dlut_hash_icp: voxel.h Source File

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00001 /*************************************************************************
00002   > File Name: voxel.h
00003   > Author: 吴乃亮
00004   > Mail: wunailiang@gmail.com
00005   > Created Time: Wed 21 May 2014 09:06:12 AM CST
00006  ************************************************************************/
00007 
00008 #ifndef voxel_h
00009 #define voxel_h
00010 
00011 #include <boost/unordered_map.hpp> //不需要排序的话最好用这个hash_map
00012 #include "unordered_map_voxel.h"
00013 #include <pcl/io/io.h>
00014 #include <pcl_ros/point_cloud.h>
00015 #include <pcl/point_types.h>
00016 
00017 typedef boost::unordered_map<unordered_map_voxel,un_key> umap;
00018 
00019 //对点云场景进行生成栅格和处理栅格、搜索最近邻的类
00020 class Voxelize
00021 {
00022     public:
00023         Voxelize(void){};
00024         ~Voxelize(){};
00025         void generateUmap(pcl::PointCloud<pcl::PointXYZ>& cloud,double resolution ,umap &m);//遍历每个点，生成栅格。然后计算每个栅格的参数
00026         pair<umap::iterator,bool> neighbor_search( umap &m, umap &m1,const unordered_map_voxel &tempp );//搜索最近邻
00027 };
00028 #endif