40#ifndef PCL_OCTREE_VOXELCENTROID_HPP
41#define PCL_OCTREE_VOXELCENTROID_HPP
50#include <pcl/octree/impl/octree_pointcloud.hpp>
53template <
typename Po
intT,
typename LeafContainerT,
typename BranchContainerT>
64 leaf = this->findLeaf(key);
72template <
typename Po
intT,
typename LeafContainerT,
typename BranchContainerT>
92template <
typename Po
intT,
typename LeafContainerT,
typename BranchContainerT>
138#define PCL_INSTANTIATE_OctreePointCloudVoxelCentroid(T) \
139 template class PCL_EXPORTS pcl::octree::OctreePointCloudVoxelCentroid<T>;
Iterator class for point clouds with or without given indices.
std::size_t size() const
Size of the range the iterator is going through.
std::size_t leaf_count_
Amount of leaf nodes
BranchNode * root_node_
Pointer to root branch node of octree
Abstract octree node class
std::vector< PointT, Eigen::aligned_allocator< PointT > > AlignedPointTVector
bool getVoxelCentroidAtPoint(const PointT &point_arg, PointT &voxel_centroid_arg) const
Get centroid for a single voxel addressed by a PointT point.
void getVoxelCentroidsRecursive(const BranchNode *branch_arg, OctreeKey &key_arg, typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector &voxel_centroid_list_arg) const
Recursively explore the octree and output a PointT vector of centroids for all occupied voxels.
typename OctreeT::LeafNode LeafNode
typename OctreeT::BranchNode BranchNode
uindex_t getVoxelCentroids(typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector &voxel_centroid_list_arg) const
Get PointT vector of centroids for all occupied voxels.
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
A point structure representing Euclidean xyz coordinates, and the RGB color.