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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id: voxel_grid.hpp 1600 2011-07-07 16:55:51Z shapovalov $</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/point_tests.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/approximate_voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;boost/mpl/size.hpp&gt;</span> <span class="comment">// for size</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment"></span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#ade16c89cfcedc7705aee61a602228a0f">   48</a></span>&#160;<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ade16c89cfcedc7705aee61a602228a0f">pcl::ApproximateVoxelGrid&lt;PointT&gt;::flush</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output, std::size_t op, he *hhe, <span class="keywordtype">int</span> rgba_index, <span class="keywordtype">int</span> centroid_size)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  hhe-&gt;centroid /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (hhe-&gt;count);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html">pcl::xNdCopyEigenPointFunctor &lt;PointT&gt;</a> (hhe-&gt;centroid, output[op]));</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="comment">// pack r/g/b into rgb</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordtype">float</span> r = hhe-&gt;centroid[centroid_size-3], </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;          g = hhe-&gt;centroid[centroid_size-2], </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;          b = hhe-&gt;centroid[centroid_size-1];</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">int</span> rgb = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (r)) &lt;&lt; 16 | (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (g)) &lt;&lt; 8 | (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (b));</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    memcpy (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;output[op]) + rgba_index, &amp;rgb, <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment"></span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a5554de2a347d78289640e37713a487c1">   66</a></span>&#160;<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5554de2a347d78289640e37713a487c1">pcl::ApproximateVoxelGrid&lt;PointT&gt;::applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">int</span> centroid_size = 4;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordflow">if</span> (downsample_all_data_)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    centroid_size = boost::mpl::size&lt;FieldList&gt;::value;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; fields;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordtype">int</span> rgba_index = -1;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  rgba_index = pcl::getFieldIndex&lt;PointT&gt; (<span class="stringliteral">&quot;rgb&quot;</span>, fields);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">if</span> (rgba_index == -1)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    rgba_index = pcl::getFieldIndex&lt;PointT&gt; (<span class="stringliteral">&quot;rgba&quot;</span>, fields);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    rgba_index = fields[rgba_index].offset;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    centroid_size += 3;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; histsize_; i++) </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    history_[i].count = 0;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    history_[i].centroid = Eigen::VectorXf::Zero (centroid_size);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  Eigen::VectorXf scratch = Eigen::VectorXf::Zero (centroid_size);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a552575b03243c7f5d95bb03c59842238">resize</a> (input_-&gt;size ());   <span class="comment">// size output for worst case</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  std::size_t op = 0;    <span class="comment">// output pointer</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; point: *input_)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">if</span>(!<a class="code" href="namespacepcl.html#af0863d8e9957d47a89538a631122efd9">pcl::isXYZFinite</a>(point))</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">int</span> ix = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::floor (point.x * inverse_leaf_size_[0]));</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordtype">int</span> iy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::floor (point.y * inverse_leaf_size_[1]));</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordtype">int</span> iz = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::floor (point.z * inverse_leaf_size_[2]));</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">auto</span> hash = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((ix * 7171 + iy * 3079 + iz * 4231) &amp; (histsize_ - 1));</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    he *hhe = &amp;history_[hash];</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordflow">if</span> (hhe-&gt;count &amp;&amp; ((ix != hhe-&gt;ix) || (iy != hhe-&gt;iy) || (iz != hhe-&gt;iz))) </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      flush (output, op++, hhe, rgba_index, centroid_size);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      hhe-&gt;count = 0;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      hhe-&gt;centroid.setZero ();<span class="comment">// = Eigen::VectorXf::Zero (centroid_size);</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    hhe-&gt;ix = ix;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    hhe-&gt;iy = iy;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    hhe-&gt;iz = iz;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    hhe-&gt;count++;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">// Unpack the point into scratch, then