Public Types | Public Member Functions

pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT > Class Template Reference
[Module octree]

Octree pointcloud voxel centroid class More...

#include <pcl/octree/octree_pointcloud_voxelcentroid.h>

Inheritance diagram for pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >:
Inheritance graph
[legend]
Collaboration diagram for pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >:
Collaboration graph
[legend]

List of all members.

Public Types

typedef
OctreePointCloudVoxelCentroid
< PointT, LeafT, OctreeBase
< int, LeafT > > 
SingleBuffer
typedef
OctreePointCloudVoxelCentroid
< PointT, LeafT,
Octree2BufBase< int, LeafT > > 
DoubleBuffer

Public Member Functions

 OctreePointCloudVoxelCentroid (const double resolution_arg)
 OctreePointCloudVoxelCentroids class constructor.
virtual ~OctreePointCloudVoxelCentroid ()
 Empty class deconstructor.
unsigned int getVoxelCentroids (std::vector< PointT, Eigen::aligned_allocator< PointT > > &voxelCentroidList_arg)
 Get PointT vector of centroids for all occupied voxels.
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.

Detailed Description

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
class pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >

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
Author:
Julius Kammerl (julius@kammerl.de)

Definition at line 61 of file octree_pointcloud_voxelcentroid.h.


Member Typedef Documentation

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
typedef OctreePointCloudVoxelCentroid<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::DoubleBuffer
template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
typedef OctreePointCloudVoxelCentroid<PointT, LeafT, OctreeBase<int, LeafT> > pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::SingleBuffer

Constructor & Destructor Documentation

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::OctreePointCloudVoxelCentroid ( const double  resolution_arg  )  [inline]

OctreePointCloudVoxelCentroids class constructor.

Parameters:
resolution_arg,: octree resolution at lowest octree level

Definition at line 72 of file octree_pointcloud_voxelcentroid.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
virtual pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::~OctreePointCloudVoxelCentroid (  )  [inline, virtual]

Empty class deconstructor.

Definition at line 79 of file octree_pointcloud_voxelcentroid.h.


Member Function Documentation

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
bool pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::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 169 of file octree_pointcloud_voxelcentroid.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
bool pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::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 215 of file octree_pointcloud_voxelcentroid.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
unsigned int pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::getVoxelCentroids ( std::vector< PointT, Eigen::aligned_allocator< PointT > > &  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 88 of file octree_pointcloud_voxelcentroid.h.


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