Namespace voxblox¶
These classes allocate a fixed size array and index it with a hash that is masked so that only its first N bits are non zero.
Detailed Description¶
This file contains a set of functions to visualize layers as pointclouds (or marker arrays) based on a passed-in function. This can be thought of as a fast rough approximation of a hash table. There are several advantages and some very significant disadvantages Advantages-
- Simple and blazing fast lockless thread-safe approximate sets
- Can be used to provide more fine grain locking of blocks for threading then simply locking the entire layer Disadvantages-
- Highly inefficient use of memory (allocates 2^N elements)
- Cannot discern between two different elements with the same hash
- If the hash of two elements have the same first N elements of their hash, only one can be stored.
- It also offers some specializations of functions as samples.
Namespaces¶
Classes¶
- Struct AnyIndexHash
- Template Struct AnyIndexHashMapType
- Struct Color
- Struct EsdfIntegrator::Config
- Struct EsdfMap::Config
- Struct EsdfOccIntegrator::Config
- Struct EsdfVoxel
- Struct ICP::Config
- Struct IntensityVoxel
- Struct LongIndexHash
- Template Struct LongIndexHashMapType
- Struct Mesh
- Struct MeshIntegratorConfig
- Struct OccupancyIntegrator::Config
- Struct OccupancyMap::Config
- Struct OccupancyVoxel
- Struct TsdfIntegratorBase::Config
- Struct TsdfMap::Config
- Struct TsdfVoxel
- Template Class ApproxHashArray
- Template Class ApproxHashSet
- Template Class Block
- Template Class BucketQueue
- Class CameraModel
- Class ColorMap
- Class Cube
- Class Cylinder
- Class EsdfIntegrator
- Class EsdfMap
- Class EsdfOccIntegrator
- Class EsdfServer
- Class FastTsdfIntegrator
- Class GrayscaleColorMap
- Class ICP
- Class IntensityIntegrator
- Class IntensityServer
- Class InteractiveSlider
- Template Class Interpolator
- Class InverseGrayscaleColorMap
- Class InverseRainbowColorMap
- Class IronbowColorMap
- Template Class Layer
- Class MarchingCubes
- Class MergedTsdfIntegrator
- Template Class MeshIntegrator
- Class MeshLayer
- Template Class Neighborhood
- Class NeighborhoodLookupTables
- Class Object
- Class OccupancyIntegrator
- Class OccupancyMap
- Class Plane
- Class PlaneObject
- Class RainbowColorMap
- Class RayCaster
- Class SimpleTsdfIntegrator
- Class SimulationServer
- Class SimulationWorld
- Class Sphere
- Class ThreadSafeIndex
- Class Transformer
- Class TsdfIntegratorBase
- Class TsdfIntegratorFactory
- Class TsdfMap
- Class TsdfServer
Functions¶
- Template Function voxblox::aligned_shared
- Function voxblox::castRay
- Function voxblox::colorMsgToVoxblox
- Function voxblox::colorVoxbloxToMsg
- Function voxblox::convertMeshLayerToMesh
- Template Function voxblox::createColorPointcloudFromLayer(const Layer<VoxelType>&, const ShouldVisualizeVoxelIntensityFunctionType<VoxelType>&, pcl::PointCloud<pcl::PointXYZI> *)
- Template Function voxblox::createColorPointcloudFromLayer(const Layer<VoxelType>&, const ShouldVisualizeVoxelColorFunctionType<VoxelType>&, pcl::PointCloud<pcl::PointXYZRGB> *)
- Function voxblox::createConnectedMesh(const AlignedVector<Mesh::ConstPtr>&, Mesh *, const FloatingPoint)
- Function voxblox::createConnectedMesh(const Mesh&, Mesh *, const FloatingPoint)
- Function voxblox::createDistancePointcloudFromEsdfLayer
- Function voxblox::createDistancePointcloudFromEsdfLayerSlice
