Struct SparseVoxelGrid¶

Defined in File sparse_voxel_grid.hpp

Struct Documentation¶

struct SparseVoxelGrid¶

Public Functions

explicit SparseVoxelGrid(const double voxel_size, const double clipping_distance, const unsigned int max_points_per_voxel)¶

inline void Clear()¶

inline bool Empty() const¶

void Update(const std::vector<Eigen::Vector3d> &points, const Sophus::SE3d &pose)¶

void AddPoints(const std::vector<Eigen::Vector3d> &points)¶

void RemovePointsFarFromLocation(const Eigen::Vector3d &origin)¶

std::vector<Eigen::Vector3d> Pointcloud() const¶

std::tuple<Eigen::Vector3d, double> GetClosestNeighbor(const Eigen::Vector3d &query) const¶

Public Members

double voxel_size_¶

double clipping_distance_¶

unsigned int max_points_per_voxel_¶

Bonxai::VoxelGrid<VoxelBlock> map_¶