#include <PointCloudToVoxelGrid.h>

Classes
struct	Impl

struct	indices_t

struct	IndicesHash

struct	Parameters

struct	voxel_t

Public Member Functions
void	clear ()

int32_t	coord2idx (float xyz) const

	PointCloudToVoxelGrid ()

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

void	setResolution (const float voxel_size)

size_t	size () const
	Returns the number of occupied voxels. More...

void	visit_voxels (const std::function< void(const indices_t idx, const voxel_t &vxl)> &userCode) const

	~PointCloudToVoxelGrid ()

Public Attributes
Parameters	params_

Private Attributes
mrpt::pimpl< Impl >	impl_

float	resolution_ = 0.20f

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 27 of file PointCloudToVoxelGrid.h.

Constructor & Destructor Documentation

◆ PointCloudToVoxelGrid()

PointCloudToVoxelGrid::PointCloudToVoxelGrid ( )

Definition at line 25 of file PointCloudToVoxelGrid.cpp.

◆ ~PointCloudToVoxelGrid()

mp2p_icp_filters::PointCloudToVoxelGrid::~PointCloudToVoxelGrid ( )

inline

Definition at line 31 of file PointCloudToVoxelGrid.h.

Member Function Documentation

◆ clear()

void PointCloudToVoxelGrid::clear ( )

Remove all points and internal data.

Definition at line 77 of file PointCloudToVoxelGrid.cpp.

◆ coord2idx()

int32_t mp2p_icp_filters::PointCloudToVoxelGrid::coord2idx ( float xyz ) const

inline

Definition at line 109 of file PointCloudToVoxelGrid.h.

◆ processPointCloud()

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

Definition at line 39 of file PointCloudToVoxelGrid.cpp.

◆ setResolution()

void PointCloudToVoxelGrid::setResolution ( const float voxel_size )

Changes the voxel resolution, clearing past contents

Definition at line 29 of file PointCloudToVoxelGrid.cpp.

◆ size()

size_t PointCloudToVoxelGrid::size ( ) const

Returns the number of occupied voxels.

Definition at line 90 of file PointCloudToVoxelGrid.cpp.

◆ visit_voxels()

void PointCloudToVoxelGrid::visit_voxels ( const std::function< void(const indices_t idx, const voxel_t &vxl)> & userCode ) const

Definition at line 83 of file PointCloudToVoxelGrid.cpp.

Member Data Documentation

◆ impl_

mrpt::pimpl<Impl> mp2p_icp_filters::PointCloudToVoxelGrid::impl_

private

Definition at line 127 of file PointCloudToVoxelGrid.h.

◆ params_

Parameters mp2p_icp_filters::PointCloudToVoxelGrid::params_

Definition at line 54 of file PointCloudToVoxelGrid.h.

◆ resolution_

float mp2p_icp_filters::PointCloudToVoxelGrid::resolution_ = 0.20f

private

Voxel size (meters) or resolution.

Definition at line 123 of file PointCloudToVoxelGrid.h.

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

Classes

Public Member Functions

Public Attributes

Private Attributes