gtsam_points::GaussianVoxel Struct Reference

Gaussian voxel that computes and stores voxel mean and covariance. More...

#include <gaussian_voxelmap_cpu.hpp>

Classes
struct	Setting

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

Public Member Functions
	GaussianVoxel ()
	Constructor.
size_t	size () const
	Number of points in the voxel (Always 1 for GaussianVoxel).
void	add (const Setting &setting, const PointCloud &points, size_t i)
	Add a point to the voxel.
void	finalize ()
	Finalize the voxel mean and covariance.
template<typename Result >
void	knn_search (const Eigen::Vector4d &pt, Result &result) const
	Find k nearest neighbors.

Public Attributes
bool	finalized
	If true, mean and cov are finalized, otherwise they represent the sum of input points.
size_t	num_points
	Number of input points.
Eigen::Vector4d	mean
	Mean.
Eigen::Matrix4d	cov
	Covariance.
double	intensity
	Intensity.

Detailed Description

Gaussian voxel that computes and stores voxel mean and covariance.

Member Function Documentation

add()

void gtsam_points::GaussianVoxel::add	(	const Setting &	setting,
		const PointCloud &	points,
		size_t	i
	)

Add a point to the voxel.

Parameters

setting	Setting
transformed_pt	Transformed point mean
points	Point cloud
i	Index of the point
T	Transformation matrix

knn_search()

template<typename Result >

void gtsam_points::GaussianVoxel::knn_search ( const Eigen::Vector4d &  pt, Result &  result  ) const

inline

Find k nearest neighbors.

Parameters

pt	Query point
result	Result

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

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