Point Cloud Library (PCL)  1.14.1-dev
voxel_grid_label.h
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37 
38 #pragma once
39 
40 #include <pcl/filters/voxel_grid.h>
41 #include <pcl/point_types.h>
42 
43 namespace 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  */
61  VoxelGridLabel () = default;
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 }
shared_ptr< Filter< PointT > > Ptr
Definition: filter.h:83
shared_ptr< const Filter< PointT > > ConstPtr
Definition: filter.h:84
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
Definition: voxel_grid.h:210
void applyFilter(PointCloud &output) override
Filter cloud and initializes voxel structure.
VoxelGridLabel()=default
Constructor.
Defines all the PCL implemented PointT point type structures.
#define PCL_EXPORTS
Definition: pcl_macros.h:323