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<li class="navelem"><a class="el" href="dir_fe73964e53ed04dff1d72b4679c9e201.html">pcl</a></li><li class="navelem"><a class="el" href="dir_cbecde0f1c13abe661f13960a6611faf.html">filters</a></li> </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * $Id: voxel_grid.h 1374 2011-06-19 02:29:56Z bouffa $</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <pcl/filters/filter.h></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {<span class="comment"></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> /** \brief Helper functor structure for copying data between an Eigen::VectorXf and a PointT. */</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_eigen_point_functor.html"> 46</a></span>  <span class="keyword">struct </span><a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html">xNdCopyEigenPointFunctor</a></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  {</div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_eigen_point_functor.html#a6a26ab268e9bd17c8f3d0fd1a00527ce"> 48</a></span>  <span class="keyword">using</span> <a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html#a6a26ab268e9bd17c8f3d0fd1a00527ce">Pod</a> = <span class="keyword">typename</span> traits::POD<PointT>::type;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_eigen_point_functor.html#ad4336b78da8ff7da7bcafa0a6f1cfba9"> 50</a></span>  <a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html#ad4336b78da8ff7da7bcafa0a6f1cfba9">xNdCopyEigenPointFunctor</a> (<span class="keyword">const</span> Eigen::VectorXf &p1, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a> &p2)</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  : p1_ (p1),</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  p2_ (reinterpret_cast<<a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html#a6a26ab268e9bd17c8f3d0fd1a00527ce">Pod</a>&>(p2))</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  { }</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_eigen_point_functor.html#a9e18dc954968d35095a48f5c351daf4f"> 55</a></span>  <span class="keyword">template</span><<span class="keyword">typename</span> Key> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html#a9e18dc954968d35095a48f5c351daf4f">operator() </a>()</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="comment">//boost::fusion::at_key<Key> (p2_) = p1_[f_idx_++];</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">using</span> T = <span class="keyword">typename</span> pcl::traits::datatype<PointT, Key>::type;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  std::uint8_t* data_ptr = <span class="keyword">reinterpret_cast<</span>std::uint8_t*<span class="keyword">></span>(&p2_) + pcl::traits::offset<PointT, Key>::value;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  *<span class="keyword">reinterpret_cast<</span>T*<span class="keyword">></span>(data_ptr) = <span class="keyword">static_cast<</span>T<span class="keyword">></span> (p1_[f_idx_++]);</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  }</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">const</span> Eigen::VectorXf &p1_;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html#a6a26ab268e9bd17c8f3d0fd1a00527ce">Pod</a> &p2_;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordtype">int</span> f_idx_{0};</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  };</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"></span> </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> /** \brief Helper functor structure for copying data between an Eigen::VectorXf and a PointT. */</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_point_eigen_functor.html"> 71</a></span>  <span class="keyword">struct </span><a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html">xNdCopyPointEigenFunctor</a></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  {</div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_point_eigen_functor.html#aecdddf69bd66f98a488b496f4ff81179"> 73</a></span>  <span class="keyword">using</span> <a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html#aecdddf69bd66f98a488b496f4ff81179">Pod</a> = <span class="keyword">typename</span> traits::POD<PointT>::type;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_point_eigen_functor.html#acfd12358dc156f480dfd02eda458ca79"> 75</a></span>  <a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html#acfd12358dc156f480dfd02eda458ca79">xNdCopyPointEigenFunctor</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a> &p1, Eigen::VectorXf &p2)</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  : p1_ (reinterpret_cast<const <a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html#aecdddf69bd66f98a488b496f4ff81179">Pod</a>&>(p1)), p2_ (p2) { }</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_point_eigen_functor.html#a31074177f90b8f9bc1e91951be21731a"> 78</a></span>  <span class="keyword">template</span><<span class="keyword">typename</span> Key> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html#a31074177f90b8f9bc1e91951be21731a">operator() </a>()</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  {</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">//p2_[f_idx_++] = boost::fusion::at_key<Key> (p1_);</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">using</span> T = <span class="keyword">typename</span> pcl::traits::datatype<PointT, Key>::type;</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keyword">const</span> std::uint8_t* data_ptr = <span class="keyword">reinterpret_cast<</span><span class="keyword">const </span>std::uint8_t*<span class="keyword">></span>(&p1_) + pcl::traits::offset<PointT, Key>::value;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  