class mola::lidar_segmentation::PointCloudToVoxelGrid¶
Overview¶
Index of points in a point cloud by their 3D position according to a predefined regular-sized voxel grid. More…
#include <PointCloudToVoxelGrid.h> class PointCloudToVoxelGrid { public: // typedefs typedef mrpt::containers::CDynamicGrid3D<voxel_t, float> grid_t; // structs struct Parameters; struct voxel_t; // fields Parameters params_; grid_t pts_voxels; std::vector<uint32_t> used_voxel_indices; // methods void resize( const mrpt::math::TPoint3D& min_corner, const mrpt::math::TPoint3D& max_corner, const float voxel_size ); void processPointCloud(const mrpt::maps::CPointsMap& p); void clear(); };