A searchable voxel structure containing the mean and covariance of the data. More...

#include <ndt_voxel_grid_covariance.h>

Collaboration diagram for apollo::localization::ndt::VoxelGridCovariance< PointT >:

Public Member Functions
	VoxelGridCovariance ()
	Constructor. More...

void	SetInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

void	SetMinPointPerVoxel (int min_points_per_voxel)
	Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation). More...

int	GetMinPointPerVoxel ()
	Get the minimum number of points required for a cell to be used. More...

void	filter (const std::vector< Leaf > &cell_leaf, bool searchable=true)
	Initializes voxel structure. More...

void	SetMap (const std::vector< Leaf > &map_leaves, PointCloudPtr output)

LeafConstPtr	GetLeaf (int index)
	Get the voxel containing point p. More...

LeafConstPtr	GetLeaf (PointT *p)
	Get the voxel containing point p. More...

LeafConstPtr	GetLeaf (Eigen::Vector3f *p)
	Get the voxel containing point p.*. More...

const std::map< size_t, Leaf > &	GetLeaves ()
	Get the leaf structure map. More...

PointCloudPtr	GetCentroids ()
	Get a pointcloud containing the voxel centroids. More...

int	RadiusSearch (const PointT &point, double radius, std::vector< LeafConstPtr > k_leaves, std::vector< float > k_sqr_distances, unsigned int max_nn=0)
	Search for all the nearest occupied voxels of the query point in a given radius. More...

void	GetDisplayCloud (pcl::PointCloud< pcl::PointXYZ > *cell_cloud)

void	SetMapLeftTopCorner (const Eigen::Vector3d &left_top_corner)

void	SetVoxelGridResolution (float lx, float ly, float lz)

Protected Types
typedef pcl::PointCloud< PointT >	PointCloud

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

Protected Attributes
PointCloudConstPtr	input_

Eigen::Vector4f	leaf_size_

Eigen::Array4f	inverse_leaf_size_

Eigen::Vector4i	min_b_

Eigen::Vector4i	max_b_

Eigen::Vector4i	div_b_

Eigen::Vector4i	divb_mul_

int	min_points_per_voxel_
	Minimum points contained with in a voxel to allow it to be usable. More...

std::map< size_t, Leaf >	leaves_
	Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of points). More...

PointCloudPtr	voxel_centroids_
	Point cloud containing centroids of voxels containing at least minimum number of points. More...

std::vector< int >	voxel_centroids_leaf_indices_
	Indices of leaf structurs associated with each point. More...

pcl::KdTreeFLANN< PointT >	kdtree_
	KdTree generated using voxel_centroids_ (used for searching). More...

Eigen::Vector3d	map_left_top_corner_
	Left top corner. More...

Detailed Description

template<typename PointT>
class apollo::localization::ndt::VoxelGridCovariance< PointT >

A searchable voxel structure containing the mean and covariance of the data.

Member Typedef Documentation

◆ PointCloud

template<typename PointT>

typedef pcl::PointCloud<PointT> apollo::localization::ndt::VoxelGridCovariance< PointT >::PointCloud

protected

◆ PointCloudConstPtr

template<typename PointT>

typedef boost::shared_ptr<const PointCloud> apollo::localization::ndt::VoxelGridCovariance< PointT >::PointCloudConstPtr

protected

◆ PointCloudPtr

template<typename PointT>

typedef boost::shared_ptr<PointCloud> apollo::localization::ndt::VoxelGridCovariance< PointT >::PointCloudPtr

protected

Constructor & Destructor Documentation

◆ VoxelGridCovariance()

template<typename PointT>

apollo::localization::ndt::VoxelGridCovariance< PointT >::VoxelGridCovariance ( )

inline

Constructor.

Member Function Documentation

◆ filter()

template<typename PointT>

void apollo::localization::ndt::VoxelGridCovariance< PointT >::filter	(	const std::vector< Leaf > &	cell_leaf,
		bool	searchable = `true`
	)

inline

Initializes voxel structure.

◆ GetCentroids()

template<typename PointT>

PointCloudPtr apollo::localization::ndt::VoxelGridCovariance< PointT >::GetCentroids ( )

inline

Get a pointcloud containing the voxel centroids.

◆ GetDisplayCloud()

template<typename PointT>

void apollo::localization::ndt::VoxelGridCovariance< PointT >::GetDisplayCloud ( pcl::PointCloud< pcl::PointXYZ > * cell_cloud )

◆ GetLeaf() [1/3]

template<typename PointT>

LeafConstPtr apollo::localization::ndt::VoxelGridCovariance< PointT >::GetLeaf ( int index )

inline

Get the voxel containing point p.

◆ GetLeaf() [2/3]

template<typename PointT>

LeafConstPtr apollo::localization::ndt::VoxelGridCovariance< PointT >::GetLeaf ( PointT * p )

inline

Get the voxel containing point p.

Parameters

[in] p the point to get the leaf structure at

Returns: const pointer to leaf structure

◆ GetLeaf() [3/3]

template<typename PointT>

LeafConstPtr apollo::localization::ndt::VoxelGridCovariance< PointT >::GetLeaf ( Eigen::Vector3f * p )

inline

Get the voxel containing point p.*.

Returns: const pointer to leaf structure

◆ GetLeaves()

template<typename PointT>

const std::map<size_t, Leaf>& apollo::localization::ndt::VoxelGridCovariance< PointT >::GetLeaves ( )

inline

Get the leaf structure map.

◆ GetMinPointPerVoxel()

template<typename PointT>

int apollo::localization::ndt::VoxelGridCovariance< PointT >::GetMinPointPerVoxel ( )

inline

Get the minimum number of points required for a cell to be used.

◆ RadiusSearch()

template<typename PointT>

int apollo::localization::ndt::VoxelGridCovariance< PointT >::RadiusSearch	(	const PointT &	point,
		double	radius,
		std::vector< LeafConstPtr > *	k_leaves,
		std::vector< float > *	k_sqr_distances,
		unsigned int	max_nn = `0`
	)

Search for all the nearest occupied voxels of the query point in a given radius.

◆ SetInputCloud()

template<typename PointT>

void apollo::localization::ndt::VoxelGridCovariance< PointT >::SetInputCloud ( const PointCloudConstPtr & cloud )

inline

Provide a pointer to the input dataset.

◆ SetMap()

template<typename PointT>

void apollo::localization::ndt::VoxelGridCovariance< PointT >::SetMap	(	const std::vector< Leaf > &	map_leaves,
		PointCloudPtr	output
	)

◆ SetMapLeftTopCorner()

template<typename PointT>

void apollo::localization::ndt::VoxelGridCovariance< PointT >::SetMapLeftTopCorner ( const Eigen::Vector3d & left_top_corner )

inline

◆ SetMinPointPerVoxel()

template<typename PointT>

void apollo::localization::ndt::VoxelGridCovariance< PointT >::SetMinPointPerVoxel ( int min_points_per_voxel )

inline

Set the minimum number of points required for a cell to be used (must be 3 or greater for covariance calculation).

◆ SetVoxelGridResolution()

template<typename PointT>

void apollo::localization::ndt::VoxelGridCovariance< PointT >::SetVoxelGridResolution	(	float	lx,
		float	ly,
		float	lz
	)

inline

Member Data Documentation

◆ div_b_

template<typename PointT>

Eigen::Vector4i apollo::localization::ndt::VoxelGridCovariance< PointT >::div_b_

protected

◆ divb_mul_

template<typename PointT>

Eigen::Vector4i apollo::localization::ndt::VoxelGridCovariance< PointT >::divb_mul_

protected

◆ input_

template<typename PointT>

PointCloudConstPtr apollo::localization::ndt::VoxelGridCovariance< PointT >::input_

protected

◆ inverse_leaf_size_

template<typename PointT>

Eigen::Array4f apollo::localization::ndt::VoxelGridCovariance< PointT >::inverse_leaf_size_

protected

◆ kdtree_

template<typename PointT>

pcl::KdTreeFLANN<PointT> apollo::localization::ndt::VoxelGridCovariance< PointT >::kdtree_

protected

KdTree generated using voxel_centroids_ (used for searching).

◆ leaf_size_

template<typename PointT>

Eigen::Vector4f apollo::localization::ndt::VoxelGridCovariance< PointT >::leaf_size_

protected

◆ leaves_

template<typename PointT>

std::map<size_t, Leaf> apollo::localization::ndt::VoxelGridCovariance< PointT >::leaves_

protected

Voxel structure containing all leaf nodes (includes voxels with less than a sufficient number of points).

◆ map_left_top_corner_

template<typename PointT>

Eigen::Vector3d apollo::localization::ndt::VoxelGridCovariance< PointT >::map_left_top_corner_

protected

Left top corner.

◆ max_b_

template<typename PointT>

Eigen::Vector4i apollo::localization::ndt::VoxelGridCovariance< PointT >::max_b_

protected

◆ min_b_

template<typename PointT>

Eigen::Vector4i apollo::localization::ndt::VoxelGridCovariance< PointT >::min_b_

protected

◆ min_points_per_voxel_

template<typename PointT>

int apollo::localization::ndt::VoxelGridCovariance< PointT >::min_points_per_voxel_

protected

Minimum points contained with in a voxel to allow it to be usable.

◆ voxel_centroids_

template<typename PointT>

PointCloudPtr apollo::localization::ndt::VoxelGridCovariance< PointT >::voxel_centroids_

protected

Point cloud containing centroids of voxels containing at least minimum number of points.

◆ voxel_centroids_leaf_indices_

template<typename PointT>

std::vector<int> apollo::localization::ndt::VoxelGridCovariance< PointT >::voxel_centroids_leaf_indices_

protected

Indices of leaf structurs associated with each point.

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

modules/localization/ndt/ndt_locator/ndt_voxel_grid_covariance.h

Public Member Functions

Protected Types

Protected Attributes

Detailed Description

template<typename PointT> class apollo::localization::ndt::VoxelGridCovariance< PointT >

Member Typedef Documentation

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

Constructor & Destructor Documentation

◆ VoxelGridCovariance()

Member Function Documentation

◆ filter()

◆ GetCentroids()

◆ GetDisplayCloud()

◆ GetLeaf() [1/3]

◆ GetLeaf() [2/3]

◆ GetLeaf() [3/3]

◆ GetLeaves()

◆ GetMinPointPerVoxel()

◆ RadiusSearch()

◆ SetInputCloud()

◆ SetMap()

◆ SetMapLeftTopCorner()

◆ SetMinPointPerVoxel()

◆ SetVoxelGridResolution()

Member Data Documentation

◆ div_b_

◆ divb_mul_

◆ input_

◆ inverse_leaf_size_

◆ kdtree_

◆ leaf_size_

◆ leaves_

◆ map_left_top_corner_

◆ max_b_

◆ min_b_

◆ min_points_per_voxel_

◆ voxel_centroids_

◆ voxel_centroids_leaf_indices_

template<typename PointT>
class apollo::localization::ndt::VoxelGridCovariance< PointT >