VoxelGrid to estimate occluded space in the scene. More...

#include <pcl/filters/voxel_grid_occlusion_estimation.h>

Inheritance diagram for pcl::VoxelGridOcclusionEstimation< PointT >:

Collaboration diagram for pcl::VoxelGridOcclusionEstimation< PointT >:

Public Member Functions
PCL_MAKE_ALIGNED_OPERATOR_NEW	VoxelGridOcclusionEstimation ()
	Empty constructor.
	~VoxelGridOcclusionEstimation () override=default
	Destructor.
void	initializeVoxelGrid ()
	Initialize the voxel grid, needs to be called first Builts the voxel grid and computes additional values for the ray traversal algorithm.
int	occlusionEstimation (int &out_state, const Eigen::Vector3i &in_target_voxel)
	Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates.
int	occlusionEstimation (int &out_state, std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &out_ray, const Eigen::Vector3i &in_target_voxel)
	Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates.
int	occlusionEstimationAll (std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &occluded_voxels)
	Computes the voxel coordinates (i, j, k) of all occluded voxels in the voxel grid.
PointCloud	getFilteredPointCloud ()
	Returns the voxel grid filtered point cloud.
Eigen::Vector3f	getMinBoundCoordinates ()
	Returns the minimum bounding of coordinates of the voxel grid (x,y,z).
Eigen::Vector3f	getMaxBoundCoordinates ()
	Returns the maximum bounding of coordinates of the voxel grid (x,y,z).
Eigen::Vector4f	getCentroidCoordinate (const Eigen::Vector3i &ijk)
	Returns the corresponding centroid (x,y,z) coordinates in the grid of voxel (i,j,k).
Public Member Functions inherited from pcl::VoxelGrid< PointT >
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.
void	setLeafSize (float lx, float ly, float lz)
	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 PointT &p) const
	Returns the index in the resulting downsampled cloud of the specified point.
std::vector< int >	getNeighborCentroidIndices (const PointT &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).
bool	getFilterLimitsNegative () 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< PointT >
	Filter (bool extract_removed_indices=false)
	Empty constructor.
IndicesConstPtr const	getRemovedIndices () const
	Get the point indices being removed.
void	getRemovedIndices (PointIndices &pi)
	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< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy 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.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Types
using	PointCloud = typename Filter<PointT>::PointCloud
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
Protected Types inherited from pcl::VoxelGrid< PointT >
using	PointCloud = typename Filter<PointT>::PointCloud
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	FieldList = typename pcl::traits::fieldList<PointT>::type

Protected Member Functions
float	rayBoxIntersection (const Eigen::Vector4f &origin, const Eigen::Vector4f &direction)
	Returns the scaling value (tmin) were the ray intersects with the voxel grid bounding box.
int	rayTraversal (const Eigen::Vector3i &target_voxel, const Eigen::Vector4f &origin, const Eigen::Vector4f &direction, const float t_min)
	Returns the state of the target voxel (0 = visible, 1 = occupied) using a ray traversal algorithm.
int	rayTraversal (std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &out_ray, const Eigen::Vector3i &target_voxel, const Eigen::Vector4f &origin, const Eigen::Vector4f &direction, const float t_min)
	Returns the state of the target voxel (0 = visible, 1 = occupied) and the voxels penetrated by the ray using a ray traversal algorithm.
float	round (float d)
	Returns a value rounded to the nearest integer.
Eigen::Vector3i	getGridCoordinatesRound (float x, float y, float z)
	Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).
Protected Member Functions inherited from pcl::VoxelGrid< PointT >
void	applyFilter (PointCloud &output) override
	Downsample a Point Cloud using a voxelized grid approach.
Protected Member Functions inherited from pcl::Filter< PointT >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
bool	initialized_
Eigen::Vector4f	sensor_origin_
Eigen::Quaternionf	sensor_orientation_
Eigen::Vector4f	b_min_
Eigen::Vector4f	b_max_
PointCloud	filtered_cloud_
Protected Attributes inherited from pcl::VoxelGrid< PointT >
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_ {true}
	Set to true if all fields need to be downsampled, or false if just XYZ.
bool	save_leaf_layout_ {false}
	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_ {std::numeric_limits<float>::lowest()}
	The minimum allowed filter value a point will be considered from.
double	filter_limit_max_ {std::numeric_limits<float>::max()}
	The maximum allowed filter value a point will be considered from.
bool	filter_limit_negative_ {false}
	Set to true if we want to return the data outside (filter_limit_min_;filter_limit_max_).
unsigned int	min_points_per_voxel_ {0}
	Minimum number of points per voxel for the centroid to be computed.
Protected Attributes inherited from pcl::Filter< PointT >
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< PointT >
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.

