Incremental voxelmap with online covariance and normal estimation. More...

#include <incremental_covariance_voxelmap.hpp>

Inheritance diagram for gtsam_points::IncrementalCovarianceVoxelMap:

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Collaboration diagram for gtsam_points::IncrementalCovarianceVoxelMap:

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Public Member Functions
	IncrementalCovarianceVoxelMap (double voxel_resolution)
	Constructor.

void	set_num_neighbors (int num_neighbors)
	Set the number of neighbors for covariance estimation.

void	set_min_num_neighbors (int min_num_neighbors)
	Set the minimum number of neighbors for covariance estimation.

void	set_warmup_cycles (int warmup_cycles)
	Set the number of warmup cycles. Covariances of new points in this period are not re-evaluated every frame.

void	set_lowrate_cycles (int lowrate_cycles)
	Set the number of lowrate update cycles. Covariances of invalid points are re-evaluated every this period.

void	set_remove_invalid_age_thresh (int remove_invalid_age_thresh)
	Set the age threshold for removing invalid points. Invalid points older than this are removed.

void	set_eig_stddev_thresh_scale (double eig_stddev_thresh_scale)
	Set the threshold scale for normal validation.

void	set_num_threads (int num_threads)
	Set the number of threads for normal estimation.

virtual void	clear () override
	Clear the voxelmap.

virtual void	insert (const PointCloud &points) override
	Insert point into the voxelmap.

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. This only finds neighbors with valid covariances.

size_t	knn_search_force (const double pt, size_t k, size_t k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits< double >::max()) const
	Find k-nearest neighbors. This finds neighbors regardless of the validity of covariances.

std::vector< size_t >	valid_indices (int num_threads=-1) const
	Get valid point indices. If num_threads is -1, the member variable num_threads is used.

std::vector< Eigen::Vector4d >	voxel_points (const std::vector< size_t > &indices) const
	Get points from indices.

std::vector< Eigen::Vector4d >	voxel_normals (const std::vector< size_t > &indices) const
	Get normals from indices.

std::vector< Eigen::Matrix4d >	voxel_covs (const std::vector< size_t > &indices) const
	Get covariances from indices.

virtual std::vector< Eigen::Vector4d >	voxel_points () const override
	Get voxel points.

virtual std::vector< Eigen::Vector4d >	voxel_normals () const override
	Get voxel normals.

virtual std::vector< Eigen::Matrix4d >	voxel_covs () const override
	Get voxel covariances.

Public Member Functions inherited from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >
	IncrementalVoxelMap (double leaf_size)
	Constructor.

void	set_voxel_resolution (const double leaf_size)
	Voxel resolution.

void	set_lru_clear_cycle (const int lru_clear_cycle)
	LRU cache clearing cycle.

void	set_lru_horizon (const int lru_horizon)
	LRU cache horizon.

void	set_neighbor_voxel_mode (const int mode)
	Neighboring voxel search mode (1, 7, 19, or 27).

VoxelContents::Setting &	voxel_insertion_setting ()
	Voxel setting.

double	leaf_size () const
	Voxel size.

size_t	num_voxels () const
	Number of voxels in the voxelmap.

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.

size_t	voxel_id (const size_t i) const
	Extract the point ID from a global index.

size_t	point_id (const size_t i) const
	Extract the voxel ID from a global index.

bool	has_points () const

bool	has_normals () const

bool	has_covs () const

bool	has_intensities () const

decltype(auto)	point (const size_t i) const

decltype(auto)	normal (const size_t i) const

decltype(auto)	cov (const size_t i) const

decltype(auto)	intensity (const size_t i) const

virtual std::vector< double >	voxel_intensities () const

virtual PointCloudCPU::Ptr	voxel_data () const

Public Member Functions inherited from gtsam_points::NearestNeighborSearch
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.

