#include <PointCloudToVoxelGrid.h>

Classes
struct	Parameters

struct	voxel_t

Public Types
using	grid_t = mrpt::containers::CDynamicGrid3D< voxel_t, float >

Public Member Functions
void	clear ()

	PointCloudToVoxelGrid ()=default

void	processPointCloud (const mrpt::maps::CPointsMap &p)

void	resize (const mrpt::math::TPoint3D &min_corner, const mrpt::math::TPoint3D &max_corner, const float voxel_size)

	~PointCloudToVoxelGrid ()

Public Attributes
Parameters	params_

grid_t	pts_voxels

std::vector< uint32_t >	used_voxel_indices

Detailed Description

Auxiliary data structure: an index of points in a point cloud, organized by their 3D position according to a predefined regular-sized voxel grid.

Definition at line 28 of file PointCloudToVoxelGrid.h.

Member Typedef Documentation

◆ grid_t

using mp2p_icp_filters::PointCloudToVoxelGrid::grid_t = mrpt::containers::CDynamicGrid3D<voxel_t, float>

Definition at line 60 of file PointCloudToVoxelGrid.h.

Constructor & Destructor Documentation

◆ PointCloudToVoxelGrid()

mp2p_icp_filters::PointCloudToVoxelGrid::PointCloudToVoxelGrid ( )

default

◆ ~PointCloudToVoxelGrid()

mp2p_icp_filters::PointCloudToVoxelGrid::~PointCloudToVoxelGrid ( )

inline

Definition at line 32 of file PointCloudToVoxelGrid.h.

Member Function Documentation

◆ clear()

void PointCloudToVoxelGrid::clear ( )

Definition at line 84 of file PointCloudToVoxelGrid.cpp.

◆ processPointCloud()

void PointCloudToVoxelGrid::processPointCloud ( const mrpt::maps::CPointsMap & p )

Definition at line 39 of file PointCloudToVoxelGrid.cpp.

◆ resize()

void PointCloudToVoxelGrid::resize	(	const mrpt::math::TPoint3D &	min_corner,
		const mrpt::math::TPoint3D &	max_corner,
		const float	voxel_size
	)

Definition at line 22 of file PointCloudToVoxelGrid.cpp.

Member Data Documentation

◆ params_

Parameters mp2p_icp_filters::PointCloudToVoxelGrid::params_

Definition at line 52 of file PointCloudToVoxelGrid.h.

◆ pts_voxels

grid_t mp2p_icp_filters::PointCloudToVoxelGrid::pts_voxels

The point indices in each voxel. Directly access to each desired cell, use its iterator, etc.

Definition at line 64 of file PointCloudToVoxelGrid.h.

◆ used_voxel_indices

std::vector<uint32_t> mp2p_icp_filters::PointCloudToVoxelGrid::used_voxel_indices

Definition at line 66 of file PointCloudToVoxelGrid.h.

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

Classes

Public Types

Public Member Functions

Public Attributes