apollo::localization::msf::VoxelGridCovariance< PointT > 模板类 参考

#include <voxel_grid_covariance_hdmap.h>

类 apollo::localization::msf::VoxelGridCovariance< PointT > 继承关系图:

apollo::localization::msf::VoxelGridCovariance< PointT > 的协作图:

类
struct	Leaf

Public 类型
enum	LeafType { FEW , BAD , PLANE , LINE }
typedef boost::shared_ptr< pcl::VoxelGrid< PointT > >	Ptr
typedef boost::shared_ptr< const pcl::VoxelGrid< PointT > >	ConstPtr
typedef Leaf *	LeafPtr
typedef const Leaf *	LeafConstPtr

Public 成员函数
	VoxelGridCovariance ()
void	SetMinPointPerVoxel (int min_points_per_voxel)
int	GetMinPointPerVoxel ()
void	SetCovEigValueInflationRatio (double min_covar_eigvalue_mult)
double	GetCovEigValueInflationRatio ()
void	Filter (PointCloudPtr output, bool searchable=false)
void	Filter (bool searchable=false)
LeafConstPtr	GetLeaf (int index)
LeafConstPtr	GetLeaf (const PointT &p)
LeafConstPtr	GetLeaf (const Eigen::Vector3f &p)
std::map< size_t, Leaf > &	GetLeaves ()

Protected 类型
typedef pcl::traits::fieldList< PointT >::type	FieldList
typedef pcl::PointCloud< PointT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr

详细描述

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

在文件 voxel_grid_covariance_hdmap.h 第 73 行定义.

成员类型定义说明

ConstPtr

template<typename PointT >

typedef boost::shared_ptr<const pcl::VoxelGrid<PointT> > apollo::localization::msf::VoxelGridCovariance< PointT >::ConstPtr

在文件 voxel_grid_covariance_hdmap.h 第 104 行定义.

FieldList

template<typename PointT >

typedef pcl::traits::fieldList<PointT>::type apollo::localization::msf::VoxelGridCovariance< PointT >::FieldList

protected

在文件 voxel_grid_covariance_hdmap.h 第 97 行定义.

LeafConstPtr

template<typename PointT >

typedef const Leaf* apollo::localization::msf::VoxelGridCovariance< PointT >::LeafConstPtr

在文件 voxel_grid_covariance_hdmap.h 第 162 行定义.

LeafPtr

template<typename PointT >

typedef Leaf* apollo::localization::msf::VoxelGridCovariance< PointT >::LeafPtr

在文件 voxel_grid_covariance_hdmap.h 第 160 行定义.

PointCloud

template<typename PointT >

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

protected

在文件 voxel_grid_covariance_hdmap.h 第 98 行定义.

PointCloudConstPtr

template<typename PointT >

typedef PointCloud::ConstPtr apollo::localization::msf::VoxelGridCovariance< PointT >::PointCloudConstPtr

protected

在文件 voxel_grid_covariance_hdmap.h 第 100 行定义.

PointCloudPtr

template<typename PointT >

typedef PointCloud::Ptr apollo::localization::msf::VoxelGridCovariance< PointT >::PointCloudPtr

protected

在文件 voxel_grid_covariance_hdmap.h 第 99 行定义.

Ptr

template<typename PointT >

typedef boost::shared_ptr<pcl::VoxelGrid<PointT> > apollo::localization::msf::VoxelGridCovariance< PointT >::Ptr

在文件 voxel_grid_covariance_hdmap.h 第 103 行定义.

成员枚举类型说明

LeafType

template<typename PointT >

enum apollo::localization::msf::VoxelGridCovariance::LeafType

枚举值
FEW
BAD
PLANE
LINE

在文件 voxel_grid_covariance_hdmap.h 第 75 行定义.

{ FEW, BAD, PLANE, LINE };

构造及析构函数说明

VoxelGridCovariance()

template<typename PointT >

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

inline

在文件 voxel_grid_covariance_hdmap.h 第 165 行定义.

      : searchable_(true),
        min_points_per_voxel_(6),
        min_covar_eigvalue_mult_(0.01),
        leaves_(),
        voxel_centroids_(),
        voxel_centroidsleaf_indices_(),
        kdtree_() {
    downsample_all_data_ = false;
    save_leaf_layout_ = false;
    leaf_size_.setZero();
    min_b_.setZero();
    max_b_.setZero();
    filter_name_ = "VoxelGridCovariance";
  }

成员函数说明

Filter() [1/2]

template<typename PointT >

void apollo::localization::msf::VoxelGridCovariance< PointT >::Filter ( bool  searchable = false )

inline

在文件 voxel_grid_covariance_hdmap.h 第 215 行定义.

