ()
	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 ()
	Returns true if leaf layout information will to be saved for later access. More...

Eigen::Vector3i	getMinBoxCoordinates ()
	Get the minimum coordinates of the bounding box (after filtering is performed). More...

Eigen::Vector3i	getMaxBoxCoordinates ()
	Get the minimum coordinates of the bounding box (after filtering is performed). More...

Eigen::Vector3i	getNrDivisions ()
	Get the number of divisions along all 3 axes (after filtering is performed). More...

Eigen::Vector3i	getDivisionMultiplier ()
	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)
	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)
	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 ()
	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)
	Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z). More...

int	getCentroidIndexAt (const Eigen::Vector3i &ijk)
	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...

std::string const	getFilterFieldName ()
	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)
	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)
	Get whether the data outside the interval (min/max) is to be returned (true) or inside (false). More...

bool	getFilterLimitsNegative ()
	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...

virtual	~Filter ()
	Empty destructor. More...

IndicesConstPtr const	getRemovedIndices ()
	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 ()
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	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 (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...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

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

Protected Types
typedef pcl::traits::fieldList< PointT >::type	FieldList

typedef Filter< PointT >::PointCloud	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

Protected Types inherited from pcl::VoxelGrid< PointT >
typedef Filter< PointT >::PointCloud	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef boost::shared_ptr< VoxelGrid< PointT > >	Ptr

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

typedef pcl::traits::fieldList< PointT >::type	FieldList

Protected Member Functions
void	applyFilter (PointCloud &output)
	Filter cloud and initializes voxel structure. 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
bool	searchable_
	Flag to determine if voxel structure is searchable. More...

int	min_points_per_voxel_
	Minimum points contained with in a voxel to allow it to be useable. More...

double	min_covar_eigvalue_mult_
	Minimum allowable ratio between eigenvalues to prevent singular covariance matrices. More...

std::map< size_t, Leaf >	leaves_
	Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of points). More...

PointCloudPtr	voxel_centroids_
	Point cloud containing centroids of voxels containing atleast minimum number of points. More...

std::vector< int >	voxel_centroids_leaf_indices_
	Indices of leaf structurs associated with each point in voxel_centroids_ (used for searching). More...

KdTreeFLANN< PointT >	kdtree_
	KdTree generated using voxel_centroids_ (used for searching). More...

Protected Attributes inherited from pcl::VoxelGrid< PointT >
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::VoxelGridCovariance< PointT >

A searchable voxel strucure containing the mean and covariance of the data.

Note: For more information please see Magnusson, M. (2009). The Three-Dimensional Normal-Distributions Transform — an Efﬁcient Representation for Registration, Surface Analysis, and Loop Detection. PhD thesis, Orebro University. Orebro Studies in Technology 36

Author: Brian Okorn (Space and Naval Warfare Systems Center Pacific)

Definition at line 57 of file voxel_grid_covariance.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const VoxelGrid<PointT> > pcl::VoxelGridCovariance< PointT >::ConstPtr

Definition at line 88 of file voxel_grid_covariance.h.

template<typename PointT>

typedef pcl::traits::fieldList<PointT>::type pcl::VoxelGridCovariance< PointT >::FieldList

protected

Definition at line 80 of file voxel_grid_covariance.h.

template<typename PointT>

typedef const Leaf* pcl::VoxelGridCovariance< PointT >::LeafConstPtr

Const pointer to VoxelGridCovariance leaf structure.

Definition at line 194 of file voxel_grid_covariance.h.

template<typename PointT>

typedef Leaf* pcl::VoxelGridCovariance< PointT >::LeafPtr

Pointer to VoxelGridCovariance leaf structure.

Definition at line 191 of file voxel_grid_covariance.h.

template<typename PointT>

typedef Filter<PointT>::PointCloud pcl::VoxelGridCovariance< PointT >::PointCloud

protected

Definition at line 81 of file voxel_grid_covariance.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::VoxelGridCovariance< PointT >::PointCloudConstPtr

protected

Definition at line 83 of file voxel_grid_covariance.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::VoxelGridCovariance< PointT >::PointCloudPtr

protected

Definition at line 82 of file voxel_grid_covariance.h.

template<typename PointT>

typedef boost::shared_ptr< VoxelGrid<PointT> > pcl::VoxelGridCovariance< PointT >::Ptr

Definition at line 87 of file voxel_grid_covariance.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::VoxelGridCovariance< PointT >::VoxelGridCovariance ( )

inline

Constructor.

Sets leaf_size_ to 0 and searchable_ to false.

Definition at line 201 of file voxel_grid_covariance.h.

Member Function Documentation

template<typename PointT >

void pcl::VoxelGridCovariance< PointT >::applyFilter ( PointCloud & output )

protectedvirtual

Filter cloud and initializes voxel structure.

Parameters

[out] output cloud containing centroids of voxels containing a sufficient number of points

Reimplemented from pcl::VoxelGrid< PointT >.

Definition at line 49 of file voxel_grid_covariance.hpp.