p2_[f_idx_++] = <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (*<span class="keyword">reinterpret_cast<</span><span class="keyword">const </span>T*<span class="keyword">></span>(data_ptr));</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">const</span> <a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html#aecdddf69bd66f98a488b496f4ff81179">Pod</a> &p1_;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  Eigen::VectorXf &p2_;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordtype">int</span> f_idx_{0};</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  };</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"></span> </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> /** \brief ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> * Thus, this is similar to the \ref VoxelGrid filter.</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> * This class works best if points that are stored in memory next to each other (in the input point cloud), are also somewhat close in 3D euclidean space (this is for example usually the case for organized point clouds). If the points have no storage order (e.g. in synthetic, randomly generated point clouds), this class will give very poor results, and \ref VoxelGrid should be used instead.</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"> * \sa VoxelGrid</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> * \author James Bowman, Radu B. Rusu</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"> * \ingroup filters</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html"> 100</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a><PointT></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  {</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter<PointT>::filter_name_</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter<PointT>::getClassName</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter<PointT>::input_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter<PointT>::indices_</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter<PointT>::PointCloud</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#a4399c6b93663d4762fc3389c1b594eb8">PointCloudPtr</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html#ab805ba3b19e952ad19d084a9caa3dc60">PointCloud::Ptr</a>;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html#a575135fb579dc86f7845ed9dba1ea276">PointCloudConstPtr</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html#af70fd81ce582ccabf683dd782ed3f032">PointCloud::ConstPtr</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">struct </span>he</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  {</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  he () = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordtype">int</span> ix{0}, iy{0}, iz{0};</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">int</span> count{0};</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  Eigen::VectorXf centroid;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  };</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a10a031cda64b6e9c47b63837d5fe6185"> 122</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a10a031cda64b6e9c47b63837d5fe6185">Ptr</a> = shared_ptr<ApproximateVoxelGrid<PointT> >;</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#af9121cb705c2ee2b20034aa9563d8626"> 123</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#af9121cb705c2ee2b20034aa9563d8626">ConstPtr</a> = shared_ptr<const ApproximateVoxelGrid<PointT> >;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"></span> </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="comment"> /** \brief Empty constructor. */</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a3716bd2153c17c4935c54f414ac30a74"> 127</a></span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a3716bd2153c17c4935c54f414ac30a74">ApproximateVoxelGrid</a> () : </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <a class="code" href="namespacepcl.html">pcl</a>::<a class="code" href="classpcl_1_1_filter.html">Filter</a><<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>> (),</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> (<a class="code" href="namespace_eigen.html">Eigen</a>::Vector3f::Ones ()),</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> (<a class="code" href="namespace_eigen.html">Eigen</a>::Array3f::Ones ()),</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> (new he[<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a>])</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">"ApproximateVoxelGrid"</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  }</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"></span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"> /** \brief Copy constructor. </span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> * \param[in] src the approximate voxel grid to copy into this. </span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a9bf297ac71552e605028a065b6caa057"> 140</a></span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a9bf297ac71552e605028a065b6caa057">ApproximateVoxelGrid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a> &src) : </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <a class="code" href="namespacepcl.html">pcl</a>::<a