map_integrator.hpp

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/*
 * SPDX-FileCopyrightText: 2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021 Nils Funk
 * SPDX-FileCopyrightText: 2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */

#ifndef SE_MAP_INTEGRATOR_HPP
#define SE_MAP_INTEGRATOR_HPP

#include <cstddef>
#include <iterator>

#include "se/common/math_util.hpp"
#include "se/integrator/allocator/raycast_carver.hpp"
#include "se/integrator/allocator/volume_carver.hpp"
#include "se/map/octree/fetcher.hpp"
#include "se/map/octree/integrator.hpp"
#include "se/map/utils/setup_util.hpp"

namespace se {
namespace allocator {

template<typename MapT, typename SensorT>
std::vector<se::OctantBase*> frustum(MapT& map,
                                     SensorT& sensor,
                                     const se::Image<float>& depth_img,
                                     const Eigen::Matrix4f& T_WS,
                                     const float band);

} // namespace allocator



namespace fetcher {
template<typename MapT, typename SensorT>
inline std::vector<se::OctantBase*>
frustum(MapT& map, const SensorT& sensor, const Eigen::Matrix4f& T_WS);
} // namespace fetcher



static inline Eigen::Vector3f get_sample_coord(const Eigen::Vector3i& octant_coord,
                                               const int octant_size);



template<typename MapT>
class MapIntegrator {
    public:
    MapIntegrator(MapT& map);

    template<typename SensorT>
    void integrateDepth(const SensorT& sensor,
                        const se::Image<float>& depth_img,
                        const Eigen::Matrix4f& T_WS,
                        const unsigned int frame);

    private:
    MapT& map_;
};



} // namespace se

#include "impl/map_integrator_impl.hpp"

#endif // SE_MAP_INTEGRATOR_HPP