autoware::localization::ndt::DynamicNDTMap Class Reference

#include <ndt_map.hpp>

Public Types
using	Voxel = DynamicNDTVoxel
using	Config = autoware::perception::filters::voxel_grid::Config
using	Point = Eigen::Vector3d
using	TimePoint = std::chrono::system_clock::time_point
using	VoxelViewVector = std::vector< VoxelView< Voxel > >
using	VoxelGrid = NDTGrid< Voxel >::Grid
using	ConfigPoint = NDTGrid< Voxel >::ConfigPoint

Public Member Functions
	DynamicNDTMap (const Config &voxel_grid_config)
void	set (const sensor_msgs::msg::PointCloud2 &msg)
	Set the contents of the pointcloud as the new map. More...
void	insert (const sensor_msgs::msg::PointCloud2 &msg)
template<typename DeserializingMapT >
void	serialize_as (sensor_msgs::msg::PointCloud2 &msg_out) const
const VoxelViewVector &	cell (const Point &pt) const
const VoxelViewVector &	cell (float32_t x, float32_t y, float32_t z) const
const std::string &	frame_id () const noexcept
TimePoint	stamp () const noexcept
bool	valid () const noexcept
	Check if the map is valid. More...
const ConfigPoint &	cell_size () const noexcept
std::size_t	size () const noexcept
VoxelGrid::const_iterator	begin () const noexcept
	Returns an const iterator to the first element of the map. More...
VoxelGrid::const_iterator	end () const noexcept
	Returns a const iterator to one past the last element of the map. More...
void	clear () noexcept
	Clear all voxels in the map. More...
template<>
void	serialize_as (sensor_msgs::msg::PointCloud2 &msg_out) const

Static Public Attributes
static constexpr uint32_t	kNumConfigPoints = 3U
	First 3 points of a serialized message will contain 3 extra points: Min point, max point and the voxel size. More...

Detailed Description

Ndt Map for a dynamic voxel type. This map representation is only to be used when a dense point cloud is intended to be represented as a map. (i.e. by the map publisher)

Member Typedef Documentation

Config

using autoware::localization::ndt::DynamicNDTMap::Config = autoware::perception::filters::voxel_grid::Config

ConfigPoint

using autoware::localization::ndt::DynamicNDTMap::ConfigPoint = NDTGrid<Voxel>::ConfigPoint

Point

using autoware::localization::ndt::DynamicNDTMap::Point = Eigen::Vector3d

TimePoint

using autoware::localization::ndt::DynamicNDTMap::TimePoint = std::chrono::system_clock::time_point

Voxel

using autoware::localization::ndt::DynamicNDTMap::Voxel = DynamicNDTVoxel

VoxelGrid

using autoware::localization::ndt::DynamicNDTMap::VoxelGrid = NDTGrid<Voxel>::Grid

VoxelViewVector

using autoware::localization::ndt::DynamicNDTMap::VoxelViewVector = std::vector<VoxelView<Voxel> >

Constructor & Destructor Documentation

DynamicNDTMap()

autoware::localization::ndt::DynamicNDTMap::DynamicNDTMap ( const Config &  voxel_grid_config )

explicit

Member Function Documentation

begin()

DynamicNDTMap::VoxelGrid::const_iterator autoware::localization::ndt::DynamicNDTMap::begin ( ) const

noexcept

Returns an const iterator to the first element of the map.

Returns

Iterator

cell() [1/2]

const DynamicNDTMap::VoxelViewVector & autoware::localization::ndt::DynamicNDTMap::cell

(

const Point &

pt

)

const

Lookup the cell at location.

Parameters

pt	point to lookup

Returns

A vector containing the cell at given coordinates. A vector is used to support near-neighbour cell queries in the future.

cell() [2/2]

const DynamicNDTMap::VoxelViewVector & autoware::localization::ndt::DynamicNDTMap::cell	(	float32_t	x,
		float32_t	y,
		float32_t	z
	)		const

Lookup the cell at location.

Parameters

x	x coordinate
y	y coordinate
z	z coordinate

Returns

A vector containing the cell at given coordinates. A vector is used to support near-neighbour cell queries in the future.

cell_size()

const DynamicNDTMap::ConfigPoint & autoware::localization::ndt::DynamicNDTMap::cell_size ( ) const

noexcept

Get size of the cell.

Returns

A point representing the dimensions of the cell.

clear()

void autoware::localization::ndt::DynamicNDTMap::clear ( )

noexcept

Clear all voxels in the map.

end()

DynamicNDTMap::VoxelGrid::const_iterator autoware::localization::ndt::DynamicNDTMap::end ( ) const

noexcept

Returns a const iterator to one past the last element of the map.

Returns

Iterator

frame_id()

const std::string & autoware::localization::ndt::DynamicNDTMap::frame_id ( ) const

noexcept

Get map's frame id.

Returns

Frame id of the map.

insert()

void autoware::localization::ndt::DynamicNDTMap::insert

(

const sensor_msgs::msg::PointCloud2 &

msg

)

Insert the dense point cloud to the map. This is intended for converting a dense point cloud into the ndt representation. Ideal for reading dense pcd files.

Parameters

msg	PointCloud2 message to add.

serialize_as() [1/2]

template<typename DeserializingMapT >

void autoware::localization::ndt::DynamicNDTMap::serialize_as

(

sensor_msgs::msg::PointCloud2 &

msg_out

)

const

Iterate over the map representation and convert it into a PointCloud2 message where each voxel in the map corresponds to a single point in the PointCloud2 field.

Template Parameters

DeserializingMapT

The map type that can deserialize the serialized message.

Parameters

msg_out

Reference to the initialized pointcloud message that will store the serialized map data.

serialize_as() [2/2]

template<>

void autoware::localization::ndt::DynamicNDTMap::serialize_as

(

sensor_msgs::msg::PointCloud2 &

msg_out

)

const

The resulting point cloud has the following fields: x, y, z, cov_xx, cov_xy, cov_xz, cov_yy, cov_yz, cov_zz, cell_id.

Parameters

msg_out

Reference to the pointcloud message that will store the serialized map data. The message will be initialized before use.

set()

void autoware::localization::ndt::DynamicNDTMap::set

(

const sensor_msgs::msg::PointCloud2 &

msg

)

Set the contents of the pointcloud as the new map.

Parameters

msg	Pointcloud to be inserted.

size()

std::size_t autoware::localization::ndt::DynamicNDTMap::size ( ) const

noexcept

Get size of the map

Returns

Number of voxels in the map. This number includes the voxels that do not have enough numbers to be used yet.

stamp()

DynamicNDTMap::TimePoint autoware::localization::ndt::DynamicNDTMap::stamp ( ) const

noexcept

Get map's time stamp.

Returns

map's time stamp.

valid()

bool autoware::localization::ndt::DynamicNDTMap::valid ( ) const

noexcept

Check if the map is valid.

Returns

True if the map and frame ID are not empty and the stamp is initialized.

Member Data Documentation

kNumConfigPoints

constexpr uint32_t autoware::localization::ndt::DynamicNDTMap::kNumConfigPoints = 3U

staticconstexpr

First 3 points of a serialized message will contain 3 extra points: Min point, max point and the voxel size.

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The documentation for this class was generated from the following files:

• ndt_map.hpp
• ndt_map.cpp