Octree pointcloud voxel centroid class More...
#include <octree_pointcloud_voxelcentroid.h>
Inheritance diagram for pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, BranchT >:
Public Types | |
| typedef OctreePointCloud < PointT, LeafT, BranchT > ::AlignedPointTVector | AlignedPointTVector |
Public Member Functions | |
| bool | getVoxelCentroidAtPoint (const PointT &point_arg, PointT &voxelCentroid_arg) |
| Get centroid for a single voxel addressed by a PointT point. | |
| bool | getVoxelCentroidAtPoint (const int &pointIdx_arg, PointT &voxelCentroid_arg) |
| Get centroid for a single voxel addressed by a PointT point from input cloud. | |
| unsigned int | getVoxelCentroids (AlignedPointTVector &voxelCentroidList_arg) |
| Get PointT vector of centroids for all occupied voxels. | |
| OctreePointCloudVoxelCentroid (const double resolution_arg) | |
| OctreePointCloudVoxelCentroids class constructor. | |
| virtual | ~OctreePointCloudVoxelCentroid () |
| Empty class deconstructor. | |
Detailed Description
template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>>
class pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, BranchT >
Octree pointcloud voxel centroid class
- Note:
- This class generate an octrees from a point cloud (zero-copy). It provides a vector of centroids for all occupied voxels. .
- The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
- typename: PointT: type of point used in pointcloud
Definition at line 63 of file octree_pointcloud_voxelcentroid.h.
Member Typedef Documentation
template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>>
| typedef OctreePointCloud<PointT, LeafT, BranchT>::AlignedPointTVector pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, BranchT >::AlignedPointTVector |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, BranchT >.
Definition at line 70 of file octree_pointcloud_voxelcentroid.h.
Constructor & Destructor Documentation
template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>>
| pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, BranchT >::OctreePointCloudVoxelCentroid | ( | const double | resolution_arg | ) | [inline] |
OctreePointCloudVoxelCentroids class constructor.
- Parameters:
-
resolution_arg,: octree resolution at lowest octree level
Definition at line 75 of file octree_pointcloud_voxelcentroid.h.
template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>>
| virtual pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, BranchT >::~OctreePointCloudVoxelCentroid | ( | ) | [inline, virtual] |
Empty class deconstructor.
Definition at line 82 of file octree_pointcloud_voxelcentroid.h.
Member Function Documentation
template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>>
| bool pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, BranchT >::getVoxelCentroidAtPoint | ( | const PointT & | point_arg, |
| PointT & | voxelCentroid_arg | ||
| ) | [inline] |
Get centroid for a single voxel addressed by a PointT point.
- Parameters:
-
point_arg,: point addressing a voxel in octree voxelCentroid_arg,: centroid is written to this PointT reference
- Returns:
- "true" if voxel is found; "false" otherwise
Definition at line 172 of file octree_pointcloud_voxelcentroid.h.
template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>>
| bool pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, BranchT >::getVoxelCentroidAtPoint | ( | const int & | pointIdx_arg, |
| PointT & | voxelCentroid_arg | ||
| ) | [inline] |
Get centroid for a single voxel addressed by a PointT point from input cloud.
- Parameters:
-
pointIdx_arg,: point index from input cloud addressing a voxel in octree voxelCentroid_arg,: centroid is written to this PointT reference
- Returns:
- "true" if voxel is found; "false" otherwise
Definition at line 218 of file octree_pointcloud_voxelcentroid.h.
template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>>
| unsigned int pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, BranchT >::getVoxelCentroids | ( | AlignedPointTVector & | voxelCentroidList_arg | ) | [inline] |
Get PointT vector of centroids for all occupied voxels.
- Parameters:
-
voxelCentroidList_arg,: results are written to this vector of PointT elements
- Returns:
- number of occupied voxels
Definition at line 91 of file octree_pointcloud_voxelcentroid.h.
The documentation for this class was generated from the following file: