Point Cloud Library (PCL) 1.12.0
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voxel_grid_label.h
1/*
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37
38#pragma once
39
40#include <pcl/filters/voxel_grid.h>
41#include <pcl/point_types.h>
42
43namespace pcl
44{
45 /** \brief
46 *
47 *
48 * \author Christian Potthast (potthast@usc.edu)
49 */
50 class PCL_EXPORTS VoxelGridLabel : public VoxelGrid<pcl::PointXYZRGBL>
51 {
52 public:
53
54 using Ptr = shared_ptr<VoxelGridLabel>;
55 using ConstPtr = shared_ptr<const VoxelGridLabel>;
56
57
58 /** \brief Constructor.
59 * Sets \ref leaf_size_ to 0.
60 */
62
63 protected:
64
65 /** \brief Filter cloud and initializes voxel structure.
66 * \param[out] output cloud containing centroids of voxels containing a sufficient number of points
67 */
68 void
69 applyFilter (PointCloud &output) override;
70
71 };
72}
VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
Definition voxel_grid.h:177
typename Filter< pcl::PointXYZRGBL >::PointCloud PointCloud
Definition voxel_grid.h:184
VoxelGridLabel()
Constructor.
void applyFilter(PointCloud &output) override
Filter cloud and initializes voxel structure.
shared_ptr< const VoxelGridLabel > ConstPtr
shared_ptr< VoxelGridLabel > Ptr
Defines all the PCL implemented PointT point type structures.