References pcl::PointCloud< PointT >::back(), pcl::VoxelGridCovariance< PointT >::Leaf::centroid, pcl::PointCloud< PointT >::clear(), pcl::VoxelGridCovariance< PointT >::Leaf::cov_, pcl::VoxelGridCovariance< PointT >::Leaf::evals_, pcl::VoxelGridCovariance< PointT >::Leaf::evecs_, pcl::getFieldIndex(), pcl::PointCloud< PointT >::height, pcl::VoxelGridCovariance< PointT >::Leaf::icov_, pcl::PointCloud< PointT >::is_dense, pcl::VoxelGridCovariance< PointT >::Leaf::mean_, pcl::VoxelGridCovariance< PointT >::Leaf::nr_points, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::push_back(), and pcl::PointCloud< PointT >::width.

Referenced by pcl::VoxelGridCovariance< PointTarget >::filter(), and pcl::VoxelGridCovariance< PointTarget >::radiusSearch().

template<typename PointT>

void pcl::VoxelGridCovariance< PointT >::filter	(	PointCloud &	output,
		bool	searchable = `false`
	)

inline

Filter cloud and initializes voxel structure.

Parameters

[out]	output	cloud containing centroids of voxels containing a sufficient number of points
[in]	searchable	flag if voxel structure is searchable, if true then kdtree is built

Definition at line 267 of file voxel_grid_covariance.h.

Referenced by pcl::NormalDistributionsTransform< PointSource, PointTarget >::init().

template<typename PointT>

void pcl::VoxelGridCovariance< PointT >::filter ( bool searchable = false )

inline

Initializes voxel structure.

Parameters

[in] searchable flag if voxel structure is searchable, if true then kdtree is built

Definition at line 285 of file voxel_grid_covariance.h.

template<typename PointT>

PointCloudPtr pcl::VoxelGridCovariance< PointT >::getCentroids ( )

inline

Get a pointcloud containing the voxel centroids.

Note: Only voxels containing a sufficient number of points are used.

Returns: a map contataining all leaves

Definition at line 393 of file voxel_grid_covariance.h.

template<typename PointT>

double pcl::VoxelGridCovariance< PointT >::getCovEigValueInflationRatio ( )

inline

Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.

Returns: the minimum allowable ratio between eigenvalues

Definition at line 257 of file voxel_grid_covariance.h.

template<typename PointT >

void pcl::VoxelGridCovariance< PointT >::getDisplayCloud ( pcl::PointCloud< PointXYZ > & cell_cloud )

Get a cloud to visualize each voxels normal distribution.

Parameters

[out] cell_cloud a cloud created by sampling the normal distributions of each voxel

Definition at line 408 of file voxel_grid_covariance.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::VoxelGridCovariance< PointT >::Leaf::cov_, pcl::VoxelGridCovariance< PointT >::Leaf::mean_, pcl::VoxelGridCovariance< PointT >::Leaf::nr_points, and pcl::PointCloud< PointT >::push_back().

Referenced by pcl::VoxelGridCovariance< PointTarget >::getCentroids().

template<typename PointT>

LeafConstPtr pcl::VoxelGridCovariance< PointT >::getLeaf ( int index )

inline

Get the voxel containing point p.

Parameters

[in] index the index of the leaf structure node

Returns: const pointer to leaf structure

Definition at line 303 of file voxel_grid_covariance.h.

template<typename PointT>

LeafConstPtr pcl::VoxelGridCovariance< PointT >::getLeaf ( PointT & p )

inline

Get the voxel containing point p.

Parameters

[in] p the point to get the leaf structure at

Returns: const pointer to leaf structure

Definition at line 320 of file voxel_grid_covariance.h.

template<typename PointT>

LeafConstPtr pcl::VoxelGridCovariance< PointT >::getLeaf ( Eigen::Vector3f & p )

inline

Get the voxel containing point p.

Parameters

[in] p the point to get the leaf structure at

Returns: const pointer to leaf structure

Definition at line 347 of file voxel_grid_covariance.h.

template<typename PointT>

const std::map<size_t, Leaf>& pcl::VoxelGridCovariance< PointT >::getLeaves ( )

inline

Get the leaf structure map.

Returns: a map contataining all leaves

Definition at line 383 of file voxel_grid_covariance.h.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::getMinPointPerVoxel ( )

inline

Get the minimum number of points required for a cell to be used.

Returns: the minimum number of points for required for a voxel to be used

Definition at line 239 of file voxel_grid_covariance.h.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::getNeighborhoodAtPoint	(	const PointT &	reference_point,
		std::vector< LeafConstPtr > &	neighbors
	)

Get the voxels surrounding point p, not including the voxel contating point p.

Note: Only voxels containing a sufficient number of points are used (slower than radius search in practice).

Parameters

[in]	reference_point	the point to get the leaf structure at
[out]	neighbors

Returns: number of neighbors found

Definition at line 373 of file voxel_grid_covariance.hpp.

References pcl::getAllNeighborCellIndices().

Referenced by pcl::VoxelGridCovariance< PointTarget >::getLeaf().

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::nearestKSearch	(	const PointT &	point,
		int	k,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances
	)

inline

Search for the k-nearest occupied voxels for the given query point.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	point	the given query point
[in]	k	the number of neighbors to search for
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points

Returns: number of neighbors found

Definition at line 414 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointTarget >::nearestKSearch().

