17 #ifndef CARTOGRAPHER_SENSOR_INTERNAL_VOXEL_FILTER_H_ 18 #define CARTOGRAPHER_SENSOR_INTERNAL_VOXEL_FILTER_H_ 21 #include <unordered_set> 25 #include "cartographer/sensor/proto/adaptive_voxel_filter_options.pb.h" 49 std::vector<sensor::TimedPointCloudOriginData::RangeMeasurement>
Filter(
50 const std::vector<sensor::TimedPointCloudOriginData::RangeMeasurement>&
58 Eigen::Array3i
GetCellIndex(
const Eigen::Vector3f& point)
const;
70 const proto::AdaptiveVoxelFilterOptions& options);
78 const proto::AdaptiveVoxelFilterOptions
options_;
84 #endif // CARTOGRAPHER_SENSOR_INTERNAL_VOXEL_FILTER_H_
static KeyType IndexToKey(const Eigen::Array3i &index)
Eigen::Array3i GetCellIndex(const Eigen::Vector3f &point) const
std::vector< Eigen::Vector3f > PointCloud
VoxelFilter & operator=(const VoxelFilter &)=delete
proto::AdaptiveVoxelFilterOptions CreateAdaptiveVoxelFilterOptions(common::LuaParameterDictionary *const parameter_dictionary)
std::vector< Eigen::Vector4f > TimedPointCloud
std::bitset< 3 *32 > KeyType
const proto::AdaptiveVoxelFilterOptions options_
std::unordered_set< KeyType > voxel_set_
PointCloud Filter(const PointCloud &point_cloud)