#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 |
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.
using mp2p_icp_filters::PointCloudToVoxelGrid::grid_t = mrpt::containers::CDynamicGrid3D<voxel_t, float> |
Definition at line 60 of file PointCloudToVoxelGrid.h.
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default |
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inline |
Definition at line 32 of file PointCloudToVoxelGrid.h.
void PointCloudToVoxelGrid::clear | ( | ) |
Definition at line 84 of file PointCloudToVoxelGrid.cpp.
void PointCloudToVoxelGrid::processPointCloud | ( | const mrpt::maps::CPointsMap & | p | ) |
Definition at line 39 of file PointCloudToVoxelGrid.cpp.
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.
Parameters mp2p_icp_filters::PointCloudToVoxelGrid::params_ |
Definition at line 52 of file PointCloudToVoxelGrid.h.
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.
std::vector<uint32_t> mp2p_icp_filters::PointCloudToVoxelGrid::used_voxel_indices |
Definition at line 66 of file PointCloudToVoxelGrid.h.