Struct VoxelHashMap

• Defined in File voxel_hash_map.hpp

Struct Documentation

struct VoxelHashMap

Public Functions

explicit VoxelHashMap(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 add_points(const std::vector<Eigen::Vector3d> &points)

void remove_points_far_from_location(const Eigen::Vector3d &origin)

std::vector<Eigen::Vector3d> pointcloud() const

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

Public Members

double voxel_size_

double inv_voxel_size_

double clipping_distance_

unsigned int max_points_per_voxel_

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