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::nearestKSearch	(	const PointCloud &	cloud,
		int	index,
		int	k,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances
	)

inline

Search for the k-nearest occupied voxels for the given query point.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	cloud	the given query point
[in]	index	the index
[in]	k	the number of neighbors to search for
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points

Returns: number of neighbors found

Definition at line 449 of file voxel_grid_covariance.h.

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::radiusSearch	(	const PointT &	point,
		double	radius,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)

inline

Search for all the nearest occupied voxels of the query point in a given radius.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	point	the given query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points
[in]	max_nn

Returns: number of neighbors found

Definition at line 468 of file voxel_grid_covariance.h.

Referenced by pcl::NormalDistributionsTransform< PointSource, PointTarget >::computeDerivatives(), pcl::NormalDistributionsTransform< PointSource, PointTarget >::computeHessian(), and pcl::VoxelGridCovariance< PointTarget >::radiusSearch().

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::radiusSearch	(	const PointCloud &	cloud,
		int	index,
		double	radius,
		std::vector< LeafConstPtr > &	k_leaves,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)

inline

Search for all the nearest occupied voxels of the query point in a given radius.

Note: Only voxels containing a sufficient number of points are used.

Parameters

[in]	cloud	the given query point
[in]	index	a valid index in cloud representing a valid (i.e., finite) query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_leaves	the resultant leaves of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points
[in]	max_nn

Returns: number of neighbors found

Definition at line 504 of file voxel_grid_covariance.h.

template<typename PointT>

void pcl::VoxelGridCovariance< PointT >::setCovEigValueInflationRatio ( double min_covar_eigvalue_mult )

inline

Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.

Parameters

[in] min_covar_eigvalue_mult the minimum allowable ratio between eigenvalues

Definition at line 248 of file voxel_grid_covariance.h.

template<typename PointT>

void pcl::VoxelGridCovariance< PointT >::setMinPointPerVoxel ( int min_points_per_voxel )

inline

Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation).

Parameters

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

Definition at line 222 of file voxel_grid_covariance.h.

Member Data Documentation

template<typename PointT>

KdTreeFLANN<PointT> pcl::VoxelGridCovariance< PointT >::kdtree_

protected

KdTree generated using voxel_centroids_ (used for searching).

Definition at line 539 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointTarget >::filter(), pcl::VoxelGridCovariance< PointTarget >::nearestKSearch(), and pcl::VoxelGridCovariance< PointTarget >::radiusSearch().

template<typename PointT>

std::map<size_t, Leaf> pcl::VoxelGridCovariance< PointT >::leaves_

protected

Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of points).

Definition at line 530 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointTarget >::getLeaf(), pcl::VoxelGridCovariance< PointTarget >::getLeaves(), pcl::VoxelGridCovariance< PointTarget >::nearestKSearch(), and pcl::VoxelGridCovariance< PointTarget >::radiusSearch().

template<typename PointT>

double pcl::VoxelGridCovariance< PointT >::min_covar_eigvalue_mult_

protected

Minimum allowable ratio between eigenvalues to prevent singular covariance matrices.

Definition at line 527 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointTarget >::getCovEigValueInflationRatio(), and pcl::VoxelGridCovariance< PointTarget >::setCovEigValueInflationRatio().

template<typename PointT>

int pcl::VoxelGridCovariance< PointT >::min_points_per_voxel_

protected

Minimum points contained with in a voxel to allow it to be useable.

Definition at line 524 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointTarget >::getMinPointPerVoxel(), and pcl::VoxelGridCovariance< PointTarget >::setMinPointPerVoxel().

template<typename PointT>

bool pcl::VoxelGridCovariance< PointT >::searchable_

protected

Flag to determine if voxel structure is searchable.

Definition at line 521 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointTarget >::filter(), pcl::VoxelGridCovariance< PointTarget >::nearestKSearch(), and pcl::VoxelGridCovariance< PointTarget >::radiusSearch().

template<typename PointT>

PointCloudPtr pcl::VoxelGridCovariance< PointT >::voxel_centroids_

protected

Point cloud containing centroids of voxels containing atleast minimum number of points.

Definition at line 533 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointTarget >::filter(), and pcl::VoxelGridCovariance< PointTarget >::getCentroids().

template<typename PointT>

std::vector<int> pcl::VoxelGridCovariance< PointT >::voxel_centroids_leaf_indices_

protected

Indices of leaf structurs associated with each point in voxel_centroids_ (used for searching).

Definition at line 536 of file voxel_grid_covariance.h.

Referenced by pcl::VoxelGridCovariance< PointTarget >::nearestKSearch(), and pcl::VoxelGridCovariance< PointTarget >::radiusSearch().

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

/build/pcl-0nnAvv/pcl-1.7.2/filters/include/pcl/filters/voxel_grid_covariance.h
/build/pcl-0nnAvv/pcl-1.7.2/filters/include/pcl/filters/impl/voxel_grid_covariance.hpp

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Protected Types

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Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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