gtsam_points::GaussianVoxelMapGPU Class Reference

Gaussian distribution voxelmap on GPU. More...

#include <gaussian_voxelmap_gpu.hpp>

Inheritance diagram for gtsam_points::GaussianVoxelMapGPU:

Collaboration diagram for gtsam_points::GaussianVoxelMapGPU:

Public Types
using	Ptr = std::shared_ptr< GaussianVoxelMapGPU >
using	ConstPtr = std::shared_ptr< const GaussianVoxelMapGPU >
Public Types inherited from gtsam_points::GaussianVoxelMap
using	Ptr = std::shared_ptr< GaussianVoxelMap >
using	ConstPtr = std::shared_ptr< const GaussianVoxelMap >
Public Types inherited from gtsam_points::OffloadableGPU
using	Ptr = std::shared_ptr< OffloadableGPU >
using	ConstPtr = std::shared_ptr< const OffloadableGPU >

Public Member Functions
	GaussianVoxelMapGPU (float resolution, int init_num_buckets=8192 *2, int max_bucket_scan_count=10, double target_points_drop_rate=1e-3, CUstream_st *stream=0)
virtual double	voxel_resolution () const override
	Voxel resolution.
virtual void	insert (const PointCloud &frame) override
void	save_compact (const std::string &path) const override
	Save the voxelmap.
size_t	memory_usage_gpu () const override
	Memory usage in bytes on the GPU.
bool	loaded_on_gpu () const override
	Check if the data is loaded on the GPU.
bool	offload_gpu (CUstream_st *stream=0) override
	Offload data from GPU to CPU.
bool	reload_gpu (CUstream_st *stream=0) override
	Reload data from CPU to GPU.
Public Member Functions inherited from gtsam_points::OffloadableGPU
std::uint64_t	last_accessed_time () const
	Time of the last access to this object.
virtual bool	touch (CUstream_st *stream=0)
	Reload data from CPU to GPU (if necessary) and update the last access time.

Static Public Member Functions
static GaussianVoxelMapGPU::Ptr	load (const std::string &path)
	Load a voxelmap from a file.
Static Public Member Functions inherited from gtsam_points::OffloadableGPU
static std::uint64_t	current_access_time ()
	Current global access time counter.

Public Attributes
CUstream_st *	stream
const int	init_num_buckets
	Initial number of buckets.
const double	target_points_drop_rate
	Allowable points drop rate.
VoxelMapInfo	voxelmap_info
	Voxelmap information.
VoxelMapInfo *	voxelmap_info_ptr
	Voxelmap information on GPU memory.
VoxelBucket *	buckets
	Voxel buckets for hashing.
int *	num_points
	Number of points in eac voxel.
Eigen::Vector3f *	voxel_means
	Voxel means.
Eigen::Matrix3f *	voxel_covs
	Voxel covariances.
float *	voxel_intensities
	Voxel intentisities.
std::vector< VoxelBucket >	offloaded_buckets
	Offloaded buckets.
std::vector< int >	offloaded_num_points
	Offloaded number of points.
std::vector< Eigen::Vector3f >	offloaded_voxel_means
	Offloaded voxel means.
std::vector< Eigen::Matrix3f >	offloaded_voxel_covs
	Offloaded voxel covariances.

Additional Inherited Members
Protected Attributes inherited from gtsam_points::OffloadableGPU
std::uint64_t	last_access
	Last access time of this object.
Static Protected Attributes inherited from gtsam_points::OffloadableGPU
static std::atomic_uint64_t	access_counter
	Global counter for the last access time.

Detailed Description

Gaussian distribution voxelmap on GPU.

Constructor & Destructor Documentation

GaussianVoxelMapGPU()

gtsam_points::GaussianVoxelMapGPU::GaussianVoxelMapGPU	(	float	resolution,
		int	init_num_buckets = 8192 *2,
		int	max_bucket_scan_count = 10,
		double	target_points_drop_rate = 1e-3,
		CUstream_st *	stream = 0
	)

Parameters

resolution	Voxel resolution
init_num_buckets	Initial buckets size
max_bucket_scan_count	Maximum number of open hashmap addressing trials. If a target voxel coord is not found in successive N buckets, it is considered to be not found. Setting a larger value makes the hashing slower but results in a smaller memory footprint.
target_points_drop_rate	This parameter allows to drop a fraction of points during the bucket creation.

Member Function Documentation

insert()

virtual void gtsam_points::GaussianVoxelMapGPU::insert ( const PointCloud &  frame )

overridevirtual

Insert a point cloud frame into the voxelmap

Note

Incremental insertion is not supported for GPU

Implements gtsam_points::GaussianVoxelMap.

load()

static GaussianVoxelMapGPU::Ptr gtsam_points::GaussianVoxelMapGPU::load ( const std::string &  path )

static

Load a voxelmap from a file.

Parameters

path	Path to a voxelmap file to be loaded

loaded_on_gpu()

bool gtsam_points::GaussianVoxelMapGPU::loaded_on_gpu ( ) const

overridevirtual

Check if the data is loaded on the GPU.

Implements gtsam_points::OffloadableGPU.

memory_usage_gpu()

size_t gtsam_points::GaussianVoxelMapGPU::memory_usage_gpu ( ) const

overridevirtual

Memory usage in bytes on the GPU.

Reimplemented from gtsam_points::OffloadableGPU.

offload_gpu()

bool gtsam_points::GaussianVoxelMapGPU::offload_gpu ( CUstream_st *  stream = 0 )

overridevirtual

Offload data from GPU to CPU.

Returns

true if the data offload is conducted, false if the data is already on the CPU

Implements gtsam_points::OffloadableGPU.

reload_gpu()

bool gtsam_points::GaussianVoxelMapGPU::reload_gpu ( CUstream_st *  stream = 0 )

overridevirtual

Reload data from CPU to GPU.

Returns

true if the data upload is conducted, false if the data is already on the GPU

Implements gtsam_points::OffloadableGPU.

save_compact()

void gtsam_points::GaussianVoxelMapGPU::save_compact ( const std::string &  path ) const

overridevirtual

Save the voxelmap.

Parameters

path	Destination path to save the voxelmap

Implements gtsam_points::GaussianVoxelMap.

voxel_resolution()

virtual double gtsam_points::GaussianVoxelMapGPU::voxel_resolution ( ) const

inlineoverridevirtual

Voxel resolution.

Implements gtsam_points::GaussianVoxelMap.

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

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/gaussian_voxelmap_gpu.hpp