Template Class CVoxelMapBase

Defined in File CVoxelMapBase.h

Nested Relationships

Nested Types

Struct CVoxelMapBase::Impl

Inheritance Relationships

Base Type

public mrpt::maps::CMetricMap

Derived Types

public mrpt::maps::CVoxelMapOccupancyBase< VoxelNodeOccupancy > (Template Class CVoxelMapOccupancyBase)
public mrpt::maps::CVoxelMapOccupancyBase< VoxelNodeOccRGB > (Template Class CVoxelMapOccupancyBase)

Class Documentation

template<typename node_t> class CVoxelMapBase : public mrpt::maps::CMetricMap

An mrpt CMetricMap wrapper for Bonxai’s VoxelMap container.

Refer to Davide Faconti’s Bonxai repository for publication and algorithm details, but in short, this is a sparse generic container for voxels, not needing redimensioning when the map grows, and with efficient insertion and update operations.

Users normally use the derived classes, not this generic base template. This base class implements all common aspects to CMetricMap that do not depend on the specific contents to be stored at each voxel.

No multi-threading protection is applied at all in the API.