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

#include <ndt_voxel_grid_covariance.h>

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

Public 成员函数
	VoxelGridCovariance ()
	Constructor.

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

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).

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

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

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

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

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

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

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

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

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.

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 类型
typedef pcl::PointCloud< PointT >	PointCloud

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

Protected 属性
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.

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

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

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

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

Eigen::Vector3d	map_left_top_corner_
	Left top corner.

详细描述

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

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

在文件 ndt_voxel_grid_covariance.h 第 103 行定义.

成员类型定义说明

◆ PointCloud

template<typename PointT >

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

protected

在文件 ndt_voxel_grid_covariance.h 第 108 行定义.

◆ PointCloudConstPtr

template<typename PointT >

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

protected

在文件 ndt_voxel_grid_covariance.h 第 110 行定义.

◆ PointCloudPtr

template<typename PointT >

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

protected

在文件 ndt_voxel_grid_covariance.h 第 109 行定义.

构造及析构函数说明

◆ VoxelGridCovariance()

template<typename PointT >

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

inline

Constructor.

在文件 ndt_voxel_grid_covariance.h 第 124 行定义.

      : min_points_per_voxel_(6),
        leaves_(),
        voxel_centroids_(),
        voxel_centroids_leaf_indices_(),
        kdtree_() {
    leaf_size_.setZero();
    min_b_.setZero();
    max_b_.setZero();
  }

成员函数说明

◆ filter()

template<typename PointT >

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

inline

Initializes voxel structure.

在文件 ndt_voxel_grid_covariance.h 第 154 行定义.

                                             {
    voxel_centroids_ = PointCloudPtr(new PointCloud);
    SetMap(cell_leaf, voxel_centroids_);
    if (voxel_centroids_->size() > 0) {
      kdtree_.setInputCloud(voxel_centroids_);
    }
  }

◆ GetCentroids()

template<typename PointT >

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

inline

Get a pointcloud containing the voxel centroids.

在文件 ndt_voxel_grid_covariance.h 第 235 行定义.

235{ return 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 ( Eigen::Vector3f * p )

inline

Get the voxel containing point p.

返回
const pointer to leaf structure

在文件 ndt_voxel_grid_covariance.h 第 206 行定义.

                                                {
    // Generate index associated with p
    int ijk0 = static_cast<int>((p->x() - map_left_top_corner_(0)) *
                                inverse_leaf_size_[0]) -
               min_b_[0];
    int ijk1 = static_cast<int>((p->y() - map_left_top_corner_(1)) *
                                inverse_leaf_size_[1]) -
               min_b_[1];
    int ijk2 = static_cast<int>((p->z() - map_left_top_corner_(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()) {
      return nullptr;
    }
    // If such a leaf exists return the pointer to the leaf structure
    LeafConstPtr ret(&(leaf_iter->second));
    return ret;
  }

◆ GetLeaf() [2/3]

template<typename PointT >

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

inline

Get the voxel containing point p.

在文件 ndt_voxel_grid_covariance.h 第 166 行定义.

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

◆ GetLeaf() [3/3]

template<typename PointT >

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

inline

Get the voxel containing point p.

参数

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

返回: const pointer to leaf structure

在文件 ndt_voxel_grid_covariance.h 第 179 行定义.

                                         {
    // Generate index associated with p
    int ijk0 = static_cast<int>((p->x - map_left_top_corner_(0)) *
                                inverse_leaf_size_[0]) -
               min_b_[0];
    int ijk1 = static_cast<int>((p->y - map_left_top_corner_(1)) *
                                inverse_leaf_size_[1]) -
               min_b_[1];
    int ijk2 = static_cast<int>((p->z - map_left_top_corner_(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()) {
      return nullptr;
    }
    // If such a leaf exists return the pointer to the leaf structure
    LeafConstPtr ret(&(leaf_iter->second));
    return ret;
  }

◆ GetLeaves()

template<typename PointT >

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

inline

Get the leaf structure map.

在文件 ndt_voxel_grid_covariance.h 第 232 行定义.

232{ return leaves_; }

◆ 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.

在文件 ndt_voxel_grid_covariance.h 第 151 行定义.

151{ return min_points_per_voxel_; }

◆ 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.

在文件 ndt_voxel_grid_covariance.h 第 136 行定义.

136{ input_ = cloud; }

apollo::localization::ndt::VoxelGridCovariance::input_

PointCloudConstPtr input_

Definition ndt_voxel_grid_covariance.h:111

◆ 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

在文件 ndt_voxel_grid_covariance.h 第 246 行定义.

                                                                        {
    map_left_top_corner_ = left_top_corner;
  }

◆ 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).

在文件 ndt_voxel_grid_covariance.h 第 140 行定义.

                                                            {
    if (min_points_per_voxel > 2) {
      min_points_per_voxel_ = min_points_per_voxel;
    } else {
      AWARN << "Covariance calculation requires at least 3 "
            << "points, setting Min Point per Voxel to 3 ";
      min_points_per_voxel_ = 3;
    }
  }

◆ SetVoxelGridResolution()

template<typename PointT >

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

inline

在文件 ndt_voxel_grid_covariance.h 第 250 行定义.

                                                                   {
    leaf_size_[0] = lx;
    leaf_size_[1] = ly;
    leaf_size_[2] = lz;
    // Avoid division errors
    if (leaf_size_[3] == 0) {
      leaf_size_[3] = 1;
    }  // Use multiplications instead of divisions
    inverse_leaf_size_ = Eigen::Array4f::Ones() / leaf_size_.array();
  }

KdTree generated using voxel_centroids_ (used for searching).

在文件 ndt_voxel_grid_covariance.h 第 278 行定义.

template<typename PointT >

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

protected

在文件 ndt_voxel_grid_covariance.h 第 117 行定义.

template<typename PointT >

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

protected

Indices of leaf structurs associated with each point.

在文件 ndt_voxel_grid_covariance.h 第 275 行定义.

该类的文档由以下文件生成:

modules/localization/ndt/ndt_locator/ndt_voxel_grid_covariance.h

Public 成员函数

Protected 类型

Protected 属性

详细描述

成员类型定义说明

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

构造及析构函数说明

◆ VoxelGridCovariance()

成员函数说明

◆ filter()

◆ GetCentroids()

◆ GetDisplayCloud()

◆ GetLeaf() [1/3]

◆ GetLeaf() [2/3]

◆ GetLeaf() [3/3]

◆ GetLeaves()

◆ GetMinPointPerVoxel()

◆ RadiusSearch()

◆ SetInputCloud()

◆ SetMap()

◆ SetMapLeftTopCorner()

◆ SetMinPointPerVoxel()

◆ SetVoxelGridResolution()

类成员变量说明

◆ 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_