Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel deletion. More...

#include <incremental_voxelmap.hpp>

Inheritance diagram for gtsam_points::IncrementalVoxelMap< VoxelContents >:

Collaboration diagram for gtsam_points::IncrementalVoxelMap< VoxelContents >:

Public Types
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 >

Public Member Functions
	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.

virtual void	clear ()
	Clear the voxelmap.

virtual void	insert (const PointCloud &points)
	Insert points to 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.

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< Eigen::Vector4d >	voxel_points () const

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

virtual std::vector< Eigen::Matrix4d >	voxel_covs () 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 Member Functions
std::vector< Eigen::Vector3i >	neighbor_offsets (const int neighbor_voxel_mode) const

template<typename Func >
void	visit_points (const Func &f) const

Protected Attributes
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, VoxelContents > > >	flat_voxels
	Voxel contents.

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

Static Protected Attributes
static constexpr int	point_id_bits = 32
	Use the first 32 bits for point id.

static constexpr int	voxel_id_bits = 64 - point_id_bits
	Use the remaining bits for voxel id.

Detailed Description

template<typename VoxelContents>
struct gtsam_points::IncrementalVoxelMap< VoxelContents >

Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel deletion.

Note: This class can be used as a point cloud as well as a neighbor search structure.; For the compatibility with other nearest neighbor search methods, this implementation returns indices that encode the voxel and point IDs. The first point_id_bits (e.g., 32) bits of a point index represent the point ID, and the rest voxel_id_bits (e.g., 32) bits represent the voxel ID that contains the point. The specified point can be looked up by voxelmap.point(index);

Constructor & Destructor Documentation

◆ IncrementalVoxelMap()

template<typename VoxelContents >

gtsam_points::IncrementalVoxelMap< VoxelContents >::IncrementalVoxelMap ( double leaf_size )

explicit

Constructor.

Parameters

leaf_size Voxel size

Member Function Documentation

◆ clear()

template<typename VoxelContents >

void gtsam_points::IncrementalVoxelMap< VoxelContents >::clear ( )

virtual

Clear the voxelmap.

Reimplemented in gtsam_points::IncrementalCovarianceVoxelMap.

◆ insert()

template<typename VoxelContents >

void gtsam_points::IncrementalVoxelMap< VoxelContents >::insert ( const PointCloud & points )

virtual

Insert points to the voxelmap.

Parameters

points	Point cloud
T	Transformation matrix

Reimplemented in gtsam_points::GaussianVoxelMapCPU, and gtsam_points::IncrementalCovarianceVoxelMap.

◆ knn_search()

template<typename VoxelContents >

size_t gtsam_points::IncrementalVoxelMap< VoxelContents >::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.

Parameters

pt	Query point
k	Number of neighbors to search
k_indices	Indices of the k nearest neighbors
k_sq_dists	Squared distances of the k nearest neighbors

Returns: Number of found neighbors

Reimplemented from gtsam_points::NearestNeighborSearch.

Reimplemented in gtsam_points::IncrementalCovarianceVoxelMap.

◆ voxel_covs()

template<typename VoxelContents >

std::vector< Eigen::Matrix4d > gtsam_points::IncrementalVoxelMap< VoxelContents >::voxel_covs ( ) const

virtual

Reimplemented in gtsam_points::IncrementalCovarianceVoxelMap.

◆ voxel_normals()

template<typename VoxelContents >

std::vector< Eigen::Vector4d > gtsam_points::IncrementalVoxelMap< VoxelContents >::voxel_normals ( ) const

virtual

Reimplemented in gtsam_points::IncrementalCovarianceVoxelMap.

◆ voxel_points()

template<typename VoxelContents >

std::vector< Eigen::Vector4d > gtsam_points::IncrementalVoxelMap< VoxelContents >::voxel_points ( ) const

virtual

Reimplemented in gtsam_points::IncrementalCovarianceVoxelMap.

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

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/incremental_voxelmap.hpp
/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/impl/incremental_voxelmap_impl.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IncrementalVoxelMap()

Member Function Documentation

◆ clear()

◆ insert()

◆ knn_search()

◆ voxel_covs()

◆ voxel_normals()

◆ voxel_points()