38 #ifndef PCL_FILTERS_APPROXIMATE_VOXEL_GRID_MAP_H_
39 #define PCL_FILTERS_APPROXIMATE_VOXEL_GRID_MAP_H_
41 #include <pcl/filters/boost.h>
42 #include <pcl/filters/filter.h>
47 template <
typename Po
intT>
54 p2_ (reinterpret_cast<
Pod&>(p2)),
62 *
reinterpret_cast<T*
>(data_ptr) = static_cast<T> (p1_[f_idx_++]);
66 const Eigen::VectorXf &p1_;
72 template <
typename Po
intT>
78 : p1_ (reinterpret_cast<const
Pod&>(p1)), p2_ (p2), f_idx_ (0) { }
85 p2_[f_idx_++] =
static_cast<float> (*
reinterpret_cast<const T*
>(data_ptr));
99 template <
typename Po
intT>
114 he () : ix (), iy (), iz (), count (0), centroid () {}
117 Eigen::VectorXf centroid;
122 typedef boost::shared_ptr< ApproximateVoxelGrid<PointT> >
Ptr;
123 typedef boost::shared_ptr< const ApproximateVoxelGrid<PointT> >
ConstPtr;
200 inline Eigen::Vector3f
242 flush (
PointCloud &output,
size_t op, he *hhe,
int rgba_index,
int centroid_size);
246 #ifdef PCL_NO_PRECOMPILE
247 #include <pcl/filters/impl/approximate_voxel_grid.hpp>
250 #endif //#ifndef PCL_FILTERS_VOXEL_GRID_MAP_H_