Additional Inherited Members
Public Types inherited from pcl::VoxelGrid< PointT >
using	Ptr = shared_ptr<VoxelGrid<PointT> >
using	ConstPtr = shared_ptr<const VoxelGrid<PointT> >
Public Types inherited from pcl::Filter< PointT >
using	Ptr = shared_ptr<Filter<PointT> >
using	ConstPtr = shared_ptr<const Filter<PointT> >
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr

Detailed Description

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

VoxelGrid to estimate occluded space in the scene.

The ray traversal algorithm is implemented by the work of 'John Amanatides and Andrew Woo, A Fast Voxel Traversal Algorithm for Ray Tracing' Example code:

pcl::VoxelGridOcclusionEstimation<pcl::PointXYZ> vg;
vg.setInputCloud (input_cloud);
vg.setLeafSize (leaf_x, leaf_y, leaf_z);
vg.initializeVoxelGrid ();
std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i> > occluded_voxels;
vg.occlusionEstimationAll (occluded_voxels);

Author: Christian Potthast

Definition at line 63 of file voxel_grid_occlusion_estimation.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT>

using pcl::VoxelGridOcclusionEstimation< PointT >::PointCloud = typename Filter<PointT>::PointCloud

protected

Definition at line 72 of file voxel_grid_occlusion_estimation.h.

◆ PointCloudConstPtr

template<typename PointT>

using pcl::VoxelGridOcclusionEstimation< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

protected

Definition at line 74 of file voxel_grid_occlusion_estimation.h.

◆ PointCloudPtr

template<typename PointT>

using pcl::VoxelGridOcclusionEstimation< PointT >::PointCloudPtr = typename PointCloud::Ptr

protected

Definition at line 73 of file voxel_grid_occlusion_estimation.h.

Constructor & Destructor Documentation

◆ VoxelGridOcclusionEstimation()

template<typename PointT>

PCL_MAKE_ALIGNED_OPERATOR_NEW pcl::VoxelGridOcclusionEstimation< PointT >::VoxelGridOcclusionEstimation ( )

inline

Empty constructor.

Definition at line 81 of file voxel_grid_occlusion_estimation.h.

References initialized_, and pcl::VoxelGrid< PointT >::setSaveLeafLayout().

◆ ~VoxelGridOcclusionEstimation()

template<typename PointT>

pcl::VoxelGridOcclusionEstimation< PointT >::~VoxelGridOcclusionEstimation ( )

overridedefault

Destructor.

Member Function Documentation

◆ getCentroidCoordinate()

template<typename PointT>

Eigen::Vector4f pcl::VoxelGridOcclusionEstimation< PointT >::getCentroidCoordinate ( const Eigen::Vector3i & ijk )

inline

Returns the corresponding centroid (x,y,z) coordinates in the grid of voxel (i,j,k).

Parameters

[in] ijk the coordinate (i, j, k) of the voxel

Returns: the (x,y,z) coordinate of the voxel centroid

Definition at line 156 of file voxel_grid_occlusion_estimation.h.

References b_min_, pcl::VoxelGrid< PointT >::leaf_size_, and pcl::VoxelGrid< PointT >::min_b_.

Referenced by occlusionEstimation(), occlusionEstimation(), occlusionEstimationAll(), rayTraversal(), and rayTraversal().

