se::RaycastCarver< MapT, SensorT > Class Template Reference

#include <raycast_carver.hpp>

Classes
struct	RaycastCarverConfig
	The config file of the raycast carver. More...

Public Types
typedef MapT::OctreeType	OctreeType

Public Member Functions
	RaycastCarver (MapT &map, const SensorT &sensor, const se::Image< float > &depth_img, const Eigen::Matrix4f &T_WS, const int frame)
	Setup the raycast carver. More...
std::vector< se::OctantBase * >	operator() ()
	Allocate a band around the depth measurements using a raycasting approach. More...

Public Attributes
MapT &	map_
OctreeType &	octree_
const SensorT &	sensor_
const se::Image< float > &	depth_img_
const Eigen::Matrix4f &	T_WS_
const int	frame_
const RaycastCarverConfig	config_

Member Typedef Documentation

OctreeType

template<typename MapT , typename SensorT >

typedef MapT::OctreeType se::RaycastCarver< MapT, SensorT >::OctreeType

Constructor & Destructor Documentation

RaycastCarver()

template<typename MapT , typename SensorT >

se::RaycastCarver< MapT, SensorT >::RaycastCarver	(	MapT &	map,
		const SensorT &	sensor,
		const se::Image< float > &	depth_img,
		const Eigen::Matrix4f &	T_WS,
		const int	frame
	)

Setup the raycast carver.

Parameters

[in]	map	The reference to the map to be updated.
[in]	sensor	The sensor model.
[in]	depth_img	The depth image to be integrated.
[in]	T_WS	The transformation from sensor to world frame.
[in]	frame	The frame number to be integrated.

Member Function Documentation

operator()()

template<typename MapT , typename SensorT >

std::vector<se::OctantBase*> se::RaycastCarver< MapT, SensorT >::operator()

(

)

Allocate a band around the depth measurements using a raycasting approach.

The allocated blocks

Member Data Documentation

map_

template<typename MapT , typename SensorT >

MapT& se::RaycastCarver< MapT, SensorT >::map_

octree_

template<typename MapT , typename SensorT >

OctreeType& se::RaycastCarver< MapT, SensorT >::octree_

sensor_

template<typename MapT , typename SensorT >

const SensorT& se::RaycastCarver< MapT, SensorT >::sensor_

depth_img_

template<typename MapT , typename SensorT >

const se::Image<float>& se::RaycastCarver< MapT, SensorT >::depth_img_

T_WS_

template<typename MapT , typename SensorT >

const Eigen::Matrix4f& se::RaycastCarver< MapT, SensorT >::T_WS_

frame_

template<typename MapT , typename SensorT >

const int se::RaycastCarver< MapT, SensorT >::frame_

config_

template<typename MapT , typename SensorT >

const RaycastCarverConfig se::RaycastCarver< MapT, SensorT >::config_

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

• include/se/integrator/allocator/raycast_carver.hpp