Protected Attributes
int	num_neighbors
	Number of neighbors for covariance estimation.

int	min_num_neighbors
	Minimum number of neighbors for covariance estimation.

int	warmup_cycles
	Number of cycles for covariance warmup.

int	lowrate_cycles
	Number of cycles for lowrate covariance estimation.

int	remove_invalid_age_thresh
	Age threshold for removing invalid points.

double	eig_stddev_thresh_scale
	Threshold scale for normal validation.

int	num_threads
	Number of threads for normal estimation.

std::deque< RunningStatistics< Eigen::Array3d > >	eig_stats
	Running statistics for eigenvalues.

Protected Attributes inherited from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >
double	inv_leaf_size
	Inverse of the voxel size.

std::vector< Eigen::Vector3i >	offsets
	Neighbor voxel offsets.

size_t	lru_horizon
	LRU horizon size. Voxels that have not been accessed for lru_horizon steps are deleted.

size_t	lru_clear_cycle
	LRU clear cycle. Voxel deletion is performed every lru_clear_cycle steps.

size_t	lru_counter
	LRU counter. Incremented every step.

VoxelContents::Setting	voxel_setting
	Voxel setting.

std::vector< std::shared_ptr< std::pair< VoxelInfo, IncrementalCovarianceContainer > > >	flat_voxels
	Voxel contents.

std::unordered_map< Eigen::Vector3i, size_t, XORVector3iHash >	voxels
	Voxel index map.

Additional Inherited Members
Public Types inherited from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >
using	Ptr = std::shared_ptr< IncrementalVoxelMap >

using	ConstPtr = std::shared_ptr< const IncrementalVoxelMap >

Public Types inherited from gtsam_points::NearestNeighborSearch
using	Ptr = std::shared_ptr< NearestNeighborSearch >

using	ConstPtr = std::shared_ptr< const NearestNeighborSearch >

Protected Member Functions inherited from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >
std::vector< Eigen::Vector3i >	neighbor_offsets (const int neighbor_voxel_mode) const

void	visit_points (const Func &f) const

Static Protected Attributes inherited from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >
static constexpr int	point_id_bits
	Use the first 32 bits for point id.

static constexpr int	voxel_id_bits
	Use the remaining bits for voxel id.

Detailed Description

Incremental voxelmap with online covariance and normal estimation.

Constructor & Destructor Documentation

◆ IncrementalCovarianceVoxelMap()

gtsam_points::IncrementalCovarianceVoxelMap::IncrementalCovarianceVoxelMap ( double voxel_resolution )

Constructor.

Parameters

voxel_resolution Voxel resolution

Member Function Documentation

◆ clear()

virtual void gtsam_points::IncrementalCovarianceVoxelMap::clear ( )

overridevirtual

Clear the voxelmap.

Reimplemented from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >.

◆ insert()

virtual void gtsam_points::IncrementalCovarianceVoxelMap::insert ( const PointCloud & points )

overridevirtual

Insert point into the voxelmap.

Reimplemented from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >.

◆ knn_search()

virtual size_t gtsam_points::IncrementalCovarianceVoxelMap::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

overridevirtual

Find k-nearest neighbors. This only finds neighbors with valid covariances.

Reimplemented from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >.

◆ voxel_covs()

virtual std::vector< Eigen::Matrix4d > gtsam_points::IncrementalCovarianceVoxelMap::voxel_covs ( ) const

overridevirtual

Get voxel covariances.

Reimplemented from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >.

◆ voxel_normals()

virtual std::vector< Eigen::Vector4d > gtsam_points::IncrementalCovarianceVoxelMap::voxel_normals ( ) const

overridevirtual

Get voxel normals.

Reimplemented from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >.

◆ voxel_points()

virtual std::vector< Eigen::Vector4d > gtsam_points::IncrementalCovarianceVoxelMap::voxel_points ( ) const

overridevirtual

Get voxel points.

Reimplemented from gtsam_points::IncrementalVoxelMap< IncrementalCovarianceContainer >.

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

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/incremental_covariance_voxelmap.hpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IncrementalCovarianceVoxelMap()

Member Function Documentation

◆ clear()

◆ insert()

◆ knn_search()

◆ voxel_covs()

◆ voxel_normals()

◆ voxel_points()