#include <CscSlamEngine.h>

Public Member Functions
	CscSlam3dMap ()

void	appendLocalFrame (const std::vector< CscPoint3d > &localPointsCm, const CPose3D &pose, size_t decimationStep, double minPointDistanceMeters, double maxPointDistanceMeters)

vector< CscPoint3d * >	pointsCopyPtrs (const CscPoint3d &entityStartPosition, const CscQuaternion &entityStartOrientation) const

vector< CscSlam3dMapVoxelKey >	getAllVoxelsCopy () const

size_t	probabilisticVoxelGridSize () const

CscSlam3dMapVoxelGrid	buildVisibleVoxelGridFromProbabilisticState () const

void	clear ()

bool	isEmpty () const

uint64_t	add3dMapVoxelChangesListener (function< void(const CscSlam3dMapVoxelChanges &changes)> callback, CscSlam3dMapVoxelChanges *changes=nullptr)

void	remove3dMapVoxelChangesListener (uint64_t listenerId)

void	withProbabilisticVoxelGridReadLock (const std::function< void(const CscSlam3dProbabilisticVoxelGrid &grid)> &callback) const

size_t	visibleProbabilisticVoxelGridSize () const

void	purgeFarNeighbors (int minNeighborCount=2, int minHits=3)
	Remove isolated voxels that have too few occupied neighbors. A voxel with too few neighbors can still be kept if it has enough hits. More...

Detailed Description

This structure holds the live SLAM map with the most relevant data format for high quality real time SLAM, and other structures acting as cache for more user-friendly representations such as downsmapled display voxels or point cloud.

Details: probabilisticVoxelGrid is the real time representation, and voxelGrid is the downsampled / display oriented version

Constructor & Destructor Documentation

◆ CscSlam3dMap()

conscience_core::lidar::CscSlam3dMap::CscSlam3dMap ( )

Builds optimized 3D SLAM map

Member Function Documentation

◆ add3dMapVoxelChangesListener()

uint64_t conscience_core::lidar::CscSlam3dMap::add3dMapVoxelChangesListener	(	function< void(const CscSlam3dMapVoxelChanges &changes)>	callback,
		CscSlam3dMapVoxelChanges *	changes = `nullptr`
	)

◆ appendLocalFrame()

void conscience_core::lidar::CscSlam3dMap::appendLocalFrame	(	const std::vector< CscPoint3d > &	localPointsCm,
		const CPose3D &	pose,
		size_t	decimationStep,
		double	minPointDistanceMeters,
		double	maxPointDistanceMeters
	)

◆ buildVisibleVoxelGridFromProbabilisticState()

CscSlam3dMapVoxelGrid conscience_core::lidar::CscSlam3dMap::buildVisibleVoxelGridFromProbabilisticState ( ) const

◆ clear()

void conscience_core::lidar::CscSlam3dMap::clear ( )

◆ getAllVoxelsCopy()

vector<CscSlam3dMapVoxelKey> conscience_core::lidar::CscSlam3dMap::getAllVoxelsCopy ( ) const

inline

Returns: return voxels of current SLAM 3D map

See also: CscSlam3dMapVoxelKey

◆ isEmpty()

bool conscience_core::lidar::CscSlam3dMap::isEmpty ( ) const

◆ pointsCopyPtrs()

std::vector< CscPoint3d * > conscience_core::lidar::CscSlam3dMap::pointsCopyPtrs	(	const CscPoint3d &	entityStartPosition,
		const CscQuaternion &	entityStartOrientation
	)		const

Parameters

entityStartPosition	initial position when cartography started
entityStartOrientation	initial orientation when cartography started

Returns: a owned copy of SLAM 3D MAP points (from voxelGrid), transformed for Csc world ref frame (that's why it needs initial pos/rot)

◆ probabilisticVoxelGridSize()

size_t conscience_core::lidar::CscSlam3dMap::probabilisticVoxelGridSize ( ) const

◆ purgeFarNeighbors()

void conscience_core::lidar::CscSlam3dMap::purgeFarNeighbors	(	int	minNeighborCount = `2`,
		int	minHits = `3`
	)

Remove isolated voxels that have too few occupied neighbors. A voxel with too few neighbors can still be kept if it has enough hits.

◆ remove3dMapVoxelChangesListener()

void conscience_core::lidar::CscSlam3dMap::remove3dMapVoxelChangesListener ( uint64_t listenerId )

◆ visibleProbabilisticVoxelGridSize()

size_t conscience_core::lidar::CscSlam3dMap::visibleProbabilisticVoxelGridSize ( ) const

Returns: visible voxels count in probalistic grid

See also: CscSlam3dProbabilisticVoxel::getVisibleThreshold()

◆ withProbabilisticVoxelGridReadLock()

void conscience_core::lidar::CscSlam3dMap::withProbabilisticVoxelGridReadLock ( const std::function< void(const CscSlam3dProbabilisticVoxelGrid &grid)> & callback ) const

Gives read-only access to the probabilistic voxel grid while holding updateMutex.

Warning:

callback is executed under shared lock
do not call back into CscSlam3dMap from the callback
keep the callback short

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

Lidar/CscSlamEngine.h
Lidar/CscSlamEngine.cpp

Conscience Core

Public Member Functions