Point Cloud Library (PCL) 1.15.0
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grid_minimum.h
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41
42#pragma once
43
44#include <pcl/filters/filter.h>
45#include <pcl/filters/filter_indices.h>
46
47namespace pcl
48{
49 /** \brief GridMinimum assembles a local 2D grid over a given PointCloud, and downsamples the data.
50 *
51 * The GridMinimum class creates a *2D grid* over the input point cloud
52 * data. Then, in each *cell* (i.e., 2D grid element), all the points
53 * present will be *downsampled* with the minimum z value. This grid minimum
54 * can be useful in a number of topographic processing tasks such as crudely
55 * estimating ground returns, especially under foliage.
56 *
57 * \author Bradley J Chambers
58 * \ingroup filters
59 */
60 template <typename PointT>
61 class GridMinimum: public FilterIndices<PointT>
62 {
63 protected:
68
70
71 public:
72 /** \brief Empty constructor. */
73 GridMinimum (const float resolution)
74 {
75 setResolution (resolution);
76 filter_name_ = "GridMinimum";
77 }
78
79 /** \brief Destructor. */
80 ~GridMinimum () override = default;
81
82 /** \brief Set the grid resolution.
83 * \param[in] resolution the grid resolution
84 */
85 inline void
86 setResolution (const float resolution)
87 {
88 resolution_ = resolution;
89 // Use multiplications instead of divisions
91 }
92
93 /** \brief Get the grid resolution. */
94 inline float
95 getResolution () { return (resolution_); }
96
97 protected:
98 /** \brief The resolution. */
100
101 /** \brief Internal resolution stored as 1/resolution_ for efficiency reasons. */
103
104 /** \brief Downsample a Point Cloud using a 2D grid approach
105 * \param[out] output the resultant point cloud message
106 */
107 void
108 applyFilter (PointCloud &output) override;
109
110 /** \brief Filtered results are indexed by an indices array.
111 * \param[out] indices The resultant indices.
112 */
113 void
114 applyFilter (Indices &indices) override
115 {
116 applyFilterIndices (indices);
117 }
118
119 /** \brief Filtered results are indexed by an indices array.
120 * \param[out] indices The resultant indices.
121 */
122 void
123 applyFilterIndices (Indices &indices);
124
125 };
126}
127
128#ifdef PCL_NO_PRECOMPILE
129#include <pcl/filters/impl/grid_minimum.hpp>
130#endif
Filter represents the base filter class.
Definition filter.h:81
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition filter.h:174
std::string filter_name_
The filter name.
Definition filter.h:158
FilterIndices represents the base class for filters that are about binary point removal.
GridMinimum assembles a local 2D grid over a given PointCloud, and downsamples the data.
typename FilterIndices< PointT >::PointCloud PointCloud
void setResolution(const float resolution)
Set the grid resolution.
GridMinimum(const float resolution)
Empty constructor.
float resolution_
The resolution.
void applyFilterIndices(Indices &indices)
Filtered results are indexed by an indices array.
void applyFilter(Indices &indices) override
Filtered results are indexed by an indices array.
float inverse_resolution_
Internal resolution stored as 1/resolution_ for efficiency reasons.
~GridMinimum() override=default
Destructor.
void applyFilter(PointCloud &output) override
Downsample a Point Cloud using a 2D grid approach.
float getResolution()
Get the grid resolution.
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
PointCloud represents the base class in PCL for storing collections of 3D points.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.