◆ getFilteredPointCloud()

template<typename PointT>

PointCloud pcl::VoxelGridOcclusionEstimation< PointT >::getFilteredPointCloud ( )

inline

Returns the voxel grid filtered point cloud.

Returns: The voxel grid filtered point cloud

Definition at line 135 of file voxel_grid_occlusion_estimation.h.

References filtered_cloud_.

◆ getGridCoordinatesRound()

template<typename PointT>

Eigen::Vector3i pcl::VoxelGridOcclusionEstimation< PointT >::getGridCoordinatesRound	(	float	x,
		float	y,
		float	z )

inlineprotected

Returns the corresponding (i,j,k) coordinates in the grid of point (x,y,z).

Parameters

[in]	x	the X point coordinate to get the (i, j, k) index at
[in]	y	the Y point coordinate to get the (i, j, k) index at
[in]	z	the Z point coordinate to get the (i, j, k) index at

Definition at line 235 of file voxel_grid_occlusion_estimation.h.

References pcl::VoxelGrid< PointT >::inverse_leaf_size_, and round().

◆ getMaxBoundCoordinates()

template<typename PointT>

Eigen::Vector3f pcl::VoxelGridOcclusionEstimation< PointT >::getMaxBoundCoordinates ( )

inline

Returns the maximum bounding of coordinates of the voxel grid (x,y,z).

Returns: the maximum coordinates (x,y,z)

Definition at line 148 of file voxel_grid_occlusion_estimation.h.

References b_max_.

◆ getMinBoundCoordinates()

template<typename PointT>

Eigen::Vector3f pcl::VoxelGridOcclusionEstimation< PointT >::getMinBoundCoordinates ( )

inline

Returns the minimum bounding of coordinates of the voxel grid (x,y,z).

Returns: the minimum coordinates (x,y,z)

Definition at line 142 of file voxel_grid_occlusion_estimation.h.

References b_min_.

◆ initializeVoxelGrid()

template<typename PointT>

void pcl::VoxelGridOcclusionEstimation< PointT >::initializeVoxelGrid ( )

Initialize the voxel grid, needs to be called first Builts the voxel grid and computes additional values for the ray traversal algorithm.

Definition at line 46 of file voxel_grid_occlusion_estimation.hpp.

References b_max_, b_min_, pcl::VoxelGrid< PointT >::divb_mul_, pcl::Filter< PointT >::filter(), filtered_cloud_, pcl::VoxelGrid< PointT >::getCentroidIndexAt(), pcl::VoxelGrid< PointT >::getGridCoordinates(), initialized_, pcl::VoxelGrid< PointT >::leaf_layout_, pcl::VoxelGrid< PointT >::leaf_size_, pcl::VoxelGrid< PointT >::max_b_, pcl::VoxelGrid< PointT >::min_b_, sensor_orientation_, and sensor_origin_.

◆ occlusionEstimation() [1/2]

template<typename PointT>

int pcl::VoxelGridOcclusionEstimation< PointT >::occlusionEstimation	(	int &	out_state,
		const Eigen::Vector3i &	in_target_voxel )

Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates.

Parameters

[out]	out_state	The state of the voxel.
[in]	in_target_voxel	The target voxel coordinate (i, j, k) of the voxel.

Returns: 0 upon success and -1 if an error occurs

Definition at line 76 of file voxel_grid_occlusion_estimation.hpp.

References getCentroidCoordinate(), initialized_, rayBoxIntersection(), rayTraversal(), and sensor_origin_.

◆ occlusionEstimation() [2/2]

template<typename PointT>

int pcl::VoxelGridOcclusionEstimation< PointT >::occlusionEstimation	(	int &	out_state,
		std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &	out_ray,
		const Eigen::Vector3i &	in_target_voxel )

Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to a target voxel in (i, j, k) coordinates.

Additionally, this function returns the voxels penetrated of the ray-traversal algorithm till reaching the target voxel.