class="code" href="classpcl_1_1_filter.html">Filter</a><<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>> (),</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> (src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>),</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> (src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a>),</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> (src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a>), </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a> (src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a>),</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> ()</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  {</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> = <span class="keyword">new</span> he[<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a>];</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a>; i++)</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i] = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i];</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  }</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="comment"></span> </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> <span class="comment"> /** \brief Destructor.</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a7773a9600df4aa72fe7b22da488f458d"> 156</a></span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7773a9600df4aa72fe7b22da488f458d">~ApproximateVoxelGrid</a> ()<span class="keyword"> override</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keyword">delete</span> [] <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>;</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  }</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="comment"></span> </div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> <span class="comment"> /** \brief Copy operator. </span></div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> <span class="comment"> * \param[in] src the approximate voxel grid to copy into this. </span></div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a>& </div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a8f6c3a90a2ec8b979d833181374bdd0b"> 166</a></span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a8f6c3a90a2ec8b979d833181374bdd0b">operator = </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a> &src)</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  {</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a>;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a> = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> = <span class="keyword">new</span> he[<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a>];</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a>; i++)</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i] = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i];</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  return (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  }</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> <span class="comment"></span> </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="comment"> /** \brief Set the voxel grid leaf size.</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment"> * \param[in] leaf_size the voxel grid leaf size</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9"> 182</a></span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">setLeafSize</a> (<span class="keyword">const</span> Eigen::Vector3f &leaf_size) </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  { </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> = leaf_size; </div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> = Eigen::Array3f::Ones () / <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>.array ();</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  }</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="comment"></span> </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment"> /** \brief Set the voxel grid leaf size.</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="comment"> * \param[in] lx the leaf size for X</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="comment"> * \param[in] ly the leaf size for Y</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment"> * \param[in] lz the leaf size for Z</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a8652def01fa6f7ebebcca2ba93297176"> 194</a></span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a8652def01fa6f7ebebcca2ba93297176">setLeafSize</a> (<span class="keywordtype">float</span> lx, <span class="keywordtype">float</span> ly, <span class="keywordtype">float</span> lz)</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  {</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">setLeafSize</a> (Eigen::Vector3f (lx, ly, lz));</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  }</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="comment"></span> </div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment"> /** \brief Get the voxel grid leaf size. */</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keyword">inline</span> Eigen::Vector3f </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#af749fb43dc831acef36f74460c5b40f9"> 201</a></span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#af749fb43dc831acef36f74460c5b40f9">getLeafSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>); }</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> <span class="comment"></span> </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> <span class="comment"> /** \brief Set to true if all fields need to be downsampled, or false if just XYZ.