ground_segmentation::PCLPointCloudAdaptor< PointT > Struct Template Reference

nanoflann adaptor for PCL point clouds. More...

#include <ground_detection.hpp>

Public Types
typedef pcl::PointCloud< PointT >	PointCloudType

Public Member Functions
	PCLPointCloudAdaptor (PointCloudType &cloud)
size_t	kdtree_get_point_count () const
double	kdtree_get_pt (const size_t idx, const size_t dim) const
template<class BBOX >
bool	kdtree_get_bbox (BBOX &) const

Public Attributes
PointCloudType &	cloud

Detailed Description

template<typename PointT>
struct ground_segmentation::PCLPointCloudAdaptor< PointT >

nanoflann adaptor for PCL point clouds.

Allows fast KD-tree construction without copying data.

Template Parameters

PointT

PCL point type

Definition at line 34 of file ground_detection.hpp.

Member Typedef Documentation

PointCloudType

template<typename PointT >

typedef pcl::PointCloud<PointT> ground_segmentation::PCLPointCloudAdaptor< PointT >::PointCloudType

Definition at line 36 of file ground_detection.hpp.

Constructor & Destructor Documentation

PCLPointCloudAdaptor()

template<typename PointT >

ground_segmentation::PCLPointCloudAdaptor< PointT >::PCLPointCloudAdaptor ( PointCloudType &  cloud )

inline

Definition at line 40 of file ground_detection.hpp.

  : cloud(cloud) {}

Member Function Documentation

kdtree_get_bbox()

template<typename PointT >

template<class BBOX >

bool ground_segmentation::PCLPointCloudAdaptor< PointT >::kdtree_get_bbox ( BBOX &  ) const

inline

Definition at line 56 of file ground_detection.hpp.

{return false;}

kdtree_get_point_count()

template<typename PointT >

size_t ground_segmentation::PCLPointCloudAdaptor< PointT >::kdtree_get_point_count ( ) const

inline

Definition at line 44 of file ground_detection.hpp.

{return cloud.points.size();}

References ground_segmentation::PCLPointCloudAdaptor< PointT >::cloud.

kdtree_get_pt()

template<typename PointT >

double ground_segmentation::PCLPointCloudAdaptor< PointT >::kdtree_get_pt ( const size_t  idx, const size_t  dim  ) const

inline

Definition at line 47 of file ground_detection.hpp.

  {
    if (dim == 0) {return cloud.points[idx].x;} else if (dim == 1) {
      return cloud.points[idx].y;
    } else {return cloud.points[idx].z;}
  }

References ground_segmentation::PCLPointCloudAdaptor< PointT >::cloud.

Member Data Documentation

cloud

template<typename PointT >

PointCloudType& ground_segmentation::PCLPointCloudAdaptor< PointT >::cloud

Definition at line 38 of file ground_detection.hpp.

Referenced by ground_segmentation::PCLPointCloudAdaptor< PointT >::kdtree_get_point_count(), and ground_segmentation::PCLPointCloudAdaptor< PointT >::kdtree_get_pt().

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The documentation for this struct was generated from the following file:

• /home/runner/work/ground_segmentation/ground_segmentation/include/ground_detection.hpp