41 #ifndef PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_
42 #define PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_
44 #include <pcl/filters/voxel_grid.h>
55 template <
typename Po
intT>
97 const Eigen::Vector3i& in_target_voxel);
110 std::vector<Eigen::Vector3i>& out_ray,
111 const Eigen::Vector3i& in_target_voxel);
130 inline Eigen::Vector3f
136 inline Eigen::Vector3f
144 inline Eigen::Vector4f
176 const Eigen::Vector4f& direction);
188 const Eigen::Vector4f& origin,
189 const Eigen::Vector4f& direction,
203 const Eigen::Vector3i& target_voxel,
204 const Eigen::Vector4f& origin,
205 const Eigen::Vector4f& direction,
215 return static_cast<float> (floor (d + 0.5f));
224 inline Eigen::Vector3i
228 static_cast<int> (
round (y * inverse_leaf_size_[1])),
229 static_cast<int> (
round (z * inverse_leaf_size_[2])));
246 #endif //#ifndef PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_