Class VoxelHashMap

• Defined in File voxel_hash_map.hpp

Class Documentation

class VoxelHashMap

Public Functions

explicit VoxelHashMap(const Scalar voxel_size, const Scalar clipping_distance)

inline void clear()

inline bool empty() const

void update(const std::vector<Eigen::Vector3s> &points, const Sophus::SE3s &pose)

void add_points(const std::vector<Eigen::Vector3s> &points, const Sophus::SE3s &pose)

void remove_points_far_from_location(const Eigen::Vector3s &location)

std::vector<Eigen::Vector3s> points() const

std::optional<Eigen::Vector3s> get_closest_neighbor(const Eigen::Vector3s &query, const Scalar max_distance) const

Nearest point to query strictly within max_distance, or nullopt if there is none.

inline Eigen::Vector3s center_of_voxel(const Voxel &voxel) const

in metres

Public Members

Scalar voxel_size

Scalar quantum

tsl::robin_map<Voxel, VoxelBlock, VoxelHash> voxels