accumulate</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="comment">// ---[ RGB special case</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keywordflow">if</span> (rgba_index &gt;= 0)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="comment">// fill r/g/b data</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      memcpy (&amp;rgb, (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span> *<span class="keyword">&gt;</span> (&amp;point)) + rgba_index, <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_r_g_b.html">RGB</a>));</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      scratch[centroid_size-3] = rgb.r;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      scratch[centroid_size-2] = rgb.g;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      scratch[centroid_size-1] = rgb.b;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html">xNdCopyPointEigenFunctor &lt;PointT&gt;</a> (point, scratch));</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    hhe-&gt;centroid += scratch;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">for</span> (std::size_t i = 0; i &lt; histsize_; i++) </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    he *hhe = &amp;history_[i];</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">if</span> (hhe-&gt;count)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      flush (output, op++, hhe, rgba_index, centroid_size);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a552575b03243c7f5d95bb03c59842238">resize</a> (op);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a644dc7161c2e3f23bc4d36d36c58e7b4">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#aa3fc6f30bae069ca325b80f60757276e">size</a> ();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a917b6eb0ef204836c56a2334ddd703fe">height</a>       = 1;                    <span class="comment">// downsampling breaks the organized structure</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>     = <span class="keyword">true</span>;                 <span class="comment">// we filter out invalid points</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ApproximateVoxelGrid(T) template class PCL_EXPORTS pcl::ApproximateVoxelGrid&lt;T&gt;;</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a5554de2a347d78289640e37713a487c1"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a5554de2a347d78289640e37713a487c1">pcl::ApproximateVoxelGrid::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output) override</div><div class="ttdoc">Downsample a Point Cloud using a voxelized grid approach.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8hpp_source.html#l00066">approximate_voxel_grid.hpp:66</a></div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ade16c89cfcedc7705aee61a602228a0f"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ade16c89cfcedc7705aee61a602228a0f">pcl::ApproximateVoxelGrid::flush</a></div><div class="ttdeci">void flush(PointCloud &amp;output, std::size_t op, he *hhe, int rgba_index, int centroid_size)</div><div class="ttdoc">Write a single point from the hash to the output cloud.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8hpp_source.html#l00048">approximate_voxel_grid.hpp:48</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00172">point_cloud.h:173</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00403">point_cloud.h:403</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a552575b03243c7f5d95bb03c59842238"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a552575b03243c7f5d95bb03c59842238">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(std::size_t count)</div><div class="ttdoc">Resizes the container to contain count elements.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00462">point_cloud.h:462</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a644dc7161c2e3f23bc4d36d36c58e7b4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a644dc7161c2e3f23bc4d36d36c58e7b4">pcl::PointCloud::width</a></div><div class="ttdeci">std::uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00398">point_cloud.h:398</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a917b6eb0ef204836c56a2334ddd703fe"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a917b6eb0ef204836c56a2334ddd703fe">pcl::PointCloud::height</a></div><div class="ttdeci">std::uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00400">point_cloud.h:400</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aa3fc6f30bae069ca325b80f60757276e"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aa3fc6f30bae069ca325b80f60757276e">pcl::PointCloud::size</a></div><div class="ttdeci">std::size_t size() const</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00443">point_cloud.h:443</a></div></div>
<div class="ttc" id="anamespacepcl_html_af0863d8e9957d47a89538a631122efd9"><div class="ttname"><a href="namespacepcl.html#af0863d8e9957d47a89538a631122efd9">pcl::isXYZFinite</a></div><div class="ttdeci">constexpr bool isXYZFinite(const PointT &amp;) noexcept</div><div class="ttdef"><b>Definition:</b> <a href="point__tests_8h_source.html#l00125">point_tests.h:125</a></div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00362">point_types.hpp:363</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_eigen_point_functor_html"><div class="ttname"><a href="structpcl_1_1x_nd_copy_eigen_point_functor.html">pcl::xNdCopyEigenPointFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen::VectorXf and a PointT.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00046">approximate_voxel_grid.h:47</a></div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_point_eigen_functor_html"><div class="ttname"><a href="structpcl_1_1x_nd_copy_point_eigen_functor.html">pcl::xNdCopyPointEigenFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen::VectorXf and a PointT.</div><div class="ttdef"><b>Definition:</b> <a href="approximate__voxel__grid_8h_source.html#l00071">approximate_voxel_grid.h:72</a></div></div>
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