- Function voxblox::createDistancePointcloudFromTsdfLayer
- Function voxblox::createDistancePointcloudFromTsdfLayerSlice
- Function voxblox::createFreePointcloudFromEsdfLayer
- Function voxblox::createIntensityPointcloudFromIntensityLayer
- Template Function voxblox::createOccupancyBlocksFromLayer
- Function voxblox::createOccupancyBlocksFromOccupancyLayer
- Function voxblox::createOccupancyBlocksFromTsdfLayer
- Function voxblox::createPointcloudFromTsdfLayer
- Function voxblox::createSurfaceDistancePointcloudFromTsdfLayer
- Function voxblox::createSurfacePointcloudFromTsdfLayer
- Template Function voxblox::deserializeMsgToLayer(const voxblox_msgs::Layer&, Layer<VoxelType> *)
- Template Function voxblox::deserializeMsgToLayer(const voxblox_msgs::Layer&, const MapDerializationAction&, Layer<VoxelType> *)
- Template Function voxblox::evaluateLayerRmseAtPoses(const utils::VoxelEvaluationMode&, const Layer<VoxelType>&, const Layer<VoxelType>&, const std::vector<Transformation>&, std::vector<utils::VoxelEvaluationDetails> *, std::vector<std::pair<typename voxblox::Layer<VoxelType>::Ptr, typename voxblox::Layer<VoxelType>::Ptr>> *)
- Template Function voxblox::evaluateLayerRmseAtPoses(const utils::VoxelEvaluationMode&, const Layer<VoxelType>&, const Layer<VoxelType>&, const std::vector<Eigen::Matrix<float, 4, 4>, Eigen::aligned_allocator<Eigen::Matrix<float, 4, 4>>>&, std::vector<utils::VoxelEvaluationDetails> *, std::vector<std::pair<typename voxblox::Layer<VoxelType>::Ptr, typename voxblox::Layer<VoxelType>::Ptr>> *)
- Function voxblox::fillMarkerWithMesh
- Function voxblox::fillPointcloudWithMesh
- Function voxblox::generateVoxbloxMeshMsg
- Function voxblox::getBlockAndVoxelIndexFromGlobalVoxelIndex
- Function voxblox::getBlockIndexFromGlobalVoxelIndex
- Template Function voxblox::getCenterPointFromGridIndex
- Function voxblox::getEsdfIntegratorConfigFromRosParam
- Function voxblox::getEsdfMapConfigFromRosParam
- Function voxblox::getGlobalVoxelIndexFromBlockAndVoxelIndex
- Template Function voxblox::getGridIndexFromOriginPoint
- Template Function voxblox::getGridIndexFromPoint(const Point&, const FloatingPoint)
- Template Function voxblox::getGridIndexFromPoint(const Point&)
- Function voxblox::getHierarchicalIndexAlongRay
- Function voxblox::getICPConfigFromRosParam
- Function voxblox::getLocalFromGlobalVoxelIndex
- Template Function voxblox::getOriginPointFromGridIndex
- Template Function voxblox::getSurfaceDistanceAlongRay
- Function voxblox::getTsdfIntegratorConfigFromRosParam
- Function voxblox::getTsdfMapConfigFromRosParam
- Function voxblox::getVertexColor
- Template Function voxblox::getVoxelType
- Function voxblox::getVoxelType< EsdfVoxel >
- Function voxblox::getVoxelType< IntensityVoxel >
- Function voxblox::getVoxelType< OccupancyVoxel >
- Function voxblox::getVoxelType< TsdfVoxel >
- Function voxblox::grayColorMap
- Function voxblox::heightColorFromVertex
- Function voxblox::isPowerOfTwo
- Function voxblox::lambertColorFromColorAndNormal
- Function voxblox::lambertColorFromNormal
- Function voxblox::lambertShading
- Function voxblox::logOddsFromProbability
- Template Function voxblox::mergeLayerAintoLayerB(const Layer<VoxelType>&, Layer<VoxelType> *)
- Template Function voxblox::mergeLayerAintoLayerB(const Layer<VoxelType>&, const Transformation&, Layer<VoxelType> *, bool)
- Function voxblox::mergeVoxelAIntoVoxelB(const EsdfVoxel&, EsdfVoxel *)
- Template Function voxblox::mergeVoxelAIntoVoxelB(const VoxelType&, VoxelType *)
- Function voxblox::mergeVoxelAIntoVoxelB(const OccupancyVoxel&, OccupancyVoxel *)
- Function voxblox::mergeVoxelAIntoVoxelB(const TsdfVoxel&, TsdfVoxel *)
- Template Function voxblox::naiveTransformLayer
- Function voxblox::normalColorFromNormal
- Function voxblox::outputMeshAsPly
- Function voxblox::outputMeshLayerAsPly(const std::string&, const MeshLayer&)
- Function voxblox::outputMeshLayerAsPly(const std::string&, const bool, const MeshLayer&)
- Function voxblox::pointcloudToPclXYZ
- Function voxblox::pointcloudToPclXYZI
- Function voxblox::pointcloudToPclXYZRGB
- Function voxblox::probabilityFromLogOdds
- Function voxblox::rainbowColorMap
- Function voxblox::randomColor
- Function voxblox::recolorVoxbloxMeshMsgByIntensity
- Template Function voxblox::resampleLayer
- Template Function voxblox::serializeLayerAsMsg
- Function voxblox::signum
- Function voxblox::toConnectedPCLPolygonMesh
- Function voxblox::toPCLPolygonMesh
- Function voxblox::toSimplifiedPCLPolygonMesh
- Template Function voxblox::transformLayer
- Function voxblox::transformPointcloud
- Function voxblox::visualizeDistanceIntensityEsdfVoxels
- Function voxblox::visualizeDistanceIntensityEsdfVoxelsSlice
- Function voxblox::visualizeDistanceIntensityTsdfVoxels
- Function voxblox::visualizeDistanceIntensityTsdfVoxelsNearSurface
- Function voxblox::visualizeDistanceIntensityTsdfVoxelsSlice
- Function voxblox::visualizeFreeEsdfVoxels
- Function voxblox::visualizeIntensityVoxels
- Function voxblox::visualizeNearSurfaceTsdfVoxels
- Function voxblox::visualizeOccupiedOccupancyVoxels
- Function voxblox::visualizeOccupiedTsdfVoxels
- Function voxblox::visualizeTsdfVoxels
Typedefs¶
- Typedef voxblox::AlignedDeque
- Typedef voxblox::AlignedLayerAndErrorLayer
- Typedef voxblox::AlignedLayerAndErrorLayers
- Typedef voxblox::AlignedList
- Typedef voxblox::AlignedQueue
- Typedef voxblox::AlignedStack
- Typedef voxblox::AlignedVector
- Typedef voxblox::AnyIndex
- Typedef voxblox::BlockIndex
- Typedef voxblox::BlockIndexList
- Typedef voxblox::Colors
- Typedef voxblox::FloatingPoint
- Typedef voxblox::GlobalIndex
- Typedef voxblox::GlobalIndexVector
- Typedef voxblox::HierarchicalIndex
- Typedef voxblox::HierarchicalIndexMap
- Typedef voxblox::HierarchicalIndexSet
- Typedef voxblox::IndexElement
- Typedef voxblox::IndexSet
- Typedef voxblox::IndexVector
- Typedef voxblox::InterpIndexes
- Typedef voxblox::InterpTable
- Typedef voxblox::InterpVector
- Typedef voxblox::Label
- Typedef voxblox::LabelConfidence
- Typedef voxblox::Labels
- Typedef voxblox::LongIndex
- Typedef voxblox::LongIndexElement
- Typedef voxblox::LongIndexSet
- Typedef voxblox::LongIndexVector
- Typedef voxblox::Point
- Typedef voxblox::Pointcloud
- Typedef voxblox::PointsMatrix
- Typedef voxblox::Quaternion
- Typedef voxblox::Ray
- Typedef voxblox::Rotation
- Typedef voxblox::ShouldVisualizeVoxelColorFunctionType
- Typedef voxblox::ShouldVisualizeVoxelFunctionType
- Typedef voxblox::ShouldVisualizeVoxelIntensityFunctionType
- Typedef voxblox::SignedIndex
- Typedef voxblox::SquareMatrix
- Typedef voxblox::Transformation
- Typedef voxblox::Triangle
- Typedef voxblox::TriangleVector
- Typedef voxblox::VertexIndex
- Typedef voxblox::VertexIndexList
- Typedef voxblox::VoxelIndex
- Typedef voxblox::VoxelIndexList
- Typedef voxblox::VoxelKey