A minimalistic implementation of a voxel grid, necessary for the point cloud upsampling. More...
#include <pcl/surface/mls.h>
Classes |
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struct | Leaf |
Public Types |
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typedef std::map< std::uint64_t, Leaf > | HashMap |
Public Member Functions |
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MLSVoxelGrid (PointCloudInConstPtr &cloud, IndicesPtr &indices, float voxel_size, int dilation_iteration_num) | |
void | dilate () |
void | getIndexIn1D (const Eigen::Vector3i &index, std::uint64_t &index_1d) const |
void | getIndexIn3D (std::uint64_t index_1d, Eigen::Vector3i &index_3d) const |
void | getCellIndex (const Eigen::Vector3f &p, Eigen::Vector3i &index) const |
void | getPosition (const std::uint64_t &index_1d, Eigen::Vector3f &point) const |
Public Attributes |
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HashMap | voxel_grid_ |
Eigen::Vector4f | bounding_min_ |
Eigen::Vector4f | bounding_max_ |
std::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
Member Typedef Documentation
HashMap
typedef std::map<std::uint64_t, Leaf> pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::HashMap |
Constructor & Destructor Documentation
MLSVoxelGrid()
pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::MLSVoxelGrid | ( | PointCloudInConstPtr & | cloud, |
IndicesPtr & | indices, | ||
float | voxel_size, | ||
int | dilation_iteration_num | ||
) |
Definition at line 806 of file mls.hpp.
References pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_max_, pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_min_, pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::data_size_, pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getCellIndex(), pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getIndexIn1D(), pcl::getMinMax3D(), pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_grid_, and pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_size_.
Member Function Documentation
dilate()
void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::dilate |
Definition at line 835 of file mls.hpp.
Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::performUpsampling().
getCellIndex()
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inline |
Definition at line 618 of file mls.h.
References pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_min_, and pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_size_.
Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::MLSVoxelGrid().
getIndexIn1D()
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inline |
Definition at line 601 of file mls.h.
References pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::data_size_.
Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::MLSVoxelGrid().
getIndexIn3D()
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inline |
Definition at line 608 of file mls.h.
References pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::data_size_.
Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getPosition().
getPosition()
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inline |
Definition at line 625 of file mls.h.
References pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_min_, pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getIndexIn3D(), and pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_size_.
Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::performUpsampling().
Member Data Documentation
bounding_max_
Eigen::Vector4f pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_max_ |
Definition at line 635 of file mls.h.
Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::MLSVoxelGrid().
bounding_min_
Eigen::Vector4f pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_min_ |
data_size_
std::uint64_t pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::data_size_ |
voxel_grid_
HashMap pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_grid_ |
Definition at line 634 of file mls.h.
Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::MLSVoxelGrid(), and pcl::MovingLeastSquares< PointInT, PointOutT >::performUpsampling().
voxel_size_
float pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_size_ |
The documentation for this class was generated from the following files:
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_moving_least_squares_1_1_m_l_s_voxel_grid.html