gtsam_points::FastOccupancyGrid Class Reference

Fast occupancy grid with occupancy blocks and flat hashing for efficient point cloud overlap evaluation. More...

#include <fast_occupancy_grid.hpp>

Public Types
using	Ptr = std::shared_ptr< FastOccupancyGrid >
using	ConstPtr = std::shared_ptr< const FastOccupancyGrid >

Public Member Functions
	FastOccupancyGrid (double resolution)
	Constructor.
template<typename PointCloud >
void	insert (const PointCloud &points, const Eigen::Isometry3d &pose=Eigen::Isometry3d::Identity())
	Insert points into the grid.
template<typename PointCloud >
int	calc_overlap (const PointCloud &points, const Eigen::Isometry3d &pose=Eigen::Isometry3d::Identity()) const
	Calculate the number of points overlapping with the grid.
template<typename PointCloud >
double	calc_overlap_rate (const PointCloud &points, const Eigen::Isometry3d &pose=Eigen::Isometry3d::Identity()) const
	Calculate the overlap ratio of the points with the grid.
template<typename PointCloud >
std::vector< unsigned char >	get_overlaps (const PointCloud &points, const Eigen::Isometry3d &pose=Eigen::Isometry3d::Identity()) const
	Get the overlap status of each point in the point cloud.
int	num_occupied_cells () const
	Get the number of occupied cells in the grid.

Detailed Description

Fast occupancy grid with occupancy blocks and flat hashing for efficient point cloud overlap evaluation.

Constructor & Destructor Documentation

FastOccupancyGrid()

gtsam_points::FastOccupancyGrid::FastOccupancyGrid

(

double

resolution

)

Constructor.

Parameters

resolution

Voxel resolution.

Member Function Documentation

calc_overlap()

template<typename PointCloud >

int gtsam_points::FastOccupancyGrid::calc_overlap	(	const PointCloud &	points,
		const Eigen::Isometry3d &	pose = Eigen::Isometry3d::Identity()
	)		const

Calculate the number of points overlapping with the grid.

Parameters

points	Point cloud.
pose	Pose of the points.

Returns

Overlap ratio.

calc_overlap_rate()

template<typename PointCloud >

double gtsam_points::FastOccupancyGrid::calc_overlap_rate	(	const PointCloud &	points,
		const Eigen::Isometry3d &	pose = Eigen::Isometry3d::Identity()
	)		const

Calculate the overlap ratio of the points with the grid.

Parameters

points	Point cloud.
pose	Pose of the points.

Returns

Overlap ratio.

get_overlaps()

template<typename PointCloud >

std::vector< unsigned char > gtsam_points::FastOccupancyGrid::get_overlaps	(	const PointCloud &	points,
		const Eigen::Isometry3d &	pose = Eigen::Isometry3d::Identity()
	)		const

Get the overlap status of each point in the point cloud.

Parameters

points	Point cloud.
pose	Pose of the points.

Returns

Overlap status of each point (0=free, 1=occupied).

insert()

template<typename PointCloud >

void gtsam_points::FastOccupancyGrid::insert	(	const PointCloud &	points,
		const Eigen::Isometry3d &	pose = Eigen::Isometry3d::Identity()
	)

Insert points into the grid.

Parameters

points	Point cloud.
pose	Pose of the points.

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The documentation for this class was generated from the following files:

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/fast_occupancy_grid.hpp
• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/impl/fast_occupancy_grid_impl.hpp