Class SparseTreesPointCloud

Defined in File SparseTreesPointCloud.h

Nested Relationships

Nested Types

Inheritance Relationships

Base Types

public mrpt::maps::CMetricMap
public mrpt::maps::NearestNeighborsCapable

Class Documentation

class SparseTreesPointCloud : public mrpt::maps::CMetricMap, public mrpt::maps::NearestNeighborsCapable

SparseTreesPointCloud: Point cloud stored as a 3D grid of KD-trees/pointclouds. Efficient for storing point clouds and running nearest nearest-neighbor search.

Compile-time parameters

using outer_index3d_t = index3d_t<int32_t>

using inner_plain_index_t = uint32_t

using global_plain_index_t = uint64_t: collapsed plain unique ID for global indices

static constexpr uint8_t GLOBAL_ID_SUBVOXEL_BITCOUNT = 20

Data structures

using grids_map_t = std::map<outer_index3d_t, GridData, index3d_hash<int32_t>>

Indices and coordinates

inline outer_index3d_t coordToOuterIdx(const mrpt::math::TPoint3Df &pt) const

inline mrpt::math::TPoint3Df outerIdxToCoord(const outer_index3d_t idx) const: returns the coordinate of the voxel center

static inline global_plain_index_t g2plain(const outer_index3d_t &g, int subVoxelIndex = 0)

Basic API for construction and main parameters

SparseTreesPointCloud(float grid_size = 10.0f)

Constructor / default ctor.

Parameters:: voxel_size – Voxel size [meters] for decimation purposes.

~SparseTreesPointCloud()

void setGridProperties(float grid_size): Reset the main voxel parameters, and clears all current map contents

Data access API

inline GridData *gridByOuterIdxs(const outer_index3d_t &oIdx, bool createIfNew)

returns the voxeldata by global index coordinates, creating it or not if not found depending on createIfNew. Returns nullptr if not found and createIfNew is false

Function defined in the header file so compilers can optimize for literals “createIfNew”

inline const GridData *gridByOuterIdxs(const outer_index3d_t &oIdx, bool createIfNew) const

inline void insertPoint(const mrpt::math::TPoint3Df &pt): Insert one point into the sparse grid map

inline const grids_map_t &grids() const

mrpt::math::TBoundingBoxf boundingBox() const override: Computes the bounding box of all the points, or (0,0 ,0,0, 0,0) if there are no points. Results are cached unless the map is somehow modified to avoid repeated calculations.

void visitAllPoints(const std::function<void(const mrpt::math::TPoint3Df&)> &f) const

void visitAllGrids(const std::function<void(const outer_index3d_t&, const GridData&)> &f) const

bool saveToTextFile(const std::string &file) const: Save to a text file. Each line contains “X Y Z” point coordinates. Returns false if any error occured, true elsewere.

void eraseGridsFartherThan(const mrpt::math::TPoint3Df &pt, const float distanceMeters): Erase submap blocks entirely farther away than the given distance threshold.

API of the NearestNeighborsCapable virtual interface

void nn_prepare_for_2d_queries() const override

void nn_prepare_for_3d_queries() const override

bool nn_has_indices_or_ids() const override

size_t nn_index_count() const override

bool nn_single_search(const mrpt::math::TPoint3Df &query, mrpt::math::TPoint3Df &result, float &out_dist_sqr, uint64_t &resultIndexOrID) const override

bool nn_single_search(const mrpt::math::TPoint2Df &query, mrpt::math::TPoint2Df &result, float &out_dist_sqr, uint64_t &resultIndexOrID) const override

void nn_multiple_search(const mrpt::math::TPoint3Df &query, const size_t N, std::vector<mrpt::math::TPoint3Df> &results, std::vector<float> &out_dists_sqr, std::vector<uint64_t> &resultIndicesOrIDs) const override

void nn_multiple_search(const mrpt::math::TPoint2Df &query, const size_t N, std::vector<mrpt::math::TPoint2Df> &results, std::vector<float> &out_dists_sqr, std::vector<uint64_t> &resultIndicesOrIDs) const override

void nn_radius_search(const mrpt::math::TPoint3Df &query, const float search_radius_sqr, std::vector<mrpt::math::TPoint3Df> &results, std::vector<float> &out_dists_sqr, std::vector<uint64_t> &resultIndicesOrIDs, size_t maxPoints) const override

void nn_radius_search(const mrpt::math::TPoint2Df &query, const float search_radius_sqr, std::vector<mrpt::math::TPoint2Df> &results, std::vector<float> &out_dists_sqr, std::vector<uint64_t> &resultIndicesOrIDs, size_t maxPoints) const override

Public virtual methods implementation for CMetricMap

std::string asString() const override: Returns a short description of the map.

void getVisualizationInto(mrpt::opengl::CSetOfObjects &outObj) const override

bool isEmpty() const override: Returns true if the map is empty

void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const override: This virtual method saves the map to a file “filNamePrefix”+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

Public Members

TInsertionOptions insertionOptions

TLikelihoodOptions likelihoodOptions

TRenderOptions renderOptions

float grid_size = 10.0f

mola::SparseTreesPointCloud::TInsertionOptions insertionOpts

mola::SparseTreesPointCloud::TLikelihoodOptions likelihoodOpts

mola::SparseTreesPointCloud::TRenderOptions renderOpts

Protected Functions

void internal_clear() override

struct GridData

Public Functions

GridData() = default

inline auto &points()

inline const auto &points() const

inline void insertPoint(const mrpt::math::TPoint3Df &p)

struct TInsertionOptions : public mrpt::config::CLoadableOptions

Options for insertObservation()

Public Functions

TInsertionOptions() = default

void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override

void dumpToTextStream(std::ostream &out) const override

void writeToStream(mrpt::serialization::CArchive &out) const

void readFromStream(mrpt::serialization::CArchive &in)

Public Members

float minimum_points_clearance = 0.20f: Minimum distance between an inserted point and the existing ones in the map for it to be actually inserted.

float remove_submaps_farther_than = .0f: If !=0, remove the submap blocks farther (L1 distance) than this distance [meters]

struct TLikelihoodOptions : public mrpt::config::CLoadableOptions

Options used when evaluating “computeObservationLikelihood” in the derived classes.