Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel deletion that removes voxels that are not recently referenced. More...

#include <incremental_voxelmap.hpp>

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

using	ConstPtr = std::shared_ptr< const IncrementalVoxelMap >

Public Member Functions
	IncrementalVoxelMap (double leaf_size)
	Constructor. More...

size_t	size () const
	Number of points in the voxelmap. More...

template<typename PointCloud >
void	insert (const PointCloud &points, const Eigen::Isometry3d &T=Eigen::Isometry3d::Identity())
	Insert points to the voxelmap. More...

size_t	nearest_neighbor_search (const Eigen::Vector4d &pt, size_t index, double sq_dist) const
	Find the nearest neighbor. More...

size_t	knn_search (const Eigen::Vector4d &pt, size_t k, size_t k_indices, double k_sq_dists) const
	Find k nearest neighbors. More...

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. More...

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

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

void	set_search_offsets (int num_offsets)
	Set the pattern of the search offsets. (Must be 1, 7, or 27) More...

Public Attributes
const double	inv_leaf_size
	Inverse of the voxel size. More...

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

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

size_t	lru_counter
	LRU counter. Incremented every step. More...

std::vector< Eigen::Vector3i >	search_offsets
	Voxel search offsets. More...

VoxelContents::Setting	voxel_setting
	Voxel setting. More...

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

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

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

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

Detailed Description

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

Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel deletion that removes voxels that are not recently referenced.

Note: This class can be used as a point cloud as well as a neighbor search structure.; This class can handle arbitrary number of voxels and arbitrary range of voxel coordinates (in 32-bit int range).

Member Typedef Documentation

◆ ConstPtr

template<typename VoxelContents >

using small_gicp::IncrementalVoxelMap< VoxelContents >::ConstPtr = std::shared_ptr<const IncrementalVoxelMap>

◆ Ptr

template<typename VoxelContents >

using small_gicp::IncrementalVoxelMap< VoxelContents >::Ptr = std::shared_ptr<IncrementalVoxelMap>

Constructor & Destructor Documentation

◆ IncrementalVoxelMap()

template<typename VoxelContents >

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

inlineexplicit

Constructor.

Parameters

leaf_size Voxel size

Member Function Documentation

◆ calc_index()

template<typename VoxelContents >

size_t small_gicp::IncrementalVoxelMap< VoxelContents >::calc_index	(	const size_t	voxel_id,
		const size_t	point_id
	)		const

inline

Calculate the global point index from the voxel index and the point index.

◆ insert()

template<typename VoxelContents >

template<typename PointCloud >

void small_gicp::IncrementalVoxelMap< VoxelContents >::insert	(	const PointCloud &	points,
		const Eigen::Isometry3d &	T = `Eigen::Isometry3d::Identity()`
	)

inline

Insert points to the voxelmap.

Parameters

points	Point cloud
T	Transformation matrix

◆ knn_search()

template<typename VoxelContents >

size_t small_gicp::IncrementalVoxelMap< VoxelContents >::knn_search	(	const Eigen::Vector4d &	pt,
		size_t	k,
		size_t *	k_indices,
		double *	k_sq_dists
	)		const

inline

Find k nearest neighbors.

Parameters

pt	Query point
k	Number of neighbors
k_indices	Indices of nearest neighbors
k_sq_dists	Squared distances to nearest neighbors (sorted in ascending order)

Returns: Number of found points

◆ nearest_neighbor_search()

template<typename VoxelContents >

size_t small_gicp::IncrementalVoxelMap< VoxelContents >::nearest_neighbor_search	(	const Eigen::Vector4d &	pt,
		size_t *	index,
		double *	sq_dist
	)		const

inline

Find the nearest neighbor.

Parameters

pt	Query point
index	Index of the nearest neighbor
sq_dist	Squared distance to the nearest neighbor

Returns: Number of found points (0 or 1)

◆ point_id()

template<typename VoxelContents >

size_t small_gicp::IncrementalVoxelMap< VoxelContents >::point_id ( const size_t i ) const

inline

Extract the voxel ID from a global index.

◆ set_search_offsets()

template<typename VoxelContents >

void small_gicp::IncrementalVoxelMap< VoxelContents >::set_search_offsets ( int num_offsets )

inline

Set the pattern of the search offsets. (Must be 1, 7, or 27)

Note: 1: center only, 7: center + 6 adjacent neighbors (+- 1X/1Y/1Z), 27: center + 26 neighbors (3 x 3 x 3 cube)

◆ size()

template<typename VoxelContents >

size_t small_gicp::IncrementalVoxelMap< VoxelContents >::size ( ) const

inline

Number of points in the voxelmap.

◆ voxel_id()

template<typename VoxelContents >

size_t small_gicp::IncrementalVoxelMap< VoxelContents >::voxel_id ( const size_t i ) const

inline

Extract the point ID from a global index.

Member Data Documentation

◆ flat_voxels

template<typename VoxelContents >

std::vector<std::shared_ptr<std::pair<VoxelInfo, VoxelContents> > > small_gicp::IncrementalVoxelMap< VoxelContents >::flat_voxels

Voxel contents.

◆ inv_leaf_size

template<typename VoxelContents >

const double small_gicp::IncrementalVoxelMap< VoxelContents >::inv_leaf_size

Inverse of the voxel size.

◆ lru_clear_cycle

template<typename VoxelContents >

size_t small_gicp::IncrementalVoxelMap< VoxelContents >::lru_clear_cycle

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

◆ lru_counter

template<typename VoxelContents >

size_t small_gicp::IncrementalVoxelMap< VoxelContents >::lru_counter

LRU counter. Incremented every step.

◆ lru_horizon

template<typename VoxelContents >

size_t small_gicp::IncrementalVoxelMap< VoxelContents >::lru_horizon

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

◆ point_id_bits

template<typename VoxelContents >

constexpr int small_gicp::IncrementalVoxelMap< VoxelContents >::point_id_bits = 32

staticconstexpr

Use the first 32 bits for point id.

◆ search_offsets

template<typename VoxelContents >

std::vector<Eigen::Vector3i> small_gicp::IncrementalVoxelMap< VoxelContents >::search_offsets

Voxel search offsets.

◆ voxel_id_bits

template<typename VoxelContents >

constexpr int small_gicp::IncrementalVoxelMap< VoxelContents >::voxel_id_bits = 64 - point_id_bits

staticconstexpr

Use the remaining bits for voxel id.

◆ voxel_setting

template<typename VoxelContents >

VoxelContents::Setting small_gicp::IncrementalVoxelMap< VoxelContents >::voxel_setting

Voxel setting.

◆ voxels

template<typename VoxelContents >

std::unordered_map<Eigen::Vector3i, size_t, XORVector3iHash> small_gicp::IncrementalVoxelMap< VoxelContents >::voxels

Voxel index map.

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

/home/runner/work/small_gicp/small_gicp/include/small_gicp/ann/incremental_voxelmap.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ IncrementalVoxelMap()

Member Function Documentation

◆ calc_index()

◆ insert()

◆ knn_search()

◆ nearest_neighbor_search()

◆ point_id()

◆ set_search_offsets()

◆ size()

◆ voxel_id()

Member Data Documentation

◆ flat_voxels

◆ inv_leaf_size

◆ lru_clear_cycle

◆ lru_counter

◆ lru_horizon

◆ point_id_bits

◆ search_offsets

◆ voxel_id_bits

◆ voxel_setting

◆ voxels

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