</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment"> * \param downsample the new value (true/false)</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#ac7949567adf58e2b5b1c79ce05c79c8d"> 207</a></span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ac7949567adf58e2b5b1c79ce05c79c8d">setDownsampleAllData</a> (<span class="keywordtype">bool</span> downsample) { <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> = downsample; }</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="comment"></span> </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="comment"> /** \brief Get the state of the internal downsampling parameter (true if</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="comment"> * all fields need to be downsampled, false if just XYZ). </span></div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#ae1fe6fd20974c318bb2fcf7b80b2aeee"> 213</a></span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ae1fe6fd20974c318bb2fcf7b80b2aeee">getDownsampleAllData</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a>); }</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  </div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="comment"> /** \brief The size of a leaf. */</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d"> 217</a></span>  Eigen::Vector3f <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>;</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="comment"></span> </div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="comment"> /** \brief Compute 1/leaf_size_ to avoid division later */</span> </div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de"> 220</a></span>  Eigen::Array3f <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="comment"></span> </div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="comment"> /** \brief Set to true if all fields need to be downsampled, or false if just XYZ. */</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400"> 223</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a>{<span class="keyword">true</span>};</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="comment"></span> </div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="comment"> /** \brief history buffer size, power of 2 */</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175"> 226</a></span>  std::size_t <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">histsize_</a>{512};</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="comment"></span> </div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="comment"> /** \brief history buffer */</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811"> 229</a></span>  <span class="keyword">struct </span>he* <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a204828f3808414a8ecb70bd9c5731c10"> 231</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a204828f3808414a8ecb70bd9c5731c10">FieldList</a> = <span class="keyword">typename</span> pcl::traits::fieldList<PointT>::type;</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> <span class="comment"></span> </div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="comment"> /** \brief Downsample a Point Cloud using a voxelized grid approach</span></div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="comment"> * \param output the resultant point cloud message</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5554de2a347d78289640e37713a487c1">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &output) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <span class="comment"></span> </div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="comment"> /** \brief Write a single point from the hash to the output cloud</span></div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ade16c89cfcedc7705aee61a602228a0f">flush</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &output, std::size_t op, he *hhe, <span class="keywordtype">int</span> rgba_index, <span class="keywordtype">int</span> centroid_size);</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  };</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> }</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="preprocessor">#include <pcl/filters/impl/approximate_voxel_grid.hpp></span></div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html">pcl::ApproximateVoxelGrid</a></div><div class="ttdoc">ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the...</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00100">approximate_voxel_grid.h:101</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a05075aad249c90710ae39458047c7400"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">pcl::ApproximateVoxelGrid::downsample_all_data_</a></div><div class="ttdeci">bool downsample_all_data_</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00223">approximate_voxel_grid.h:223</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a0fc9ecc4b90b34964c37fd91323533de"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">pcl::ApproximateVoxelGrid::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array3f inverse_leaf_size_</div><div class="ttdoc">Compute 1/leaf_size_ to avoid division later.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00220">approximate_voxel_grid.h:220</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a10a031cda64b6e9c47b63837d5fe6185"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a10a031cda64b6e9c47b63837d5fe6185">pcl::ApproximateVoxelGrid::Ptr</a></div><div class="ttdeci">shared_ptr< ApproximateVoxelGrid< PointT > > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00122">approximate_voxel_grid.h:122</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a204828f3808414a8ecb70bd9c5731c10"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a204828f3808414a8ecb70bd9c5731c10">pcl::ApproximateVoxelGrid::FieldList</a></div><div class="ttdeci">typename pcl::traits::fieldList< PointT >::type