                                              {
    searchable_ = searchable;
    voxel_centroids_ = PointCloudPtr(new PointCloud);
    ApplyFilter(voxel_centroids_);
    if (searchable_ && voxel_centroids_->size() > 0) {
      kdtree_.setInputCloud(voxel_centroids_);
    }
  }

Filter() [2/2]

template<typename PointT >

void apollo::localization::msf::VoxelGridCovariance< PointT >::Filter ( PointCloudPtr  output, bool  searchable = false  )

inline

在文件 voxel_grid_covariance_hdmap.h 第 205 行定义.

                                                                    {
    searchable_ = searchable;
    ApplyFilter(output);
    voxel_centroids_ = PointCloudPtr(new PointCloud(*output));
    if (searchable_ && voxel_centroids_->size() > 0) {
      kdtree_.setInputCloud(voxel_centroids_);
    }
  }

GetCovEigValueInflationRatio()

template<typename PointT >

double apollo::localization::msf::VoxelGridCovariance< PointT >::GetCovEigValueInflationRatio ( )

inline

在文件 voxel_grid_covariance_hdmap.h 第 200 行定义.

                                               {
    return min_covar_eigvalue_mult_;
  }

GetLeaf() [1/3]

template<typename PointT >

LeafConstPtr apollo::localization::msf::VoxelGridCovariance< PointT >::GetLeaf ( const Eigen::Vector3f &  p )

inline

在文件 voxel_grid_covariance_hdmap.h 第 257 行定义.

                                                      {
    // Generate index associated with p
    int ijk0 =
        static_cast<int>(floor(p[0] * inverse_leaf_size_[0]) - min_b_[0]);
    int ijk1 =
        static_cast<int>(floor(p[1] * inverse_leaf_size_[1]) - min_b_[1]);
    int ijk2 =
        static_cast<int>(floor(p[2] * inverse_leaf_size_[2]) - min_b_[2]);
 
    // Compute the centroid leaf index
    int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
 
    // Find leaf associated with index
    typename std::map<size_t, Leaf>::iterator leaf_iter = leaves_.find(idx);
    if (leaf_iter != leaves_.end()) {
      // If such a leaf exists return the pointer to the leaf structure
      LeafConstPtr ret(&(leaf_iter->second));
      return ret;
    } else {
      return nullptr;
    }
  }

GetLeaf() [2/3]

template<typename PointT >

LeafConstPtr apollo::localization::msf::VoxelGridCovariance< PointT >::GetLeaf ( const PointT &  p )

inline

在文件 voxel_grid_covariance_hdmap.h 第 236 行定义.

                                               {
    // Generate index associated with p
    int ijk0 = static_cast<int>(floor(p.x * inverse_leaf_size_[0]) - min_b_[0]);
    int ijk1 = static_cast<int>(floor(p.y * inverse_leaf_size_[1]) - min_b_[1]);
    int ijk2 = static_cast<int>(floor(p.z * inverse_leaf_size_[2]) - min_b_[2]);
 
    // Compute the centroid leaf index
    int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
 
    // Find leaf associated with index
    typename std::map<size_t, Leaf>::iterator leaf_iter = leaves_.find(idx);
    if (leaf_iter != leaves_.end()) {
      // If such a leaf exists return the pointer to the leaf structure
      LeafConstPtr ret(&(leaf_iter->second));
      return ret;
    } else {
      return nullptr;
    }
  }

GetLeaf() [3/3]

template<typename PointT >

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

inline

在文件 voxel_grid_covariance_hdmap.h 第 225 行定义.

                                         {
    typename std::map<size_t, Leaf>::iterator leaf_iter = leaves_.find(index);
    if (leaf_iter != leaves_.end()) {
      LeafConstPtr ret(&(leaf_iter->second));
      return ret;
    } else {
      return nullptr;
    }
  }

GetLeaves()

template<typename PointT >

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

inline

在文件 voxel_grid_covariance_hdmap.h 第 281 行定义.

{ return leaves_; }

GetMinPointPerVoxel()

template<typename PointT >

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

inline

在文件 voxel_grid_covariance_hdmap.h 第 193 行定义.

{ return min_points_per_voxel_; }

SetCovEigValueInflationRatio()

template<typename PointT >

void apollo::localization::msf::VoxelGridCovariance< PointT >::SetCovEigValueInflationRatio ( double  min_covar_eigvalue_mult )

inline

在文件 voxel_grid_covariance_hdmap.h 第 196 行定义.

                                                                           {
    min_covar_eigvalue_mult_ = min_covar_eigvalue_mult;
  }

SetMinPointPerVoxel()

template<typename PointT >

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

inline

在文件 voxel_grid_covariance_hdmap.h 第 182 行定义.

                                                            {
    if (min_points_per_voxel > 2) {
      min_points_per_voxel_ = min_points_per_voxel;
    } else {
      PCL_WARN("%s, Covariance need 3 pts, set min_pt_per_vexel to 3",
               this->getClassName().c_str());
      min_points_per_voxel_ = 3;
    }
  }

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该类的文档由以下文件生成:

• modules/localization/msf/common/util/voxel_grid_covariance_hdmap.h