53 #include <unordered_map> 95 float sq_norm() {
return x * x + y * y + z *
z; }
148 return os <<
"[" << P.
x <<
", " << P.
y <<
", " << P.
z <<
"]";
152 return A.
x == B.
x && A.
y == B.
y && A.
z == B.
z;
159 std::vector<PointXYZ>
pts;
182 template <
class BBOX>
bool kdtree_get_bbox(BBOX &) const
Definition: Cloud.h:183
size_t kdtree_get_point_count() const
Definition: Cloud.h:162
PointXYZ operator*(const PointXYZ P, const float a)
Definition: Cloud.h:139
PointXYZ cross(const PointXYZ P) const
Definition: Cloud.h:97
float x
Definition: Cloud.h:68
PointXYZ operator+(const PointXYZ A, const PointXYZ B)
Definition: Cloud.h:131
static PointXYZ floor(const PointXYZ P)
Definition: Cloud.h:123
PointXYZ & operator*=(const float &a)
Definition: Cloud.h:116
bool operator==(const PointXYZ A, const PointXYZ B)
Definition: Cloud.h:151
PointXYZ max_point(std::vector< PointXYZ > points)
Definition: Cloud.cpp:53
PointXYZ & operator-=(const PointXYZ &P)
Definition: Cloud.h:109
FN_SPECIFIERS MiniVec< float, N > floor(const MiniVec< float, N > &a)
Definition: MiniVec.h:94
float dot(const PointXYZ P) const
Definition: Cloud.h:93
float z
Definition: Cloud.h:68
PointXYZ(float x0, float y0, float z0)
Definition: Cloud.h:76
float sq_norm()
Definition: Cloud.h:95
float y
Definition: Cloud.h:68
int points
Definition: FilePCD.cpp:73
Definition: PinholeCameraIntrinsic.cpp:35
float kdtree_get_pt(const size_t idx, const size_t dim) const
Definition: Cloud.h:168
PointXYZ & operator+=(const PointXYZ &P)
Definition: Cloud.h:102
PointXYZ min_point(std::vector< PointXYZ > points)
Definition: Cloud.cpp:69
PointXYZ operator-(const PointXYZ A, const PointXYZ B)
Definition: Cloud.h:135
std::vector< PointXYZ > pts
Definition: Cloud.h:159
std::ostream & operator<<(std::ostream &os, const PointXYZ P)
Definition: Cloud.h:147
float operator[](int i) const
Definition: Cloud.h:83