FieldList</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00231">approximate_voxel_grid.h:231</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a20e9815cfc698ce09de5c36caf824175"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a20e9815cfc698ce09de5c36caf824175">pcl::ApproximateVoxelGrid::histsize_</a></div><div class="ttdeci">std::size_t histsize_</div><div class="ttdoc">history buffer size, power of 2</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00226">approximate_voxel_grid.h:226</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a3716bd2153c17c4935c54f414ac30a74"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a3716bd2153c17c4935c54f414ac30a74">pcl::ApproximateVoxelGrid::ApproximateVoxelGrid</a></div><div class="ttdeci">ApproximateVoxelGrid()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00127">approximate_voxel_grid.h:127</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a5554de2a347d78289640e37713a487c1"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a5554de2a347d78289640e37713a487c1">pcl::ApproximateVoxelGrid::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &output) override</div><div class="ttdoc">Downsample a Point Cloud using a voxelized grid approach.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8hpp_source.html#l00065">approximate_voxel_grid.hpp:65</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a5727d3f9977e3201f5d5fb8b639d295d"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">pcl::ApproximateVoxelGrid::leaf_size_</a></div><div class="ttdeci">Eigen::Vector3f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00217">approximate_voxel_grid.h:217</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a5e746a51143ffff19922eb5251016811"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">pcl::ApproximateVoxelGrid::history_</a></div><div class="ttdeci">struct he * history_</div><div class="ttdoc">history buffer</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00229">approximate_voxel_grid.h:229</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a7773a9600df4aa72fe7b22da488f458d"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a7773a9600df4aa72fe7b22da488f458d">pcl::ApproximateVoxelGrid::~ApproximateVoxelGrid</a></div><div class="ttdeci">~ApproximateVoxelGrid() override</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00156">approximate_voxel_grid.h:156</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a8652def01fa6f7ebebcca2ba93297176"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a8652def01fa6f7ebebcca2ba93297176">pcl::ApproximateVoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(float lx, float ly, float lz)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00194">approximate_voxel_grid.h:194</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a8f6c3a90a2ec8b979d833181374bdd0b"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a8f6c3a90a2ec8b979d833181374bdd0b">pcl::ApproximateVoxelGrid::operator=</a></div><div class="ttdeci">ApproximateVoxelGrid & operator=(const ApproximateVoxelGrid &src)</div><div class="ttdoc">Copy operator.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00166">approximate_voxel_grid.h:166</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a9bf297ac71552e605028a065b6caa057"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a9bf297ac71552e605028a065b6caa057">pcl::ApproximateVoxelGrid::ApproximateVoxelGrid</a></div><div class="ttdeci">ApproximateVoxelGrid(const ApproximateVoxelGrid &src)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00140">approximate_voxel_grid.h:140</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ac7949567adf58e2b5b1c79ce05c79c8d"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ac7949567adf58e2b5b1c79ce05c79c8d">pcl::ApproximateVoxelGrid::setDownsampleAllData</a></div><div class="ttdeci">void setDownsampleAllData(bool downsample)</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00207">approximate_voxel_grid.h:207</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ade16c89cfcedc7705aee61a602228a0f"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ade16c89cfcedc7705aee61a602228a0f">pcl::ApproximateVoxelGrid::flush</a></div><div class="ttdeci">void flush(PointCloud &output, std::size_t op, he *hhe, int rgba_index, int centroid_size)</div><div class="ttdoc">Write a single point from the hash to the output cloud.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8hpp_source.html#l00047">approximate_voxel_grid.hpp:47</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ae1fe6fd20974c318bb2fcf7b80b2aeee"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ae1fe6fd20974c318bb2fcf7b80b2aeee">pcl::ApproximateVoxelGrid::getDownsampleAllData</a></div><div class="ttdeci">bool getDownsampleAllData() const</div><div class="ttdoc">Get the state of the internal downsampling parameter (true if all fields need to be downsampled,...</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00213">approximate_voxel_grid.h:213</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ae4e17e9af474944f7bfdc3fbd60da1d9"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">pcl::ApproximateVoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector3f &leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00182">approximate_voxel_grid.h:182</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_af749fb43dc831acef36f74460c5b40f9"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#af749fb43dc831acef36f74460c5b40f9">pcl::ApproximateVoxelGrid::getLeafSize</a></div><div class="ttdeci">Eigen::Vector3f getLeafSize() const</div><div class="ttdoc">Get the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00201">approximate_voxel_grid.h:201</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_af9121cb705c2ee2b20034aa9563d8626"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#af9121cb705c2ee2b20034aa9563d8626">pcl::ApproximateVoxelGrid::ConstPtr</a></div><div class="ttdeci">shared_ptr< const ApproximateVoxelGrid< PointT > > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00123">approximate_voxel_grid.h:123</a></div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class.