Point Cloud Library (PCL)  1.9.1-dev
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pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid Class Reference

A minimalistic implementation of a voxel grid, necessary for the point cloud upsampling. More...

#include <pcl/surface/mls.h>

Classes

struct  Leaf
 

Public Types

typedef std::map< uint64_t, LeafHashMap
 

Public Member Functions

 MLSVoxelGrid (PointCloudInConstPtr &cloud, IndicesPtr &indices, float voxel_size)
 
void dilate ()
 
void getIndexIn1D (const Eigen::Vector3i &index, uint64_t &index_1d) const
 
void getIndexIn3D (uint64_t index_1d, Eigen::Vector3i &index_3d) const
 
void getCellIndex (const Eigen::Vector3f &p, Eigen::Vector3i &index) const
 
void getPosition (const uint64_t &index_1d, Eigen::Vector3f &point) const
 

Public Attributes

HashMap voxel_grid_
 
Eigen::Vector4f bounding_min_
 
Eigen::Vector4f bounding_max_
 
uint64_t data_size_
 
float voxel_size_
 

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid

A minimalistic implementation of a voxel grid, necessary for the point cloud upsampling.

Note
Used only in the case of VOXEL_GRID_DILATION upsampling

Definition at line 602 of file mls.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>
typedef std::map<uint64_t, Leaf> pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::HashMap

Definition at line 647 of file mls.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT >
pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::MLSVoxelGrid ( PointCloudInConstPtr cloud,
IndicesPtr indices,
float  voxel_size 
)

Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::dilate ( )
template<typename PointInT, typename PointOutT>
void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getCellIndex ( const Eigen::Vector3f &  p,
Eigen::Vector3i &  index 
) const
inline
template<typename PointInT, typename PointOutT>
void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getIndexIn1D ( const Eigen::Vector3i &  index,
uint64_t &  index_1d 
) const
inline
template<typename PointInT, typename PointOutT>
void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getIndexIn3D ( uint64_t  index_1d,
Eigen::Vector3i &  index_3d 
) const
inline
template<typename PointInT, typename PointOutT>
void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getPosition ( const uint64_t &  index_1d,
Eigen::Vector3f &  point 
) const
inline

Member Data Documentation

template<typename PointInT, typename PointOutT>
Eigen::Vector4f pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_max_
template<typename PointInT, typename PointOutT>
Eigen::Vector4f pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_min_
template<typename PointInT, typename PointOutT>
uint64_t pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::data_size_
template<typename PointInT, typename PointOutT>
HashMap pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_grid_
template<typename PointInT, typename PointOutT>
float pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_size_

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