class mp2p_icp_filters::PointCloudToVoxelGrid
Overview
Auxiliary data structure: an index of points in a point cloud, organized by their 3D position according to a predefined regular-sized voxel grid.
#include <PointCloudToVoxelGrid.h> class PointCloudToVoxelGrid { public: // structs struct IndicesHash; struct Parameters; struct indices_t; struct voxel_t; // fields Parameters params_; tsl::robin_map<indices_t, voxel_t, IndicesHash> pts_voxels; // methods void setResolution(const float voxel_size); void processPointCloud(const mrpt::maps::CPointsMap& p); void clear(); int32_t coord2idx(float xyz) const; };
Fields
tsl::robin_map<indices_t, voxel_t, IndicesHash> pts_voxels
The point indices in each voxel. Directly access to each desired cell, use its iterator, etc.
Methods
void setResolution(const float voxel_size)
Changes the voxel resolution, clearing past contents
void clear()
Remove all points and internal data.