Point cloud frame on CPU memory. More...

#include <point_cloud_cpu.hpp>

Inheritance diagram for gtsam_points::PointCloudCPU:

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Collaboration diagram for gtsam_points::PointCloudCPU:

Public Types
using	Ptr = std::shared_ptr< PointCloudCPU >

using	ConstPtr = std::shared_ptr< const PointCloudCPU >

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

using	ConstPtr = std::shared_ptr< const PointCloud >

Public Member Functions
template<typename T , int D>
	PointCloudCPU (const Eigen::Matrix< T, D, 1 > *points, int num_points)
	Constructor.

template<typename T , int D, typename Alloc >
	PointCloudCPU (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &points)
	Constructor.

	PointCloudCPU (const PointCloudCPU &points)=delete

PointCloudCPU &	operator= (PointCloudCPU const &)=delete

template<typename T >
void	add_times (const T *times, int num_points)

template<typename T >
void	add_times (const std::vector< T > &times)

template<typename T , int D>
void	add_points (const Eigen::Matrix< T, D, 1 > *points, int num_points)

template<typename T , int D, typename Alloc >
void	add_points (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &points)

template<typename T , int D>
void	add_normals (const Eigen::Matrix< T, D, 1 > *normals, int num_points)

template<typename T , int D, typename Alloc >
void	add_normals (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &normals)

template<typename T , int D>
void	add_covs (const Eigen::Matrix< T, D, D > *covs, int num_points)

template<typename T , int D, typename Alloc >
void	add_covs (const std::vector< Eigen::Matrix< T, D, D >, Alloc > &covs)

template<typename T >
void	add_intensities (const T *intensities, int num_points)

template<typename T >
void	add_intensities (const std::vector< T > &intensities)

template<typename T >
void	add_aux_attribute (const std::string &attrib_name, const T *values, int num_points)

template<typename T , typename Alloc >
void	add_aux_attribute (const std::string &attrib_name, const std::vector< T, Alloc > &values)

size_t	memory_usage () const
	Memory usage in bytes.

Public Member Functions inherited from gtsam_points::PointCloud
	PointCloud (const PointCloud &)=delete

PointCloud &	operator= (PointCloud const &)=delete

size_t	size () const
	Number of points.

bool	has_times () const
	Check if the point cloud has per-point timestamps.

bool	has_points () const
	Check if the point cloud has points.

bool	has_normals () const
	Check if the point cloud has point normals.

bool	has_covs () const
	Check if the point cloud has point covariances.

bool	has_intensities () const
	Check if the point cloud has point intensities.

bool	check_times () const
	Warn if the point cloud doesn't have times.

bool	check_points () const
	Warn if the point cloud doesn't have points.

bool	check_normals () const
	Warn if the point cloud doesn't have normals.

bool	check_covs () const
	Warn if the point cloud doesn't have covs.

bool	check_intensities () const
	Warn if the point cloud doesn't have intensities.

bool	has_times_gpu () const
	Check if the point cloud has per-point timestamps on GPU.

bool	has_points_gpu () const
	Check if the point cloud has points on GPU.

bool	has_normals_gpu () const
	Check if the point cloud has point normals on GPU.

bool	has_covs_gpu () const
	Check if the point cloud has point covariances on GPU.

bool	has_intensities_gpu () const
	Check if the point cloud has point intensities on GPU.

bool	check_times_gpu () const
	Warn if the point cloud doesn't have times on GPU.

bool	check_points_gpu () const
	Warn if the point cloud doesn't have points on GPU.

bool	check_normals_gpu () const
	Warn if the point cloud doesn't have normals on GPU.

bool	check_covs_gpu () const
	Warn if the point cloud doesn't have covs on GPU.

bool	check_intensities_gpu () const
	Warn if the point cloud doesn't have intensities on GPU.

template<typename T >
const T *	aux_attribute (const std::string &attrib) const
	Get the pointer to an aux attribute.

void	save (const std::string &path) const
	Save the point cloud data.

void	save_compact (const std::string &path) const
	Save the point cloud data with a compact representation without unnecessary fields (e.g., the last element of homogeneous coordinates).

Static Public Member Functions
static PointCloudCPU::Ptr	clone (const PointCloud &points)
	Deep copy.

static PointCloudCPU::Ptr	load (const std::string &path)

Public Attributes
std::vector< double >	times_storage

std::vector< Eigen::Vector4d >	points_storage

std::vector< Eigen::Vector4d >	normals_storage

std::vector< Eigen::Matrix4d >	covs_storage

std::vector< double >	intensities_storage

std::unordered_map< std::string, std::shared_ptr< void > >	aux_attributes_storage

Public Attributes inherited from gtsam_points::PointCloud
size_t	num_points
	Number of points.

double *	times
	Per-point timestamp w.r.t. the first point (should be sorted)

Eigen::Vector4d *	points
	Point coordinates (x, y, z, 1)

Eigen::Vector4d *	normals
	Point normals (nx, ny, nz, 0)

Eigen::Matrix4d *	covs
	Point covariances cov(3, 3) = 0.

double *	intensities
	Point intensities.

std::unordered_map< std::string, std::pair< size_t, void * > >	aux_attributes
	Aux attributes <attribute_name, pair<element_size, data_ptr>>

float *	times_gpu
	Per-point timestamp on GPU.

Eigen::Vector3f *	points_gpu
	Point coordinates on GPU.

Eigen::Vector3f *	normals_gpu
	Point normals on GPU.

Eigen::Matrix3f *	covs_gpu
	Point covariances on GPU.

float *	intensities_gpu
	Point intensities on GPU.

Detailed Description

Point cloud frame on CPU memory.

Constructor & Destructor Documentation

◆ PointCloudCPU() [1/2]

template<typename T , int D>

gtsam_points::PointCloudCPU::PointCloudCPU	(	const Eigen::Matrix< T, D, 1 > *	points,
		int	num_points
	)

Constructor.

Parameters

points	Pointer to point data
num_points	Number of points

◆ PointCloudCPU() [2/2]

template<typename T , int D, typename Alloc >

gtsam_points::PointCloudCPU::PointCloudCPU ( const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > & points )

inline

Constructor.

Parameters

points Points

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

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/point_cloud_cpu.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PointCloudCPU() [1/2]

◆ PointCloudCPU() [2/2]