54 for (
int x = 0; x < res_x_; ++x)
56 const int y_start = x * res_y_ * res_z_;
58 for (
int y = 0; y < res_y_; ++y)
62 for (
int z = 0; z < res_z_; ++z)
66 const Eigen::Vector3f point = (lower_boundary_ + size_voxel_ * Eigen::Array3f (x, y, z)).
matrix ();
69 p.getVector3fMap () = point;
75 const Eigen::Vector3f normal = (*input_)[
nn_indices[0]].getNormalVector3fMap ();
77 if (!std::isnan (normal (0)) && normal.norm () > 0.5f)
78 grid_[
z_start + z] = normal.dot (
79 point - (*input_)[
nn_indices[0]].getVector3fMap ());