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
using	HashMap = std::map<std::uint64_t, Leaf>

Public Member Functions
	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
HashMap	voxel_grid_
Eigen::Vector4f	bounding_min_
Eigen::Vector4f	bounding_max_
std::uint64_t	data_size_ {0}
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 566 of file mls.h.

Member Typedef Documentation

HashMap

template<typename PointInT, typename PointOutT>

using pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::HashMap = std::map<std::uint64_t, Leaf>

Definition at line 612 of file mls.h.

Constructor & Destructor Documentation

MLSVoxelGrid()

template<typename PointInT, typename PointOutT>

pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::MLSVoxelGrid	(	PointCloudInConstPtr &	cloud,
		IndicesPtr &	indices,
		float	voxel_size,
		int	dilation_iteration_num )

Definition at line 808 of file mls.hpp.

References bounding_max_, bounding_min_, data_size_, getCellIndex(), getIndexIn1D(), pcl::getMinMax3D(), voxel_grid_, and voxel_size_.

Member Function Documentation

dilate()

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::dilate

(

)

Definition at line 837 of file mls.hpp.

References getIndexIn1D(), getIndexIn3D(), and voxel_grid_.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::performUpsampling().

getCellIndex()

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getCellIndex ( const Eigen::Vector3f & p, Eigen::Vector3i & index ) const

inline

Definition at line 597 of file mls.h.

References bounding_min_, and voxel_size_.

Referenced by MLSVoxelGrid().

getIndexIn1D()

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getIndexIn1D ( const Eigen::Vector3i & index, std::uint64_t & index_1d ) const

inline

Definition at line 580 of file mls.h.

References data_size_.

Referenced by dilate(), and MLSVoxelGrid().

getIndexIn3D()

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getIndexIn3D ( std::uint64_t index_1d, Eigen::Vector3i & index_3d ) const

inline

Definition at line 587 of file mls.h.

References data_size_.

Referenced by dilate(), and getPosition().

getPosition()

template<typename PointInT, typename PointOutT>

void pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::getPosition ( const std::uint64_t & index_1d, Eigen::Vector3f & point ) const

inline

Definition at line 604 of file mls.h.

References bounding_min_, getIndexIn3D(), and voxel_size_.

Referenced by pcl::MovingLeastSquares< PointInT, PointOutT >::performUpsampling().

Member Data Documentation

bounding_max_

template<typename PointInT, typename PointOutT>

Eigen::Vector4f pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_max_

Definition at line 614 of file mls.h.

Referenced by MLSVoxelGrid().

bounding_min_

template<typename PointInT, typename PointOutT>

Eigen::Vector4f pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::bounding_min_

Definition at line 614 of file mls.h.

Referenced by getCellIndex(), getPosition(), and MLSVoxelGrid().

data_size_

template<typename PointInT, typename PointOutT>

std::uint64_t pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::data_size_ {0}

Definition at line 615 of file mls.h.

Referenced by getIndexIn1D(), getIndexIn3D(), and MLSVoxelGrid().

voxel_grid_

template<typename PointInT, typename PointOutT>

HashMap pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_grid_

Definition at line 613 of file mls.h.

Referenced by dilate(), MLSVoxelGrid(), and pcl::MovingLeastSquares< PointInT, PointOutT >::performUpsampling().

voxel_size_

template<typename PointInT, typename PointOutT>

float pcl::MovingLeastSquares< PointInT, PointOutT >::MLSVoxelGrid::voxel_size_

Definition at line 616 of file mls.h.

Referenced by getCellIndex(), getPosition(), and MLSVoxelGrid().

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

• pcl/surface/mls.h
• pcl/surface/impl/mls.hpp