</div><div class="ttdef"><b>Definition:</b> <a href="filters_2include_2pcl_2filters_2filter_8h_source.html#l00080">filter.h:81</a></div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> <a href="filters_2include_2pcl_2filters_2filter_8h_source.html#l00158">filter.h:158</a></div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a4399c6b93663d4762fc3389c1b594eb8"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a4399c6b93663d4762fc3389c1b594eb8">pcl::PCLBase::PointCloudPtr</a></div><div class="ttdeci">typename PointCloud::Ptr PointCloudPtr</div><div class="ttdef"><b>Definition:</b> <a href="pcl__base_8h_source.html#l00073">pcl_base.h:73</a></div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a575135fb579dc86f7845ed9dba1ea276"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a575135fb579dc86f7845ed9dba1ea276">pcl::PCLBase::PointCloudConstPtr</a></div><div class="ttdeci">typename PointCloud::ConstPtr PointCloudConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="pcl__base_8h_source.html#l00074">pcl_base.h:74</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00172">point_cloud.h:173</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_ab805ba3b19e952ad19d084a9caa3dc60"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#ab805ba3b19e952ad19d084a9caa3dc60">pcl::PointCloud::Ptr</a></div><div class="ttdeci">shared_ptr< PointCloud< PointT > > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00413">point_cloud.h:413</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af70fd81ce582ccabf683dd782ed3f032"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af70fd81ce582ccabf683dd782ed3f032">pcl::PointCloud::ConstPtr</a></div><div class="ttdeci">shared_ptr< const PointCloud< PointT > > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00414">point_cloud.h:414</a></div></div>
<div class="ttc" id="anamespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div><div class="ttdef"><b>Definition:</b> <a href="bfgs_8h_source.html#l00010">bfgs.h:10</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00593">point_types.hpp:594</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_eigen_point_functor_html"><div class="ttname"><a href="structpcl_1_1x_nd_copy_eigen_point_functor.html">pcl::xNdCopyEigenPointFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen::VectorXf and a PointT.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00046">approximate_voxel_grid.h:47</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_eigen_point_functor_html_a6a26ab268e9bd17c8f3d0fd1a00527ce"><div class="ttname"><a href="structpcl_1_1x_nd_copy_eigen_point_functor.html#a6a26ab268e9bd17c8f3d0fd1a00527ce">pcl::xNdCopyEigenPointFunctor::Pod</a></div><div class="ttdeci">typename traits::POD< PointT >::type Pod</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00048">approximate_voxel_grid.h:48</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_eigen_point_functor_html_a9e18dc954968d35095a48f5c351daf4f"><div class="ttname"><a href="structpcl_1_1x_nd_copy_eigen_point_functor.html#a9e18dc954968d35095a48f5c351daf4f">pcl::xNdCopyEigenPointFunctor::operator()</a></div><div class="ttdeci">void operator()()</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00055">approximate_voxel_grid.h:55</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_eigen_point_functor_html_ad4336b78da8ff7da7bcafa0a6f1cfba9"><div class="ttname"><a href="structpcl_1_1x_nd_copy_eigen_point_functor.html#ad4336b78da8ff7da7bcafa0a6f1cfba9">pcl::xNdCopyEigenPointFunctor::xNdCopyEigenPointFunctor</a></div><div class="ttdeci">xNdCopyEigenPointFunctor(const Eigen::VectorXf &p1, PointT &p2)</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00050">approximate_voxel_grid.h:50</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_point_eigen_functor_html"><div class="ttname"><a href="structpcl_1_1x_nd_copy_point_eigen_functor.html">pcl::xNdCopyPointEigenFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen::VectorXf and a PointT.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00071">approximate_voxel_grid.h:72</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_point_eigen_functor_html_a31074177f90b8f9bc1e91951be21731a"><div class="ttname"><a href="structpcl_1_1x_nd_copy_point_eigen_functor.html#a31074177f90b8f9bc1e91951be21731a">pcl::xNdCopyPointEigenFunctor::operator()</a></div><div class="ttdeci">void operator()()</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00078">approximate_voxel_grid.h:78</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_point_eigen_functor_html_acfd12358dc156f480dfd02eda458ca79"><div class="ttname"><a href="structpcl_1_1x_nd_copy_point_eigen_functor.html#acfd12358dc156f480dfd02eda458ca79">pcl::xNdCopyPointEigenFunctor::xNdCopyPointEigenFunctor</a></div><div class="ttdeci">xNdCopyPointEigenFunctor(const PointT &p1, Eigen::VectorXf &p2)</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00075">approximate_voxel_grid.h:75</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_point_eigen_functor_html_aecdddf69bd66f98a488b496f4ff81179"><div class="ttname"><a href="structpcl_1_1x_nd_copy_point_eigen_functor.html#aecdddf69bd66f98a488b496f4ff81179">pcl::xNdCopyPointEigenFunctor::Pod</a></div><div class="ttdeci">typename traits::POD< PointT >::type Pod</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00073">approximate_voxel_grid.h:73</a></div></div>
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