autoware::mapping::point_cloud_mapping::VoxelMap Class Reference

#include <map.hpp>

Inheritance diagram for autoware::mapping::point_cloud_mapping::VoxelMap:

Collaboration diagram for autoware::mapping::point_cloud_mapping::VoxelMap:

Public Types
using	Base = MapRepresentationBase< sensor_msgs::msg::PointCloud2, MapStorageMode::Independent >
using	PCLCloud = pcl::PointCloud< pcl::PointXYZI >
using	Cloud = sensor_msgs::msg::PointCloud2
using	CloudIt = sensor_msgs::PointCloud2Iterator< float32_t >
using	CloudConstIt = sensor_msgs::PointCloud2ConstIterator< float32_t >
Public Types inherited from autoware::mapping::point_cloud_mapping::MapRepresentationBase< sensor_msgs::msg::PointCloud2, MapStorageMode::Independent >
using	Increment = sensor_msgs::msg::PointCloud2

Public Member Functions
	VoxelMap (const perception::filters::voxel_grid::Config &grid_config, const std::string &frame="map")
MapUpdateSummary	try_add_observation (const Cloud &observation, const geometry_msgs::msg::PoseWithCovarianceStamped &) override
void	write (const std::string &file_name_prefix) const override
std::size_t	size () const noexcept override
	Size of the voxel grid. More...
std::size_t	capacity () const noexcept override
	Capacity of the voxel grid. More...
void	clear () override
	Clear the voxel grid. More...
Public Member Functions inherited from autoware::mapping::point_cloud_mapping::MapRepresentationBase< sensor_msgs::msg::PointCloud2, MapStorageMode::Independent >
virtual std::size_t	size () const noexcept=0
virtual std::size_t	capacity () const noexcept=0
virtual	~MapRepresentationBase ()=default

Static Public Attributes
static constexpr auto	NUM_FIELDS {4U}

Additional Inherited Members
Static Public Member Functions inherited from autoware::mapping::point_cloud_mapping::MapRepresentationBase< sensor_msgs::msg::PointCloud2, MapStorageMode::Independent >
static constexpr MapStorageMode	storage_mode () noexcept

Detailed Description

A map that accumulates lidar scans in a downsampled format using a voxel grid. A voxel grid is used

Member Typedef Documentation

Base

using autoware::mapping::point_cloud_mapping::VoxelMap::Base = MapRepresentationBase<sensor_msgs::msg::PointCloud2, MapStorageMode::Independent>

Cloud

using autoware::mapping::point_cloud_mapping::VoxelMap::Cloud = sensor_msgs::msg::PointCloud2

CloudConstIt

using autoware::mapping::point_cloud_mapping::VoxelMap::CloudConstIt = sensor_msgs::PointCloud2ConstIterator<float32_t>

CloudIt

using autoware::mapping::point_cloud_mapping::VoxelMap::CloudIt = sensor_msgs::PointCloud2Iterator<float32_t>

PCLCloud

using autoware::mapping::point_cloud_mapping::VoxelMap::PCLCloud = pcl::PointCloud<pcl::PointXYZI>

Constructor & Destructor Documentation

VoxelMap()

autoware::mapping::point_cloud_mapping::VoxelMap::VoxelMap ( const perception::filters::voxel_grid::Config &  grid_config, const std::string &  frame = "map"  )

explicit

Constructor

Parameters

grid_config	Grid configuration of the underlying voxel grid.
frame	Frame id of the map.

Member Function Documentation

capacity()

std::size_t autoware::mapping::point_cloud_mapping::VoxelMap::capacity ( ) const

overridenoexcept

Capacity of the voxel grid.

clear()

void autoware::mapping::point_cloud_mapping::VoxelMap::clear ( )

overridevirtual

Clear the voxel grid.

Implements autoware::mapping::point_cloud_mapping::MapRepresentationBase< sensor_msgs::msg::PointCloud2, MapStorageMode::Independent >.

size()

std::size_t autoware::mapping::point_cloud_mapping::VoxelMap::size ( ) const

overridenoexcept

Size of the voxel grid.

try_add_observation()

MapUpdateSummary autoware::mapping::point_cloud_mapping::VoxelMap::try_add_observation ( const Cloud &  observation, const geometry_msgs::msg::PoseWithCovarianceStamped &    )

overridevirtual

Try to extend the map with the given point cloud.

Parameters

observation

Point cloud in the "map" frame to add to the map.

Returns

A struct summarizing the outcome of the insertion attempt.

Implements autoware::mapping::point_cloud_mapping::MapRepresentationBase< sensor_msgs::msg::PointCloud2, MapStorageMode::Independent >.

write()

void autoware::mapping::point_cloud_mapping::VoxelMap::write ( const std::string &  file_name_prefix ) const

overridevirtual

Convert the voxel grid to a point cloud and write it to a pcd file.

Parameters

file_name_prefix

File name prefix of the file.

Implements autoware::mapping::point_cloud_mapping::MapRepresentationBase< sensor_msgs::msg::PointCloud2, MapStorageMode::Independent >.

Member Data Documentation

NUM_FIELDS

constexpr auto autoware::mapping::point_cloud_mapping::VoxelMap::NUM_FIELDS {4U}

staticconstexpr

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

• map.hpp
• map.cpp