conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid Class Reference

#include <CscSlamEngine.h>

Public Types
using	VoxelMap = std::unordered_map< CscSlam3dMapVoxelKey, CscSlam3dProbabilisticVoxel, CscSlam3dMapVoxelKeyHash >

Public Member Functions
	CscSlam3dProbabilisticVoxelGrid (float voxelSizeMeters=0.03f)
CscSlam3dMapVoxelKey	mrptPointToVoxel (double x, double y, double z) const
CscSlam3dProbabilisticVoxel &	touchVoxel (const CscSlam3dMapVoxelKey &key, uint64_t frameIndex)
std::optional< CscSlam3dMapVoxelDiff >	addMissVoxel (const CscSlam3dMapVoxelKey &key, uint64_t frameIndex)
std::vector< CscSlam3dMapVoxelDiff >	integrateRayMrpt (double originX, double originY, double originZ, double hitX, double hitY, double hitZ, uint64_t frameIndex, std::unordered_set< CscSlam3dMapVoxelKey, CscSlam3dMapVoxelKeyHash > &frameHitVoxels, std::unordered_set< CscSlam3dMapVoxelKey, CscSlam3dMapVoxelKeyHash > &frameMissVoxels)
optional< CscSlam3dMapVoxelDiff >	addPointMrpt (double x, double y, double z, uint64_t frameIndex)
void	clear ()
size_t	size () const
bool	empty () const
float	getVoxelSizeMeters () const
const VoxelMap &	getVoxelsUnsafe () const
float	getVisibleThreshold () const
CscSlam3dMapVoxelGrid	buildVisibleVoxelGrid () const
void	eraseDeadVoxels ()
size_t	visibleVoxelCount () const
std::vector< CscSlam3dMapVoxelKey >	collectFarNeighborCandidates (int minNeighborCount, int minHits) const
std::vector< CscSlam3dMapVoxelKey >	purgeFarNeighborCandidates (const std::vector< CscSlam3dMapVoxelKey > &candidates, int minNeighborCount, int minHits)

Member Typedef Documentation

VoxelMap

using conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::VoxelMap = std::unordered_map< CscSlam3dMapVoxelKey, CscSlam3dProbabilisticVoxel, CscSlam3dMapVoxelKeyHash>

Constructor & Destructor Documentation

CscSlam3dProbabilisticVoxelGrid()

conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::CscSlam3dProbabilisticVoxelGrid ( float  voxelSizeMeters = 0.03f )

explicit

Member Function Documentation

addMissVoxel()

std::optional< CscSlam3dMapVoxelDiff > conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::addMissVoxel	(	const CscSlam3dMapVoxelKey &	key,
		uint64_t	frameIndex
	)

addPointMrpt()

std::optional< CscSlam3dMapVoxelDiff > conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::addPointMrpt	(	double	x,
		double	y,
		double	z,
		uint64_t	frameIndex
	)

buildVisibleVoxelGrid()

CscSlam3dMapVoxelGrid conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::buildVisibleVoxelGrid

(

)

const

heavy - see visibleVoxelCount() for an optimized count

See also

visibleVoxelCount()

clear()

void conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::clear

(

)

collectFarNeighborCandidates()

std::vector< CscSlam3dMapVoxelKey > conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::collectFarNeighborCandidates	(	int	minNeighborCount,
		int	minHits
	)		const

empty()

bool conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::empty

(

)

const

eraseDeadVoxels()

void conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::eraseDeadVoxels

(

)

getVisibleThreshold()

float conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::getVisibleThreshold

(

)

const

Returns

beneath this threshold, a voxel of the grid would be considered as not visible (because improbable / confidence too low)

getVoxelSizeMeters()

float conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::getVoxelSizeMeters

(

)

const

getVoxelsUnsafe()

const CscSlam3dProbabilisticVoxelGrid::VoxelMap & conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::getVoxelsUnsafe

(

)

const

integrateRayMrpt()

std::vector< CscSlam3dMapVoxelDiff > conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::integrateRayMrpt	(	double	originX,
		double	originY,
		double	originZ,
		double	hitX,
		double	hitY,
		double	hitZ,
		uint64_t	frameIndex,
		std::unordered_set< CscSlam3dMapVoxelKey, CscSlam3dMapVoxelKeyHash > &	frameHitVoxels,
		std::unordered_set< CscSlam3dMapVoxelKey, CscSlam3dMapVoxelKeyHash > &	frameMissVoxels
	)

Integrates ray, and records as missed every voxel crossing ray until hit, and registers hit on target voxel

mrptPointToVoxel()

CscSlam3dMapVoxelKey conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::mrptPointToVoxel	(	double	x,
		double	y,
		double	z
	)		const

purgeFarNeighborCandidates()

std::vector< CscSlam3dMapVoxelKey > conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::purgeFarNeighborCandidates	(	const std::vector< CscSlam3dMapVoxelKey > &	candidates,
		int	minNeighborCount,
		int	minHits
	)

size()

size_t conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::size

(

)

const

touchVoxel()

CscSlam3dProbabilisticVoxel & conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::touchVoxel	(	const CscSlam3dMapVoxelKey &	key,
		uint64_t	frameIndex
	)

visibleVoxelCount()

size_t conscience_core::lidar::CscSlam3dProbabilisticVoxelGrid::visibleVoxelCount

(

)

const

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

• Lidar/CscSlamEngine.h
• Lidar/CscSlamEngine.cpp