Parameters

[out]	out_state	The state of the voxel.
[out]	out_ray	The voxels penetrated of the ray-traversal algorithm.
[in]	in_target_voxel	The target voxel coordinate (i, j, k) of the voxel.

Returns: 0 upon success and -1 if an error occurs

Definition at line 107 of file voxel_grid_occlusion_estimation.hpp.

References getCentroidCoordinate(), initialized_, rayBoxIntersection(), rayTraversal(), and sensor_origin_.

◆ occlusionEstimationAll()

template<typename PointT>

int pcl::VoxelGridOcclusionEstimation< PointT >::occlusionEstimationAll ( std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > & occluded_voxels )

Computes the voxel coordinates (i, j, k) of all occluded voxels in the voxel grid.

Parameters

[out] occluded_voxels the coordinates (i, j, k) of all occluded voxels

Returns: 0 upon success and -1 if an error occurs

Definition at line 139 of file voxel_grid_occlusion_estimation.hpp.

References pcl::VoxelGrid< PointT >::div_b_, getCentroidCoordinate(), pcl::VoxelGrid< PointT >::getCentroidIndexAt(), initialized_, pcl::VoxelGrid< PointT >::max_b_, pcl::VoxelGrid< PointT >::min_b_, rayBoxIntersection(), rayTraversal(), and sensor_origin_.

◆ rayBoxIntersection()

template<typename PointT>

float pcl::VoxelGridOcclusionEstimation< PointT >::rayBoxIntersection	(	const Eigen::Vector4f &	origin,
		const Eigen::Vector4f &	direction )

protected

Returns the scaling value (tmin) were the ray intersects with the voxel grid bounding box.

(p_entry = origin + tmin * orientation)

Parameters

[in]	origin	The sensor origin
[in]	direction	The sensor orientation

Returns: the scaling value

Definition at line 182 of file voxel_grid_occlusion_estimation.hpp.

References b_max_, and b_min_.

Referenced by occlusionEstimation(), occlusionEstimation(), and occlusionEstimationAll().

◆ rayTraversal() [1/2]

template<typename PointT>

int pcl::VoxelGridOcclusionEstimation< PointT >::rayTraversal	(	const Eigen::Vector3i &	target_voxel,
		const Eigen::Vector4f &	origin,
		const Eigen::Vector4f &	direction,
		const float	t_min )

protected

Returns the state of the target voxel (0 = visible, 1 = occupied) using a ray traversal algorithm.

Parameters

[in]	target_voxel	The target voxel in the voxel grid with coordinate (i, j, k).
[in]	origin	The sensor origin.
[in]	direction	The sensor orientation
[in]	t_min	The scaling value (tmin).

Returns: The estimated voxel state.

Definition at line 248 of file voxel_grid_occlusion_estimation.hpp.

References getCentroidCoordinate(), pcl::VoxelGrid< PointT >::getCentroidIndexAt(), pcl::VoxelGrid< PointT >::getGridCoordinates(), pcl::VoxelGrid< PointT >::leaf_size_, pcl::VoxelGrid< PointT >::max_b_, and pcl::VoxelGrid< PointT >::min_b_.

Referenced by occlusionEstimation(), occlusionEstimation(), and occlusionEstimationAll().

◆ rayTraversal() [2/2]

template<typename PointT>

int pcl::VoxelGridOcclusionEstimation< PointT >::rayTraversal	(	std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &	out_ray,
		const Eigen::Vector3i &	target_voxel,
		const Eigen::Vector4f &	origin,
		const Eigen::Vector4f &	direction,
		const float	t_min )

protected

Returns the state of the target voxel (0 = visible, 1 = occupied) and the voxels penetrated by the ray using a ray traversal algorithm.

Parameters

[out]	out_ray	The voxels penetrated by the ray in (i, j, k) coordinates
[in]	target_voxel	The target voxel in the voxel grid with coordinate (i, j, k).
[in]	origin	The sensor origin.
[in]	direction	The sensor orientation
[in]	t_min	The scaling value (tmin).