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<div class="title">approximate_voxel_grid.hpp</div> </div>
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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.hpp 1600 2011-07-07 16:55:51Z shapovalov $</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">#ifndef PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#define PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <pcl/common/io.h></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <pcl/common/point_tests.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <pcl/filters/approximate_voxel_grid.h></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <boost/mpl/size.hpp></span> <span class="comment">// for size</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"></span> </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#ade16c89cfcedc7705aee61a602228a0f"> 48</a></span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ade16c89cfcedc7705aee61a602228a0f">pcl::ApproximateVoxelGrid<PointT>::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="l00049"></a><span class="lineno"> 49</span> {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  hhe->centroid /= <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (hhe->count);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  pcl::for_each_type <FieldList> (<a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html">pcl::xNdCopyEigenPointFunctor <PointT></a> (hhe->centroid, output[op]));</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">if</span> (rgba_index >= 0)</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="comment">// pack r/g/b into rgb</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">float</span> r = hhe->centroid[centroid_size-3], </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  g = hhe->centroid[centroid_size-2], </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  b = hhe->centroid[centroid_size-1];</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">int</span> rgb = (<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (r)) << 16 | (<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (g)) << 8 | (<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (b));</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  memcpy (<span class="keyword">reinterpret_cast<</span><span class="keywordtype">char</span>*<span class="keyword">></span> (&output[op]) + rgba_index, &rgb, <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>));</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="comment"></span> </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a5554de2a347d78289640e37713a487c1"> 66</a></span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5554de2a347d78289640e37713a487c1">pcl::ApproximateVoxelGrid<PointT>::applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &output)</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="keywordtype">int</span> centroid_size = 4;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">if</span> (downsample_all_data_)</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  centroid_size = boost::mpl::size<FieldList>::value;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  std::vector<pcl::PCLPointField> fields;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordtype">int</span> rgba_index = -1;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  rgba_index = pcl::getFieldIndex<PointT> (<span class="stringliteral">"rgb"</span>, fields);</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">if</span> (rgba_index == -1)</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  rgba_index = pcl::getFieldIndex<PointT> (<span class="stringliteral">"rgba"</span>, fields);</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">if</span> (rgba_index >= 0)</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>  rgba_index = fields[rgba_index].offset;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  centroid_size += 3;</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  }</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < histsize_; i++) </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>  history_[i].count = 0;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  history_[i].centroid = Eigen::VectorXf::Zero (centroid_size);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  }</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  Eigen::VectorXf scratch = Eigen::VectorXf::Zero (centroid_size);</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>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a552575b03243c7f5d95bb03c59842238">resize</a> (input_->size ()); <span class="comment">// size output for worst case</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  std::size_t op = 0; <span class="comment">// output pointer</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& point: *input_)</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  {</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">if</span>(!<a class="code" href="namespacepcl.html#af0863d8e9957d47a89538a631122efd9">pcl::isXYZFinite</a>(point))</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordtype">int</span> ix = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (std::floor (point.x * inverse_leaf_size_[0]));</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">int</span> iy = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (std::floor (point.y * inverse_leaf_size_[1]));</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordtype">int</span> iz = <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (std::floor (point.z * inverse_leaf_size_[2]));</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keyword">auto</span> hash = <span class="keyword">static_cast<</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">></span> ((ix * 7171 + iy * 3079 + iz * 4231) & (histsize_ - 1));</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  he *hhe = &history_[hash];</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">if</span> (hhe->count && ((ix != hhe->ix) || (iy != hhe->iy) || (iz != hhe->iz))) </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  {</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  flush (output, op++, hhe, rgba_index, centroid_size);</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  hhe->count = 0;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  hhe->centroid.setZero ();<span class="comment">// = Eigen::VectorXf::Zero (centroid_size);</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  }</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  hhe->ix = ix;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  hhe->iy = iy;</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  hhe->iz = iz;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  hhe->count++;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="comment">// Unpack the point into scratch, then accumulate</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">if</span> (rgba_index >= 0)</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  {</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="comment">// fill r/g/b data</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  memcpy (&rgb, (<span class="keyword">reinterpret_cast<</span><span class="keyword">const </span><span class="keywordtype">char</span> *<span class="keyword">></span> (&point)) + rgba_index, <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_r_g_b.html">RGB</a>));</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  scratch[centroid_size-3] = rgb.r;</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  scratch[centroid_size-2] = rgb.g;</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  scratch[centroid_size-1] = rgb.b;</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  }</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  pcl::for_each_type <FieldList> (<a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html">xNdCopyPointEigenFunctor <PointT></a> (point, scratch));</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  hhe->centroid += scratch;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  }</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">for</span> (std::size_t i = 0; i < histsize_; i++) </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  {</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  he *hhe = &history_[i];</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">if</span> (hhe->count)</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  flush (output, op++, hhe, rgba_index, centroid_size);</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a552575b03243c7f5d95bb03c59842238">resize</a> (op);</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a644dc7161c2e3f23bc4d36d36c58e7b4">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#aa3fc6f30bae069ca325b80f60757276e">size</a> ();</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a917b6eb0ef204836c56a2334ddd703fe">height</a> = 1; <span class="comment">// downsampling breaks the organized structure</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>; <span class="comment">// we filter out invalid points</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="preprocessor">#define PCL_INSTANTIATE_ApproximateVoxelGrid(T) template class PCL_EXPORTS pcl::ApproximateVoxelGrid<T>;</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="preprocessor">#endif </span><span class="comment">// PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_</span></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#l00066">approximate_voxel_grid.hpp:66</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#l00048">approximate_voxel_grid.hpp:48</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_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00403">point_cloud.h:403</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a552575b03243c7f5d95bb03c59842238"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a552575b03243c7f5d95bb03c59842238">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(std::size_t count)</div><div class="ttdoc">Resizes the container to contain count elements.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00462">point_cloud.h:462</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a644dc7161c2e3f23bc4d36d36c58e7b4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a644dc7161c2e3f23bc4d36d36c58e7b4">pcl::PointCloud::width</a></div><div class="ttdeci">std::uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00398">point_cloud.h:398</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a917b6eb0ef204836c56a2334ddd703fe"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a917b6eb0ef204836c56a2334ddd703fe">pcl::PointCloud::height</a></div><div class="ttdeci">std::uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00400">point_cloud.h:400</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aa3fc6f30bae069ca325b80f60757276e"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aa3fc6f30bae069ca325b80f60757276e">pcl::PointCloud::size</a></div><div class="ttdeci">std::size_t size() const</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00443">point_cloud.h:443</a></div></div>
<div class="ttc" id="anamespacepcl_html_af0863d8e9957d47a89538a631122efd9"><div class="ttname"><a href="namespacepcl.html#af0863d8e9957d47a89538a631122efd9">pcl::isXYZFinite</a></div><div class="ttdeci">constexpr bool isXYZFinite(const PointT &) noexcept</div><div class="ttdef"><b>Definition:</b> <a href="point__tests_8h_source.html#l00125">point_tests.h:125</a></div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00362">point_types.hpp:363</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_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>
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