Template Struct AveragePointBucket

Struct Documentation

template<typename T>
struct AveragePointBucket

Per-voxel bucket that accumulates all inserted points into a single running sum.

Pair with accumulate_strategy so that every inserted point contributes to the sum, and with pointcloud() / pointcloud_vector() to retrieve the per-voxel average (sum / count).

Public Types

using point_type = T

Underlying point type stored in this bucket.

Public Members

T point

Running sum of all points inserted into this voxel.

std::size_t count

Number of points accumulated so far; 0 means the bucket is empty.

Public Static Functions

template<typename MapType>
static inline void init_voxel(const MapType &map, AveragePointBucket<T> &b) noexcept

Zero-initialise the running sum to the correct size and reset the count.

Parameters:

  • map[in] The owning VoxelHashMap; queried for point_cols.

  • b[out] The bucket to initialise.

template<typename MapType, typename Func>
static inline void visit_voxel(const MapType &map, const AveragePointBucket<T> &b, Func &&func)

Invoke func with the per-voxel average if the bucket meets the minimum points threshold required by the map.

Parameters:

  • map[in] The owning VoxelHashMap; queried for min_pts_threshold.

  • b[in] Bucket holding the running sum and count.

  • func[in] Callable invoked with the per-voxel average point.

template<typename MapType>
static inline std::size_t point_count(const MapType &map, const AveragePointBucket<T> &b) noexcept

Return 1 if the bucket meets the minimum points threshold, 0 otherwise.

Parameters:

  • map[in] The owning VoxelHashMap; queried for min_pts_threshold.

  • b[in] The bucket to query.

Returns:

1 if count >= min_pts_threshold, 0 otherwise.