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| | GaussianVoxelMapCPU (double resolution) |
| | Constructor.
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| virtual double | voxel_resolution () const override |
| | Voxel resolution.
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Eigen::Vector3i | voxel_coord (const Eigen::Vector4d &x) const |
| | Compute the voxel index corresponding to a point.
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int | lookup_voxel_index (const Eigen::Vector3i &coord) const |
| | Look up a voxel index. If the voxel does not exist, return -1.
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const GaussianVoxel & | lookup_voxel (int voxel_id) const |
| | Look up a voxel.
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| virtual void | insert (const PointCloud &frame) override |
| | Insert a point cloud frame into the voxelmap.
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| void | save_compact (const std::string &path) const override |
| | Save the voxelmap.
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| | IncrementalVoxelMap (double leaf_size) |
| | Constructor.
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void | set_voxel_resolution (const double leaf_size) |
| | Voxel resolution.
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void | set_lru_clear_cycle (const int lru_clear_cycle) |
| | LRU cache clearing cycle.
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void | set_lru_horizon (const int lru_horizon) |
| | LRU cache horizon.
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void | set_neighbor_voxel_mode (const int mode) |
| | Neighboring voxel search mode (1, 7, 19, or 27).
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VoxelContents::Setting & | voxel_insertion_setting () |
| | Voxel setting.
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double | leaf_size () const |
| | Voxel size.
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size_t | num_voxels () const |
| | Number of voxels in the voxelmap.
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virtual void | clear () |
| | Clear the voxelmap.
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| virtual size_t | knn_search (const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits< double >::max()) const override |
| | Find k nearest neighbors.
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size_t | calc_index (const size_t voxel_id, const size_t point_id) const |
| | Calculate the global point index from the voxel index and the point index.
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size_t | voxel_id (const size_t i) const |
| | Extract the point ID from a global index.
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size_t | point_id (const size_t i) const |
| | Extract the voxel ID from a global index.
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bool | has_points () const |
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bool | has_normals () const |
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bool | has_covs () const |
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bool | has_intensities () const |
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decltype(auto) | point (const size_t i) const |
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decltype(auto) | normal (const size_t i) const |
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decltype(auto) | cov (const size_t i) const |
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decltype(auto) | intensity (const size_t i) const |
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virtual std::vector< Eigen::Vector4d > | voxel_points () const |
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virtual std::vector< Eigen::Vector4d > | voxel_normals () const |
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virtual std::vector< Eigen::Matrix4d > | voxel_covs () const |
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virtual std::vector< double > | voxel_intensities () const |
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virtual PointCloudCPU::Ptr | voxel_data () const |
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| virtual size_t | radius_search (const double *pt, double radius, std::vector< size_t > &indices, std::vector< double > &sq_dists, int max_num_neighbors=std::numeric_limits< int >::max()) const |
| | Radius search.
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std::vector< Eigen::Vector3i > | neighbor_offsets (const int neighbor_voxel_mode) const |
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void | visit_points (const Func &f) const |
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double | inv_leaf_size |
| | Inverse of the voxel size.
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std::vector< Eigen::Vector3i > | offsets |
| | Neighbor voxel offsets.
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size_t | lru_horizon |
| | LRU horizon size. Voxels that have not been accessed for lru_horizon steps are deleted.
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size_t | lru_clear_cycle |
| | LRU clear cycle. Voxel deletion is performed every lru_clear_cycle steps.
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size_t | lru_counter |
| | LRU counter. Incremented every step.
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VoxelContents::Setting | voxel_setting |
| | Voxel setting.
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std::vector< std::shared_ptr< std::pair< VoxelInfo, GaussianVoxel > > > | flat_voxels |
| | Voxel contents.
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std::unordered_map< Eigen::Vector3i, size_t, XORVector3iHash > | voxels |
| | Voxel index map.
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static constexpr int | point_id_bits |
| | Use the first 32 bits for point id.
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static constexpr int | voxel_id_bits |
| | Use the remaining bits for voxel id.
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Public Types inherited from gtsam_points::GaussianVoxelMap