multires_ofusion_core.hpp

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/*
 * SPDX-FileCopyrightText: 2019-2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2021 Nils Funk
 * SPDX-FileCopyrightText: 2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */

#ifndef SE_MULTIRES_OFUSION_CORE_HPP
#define SE_MULTIRES_OFUSION_CORE_HPP

#include <limits>

#include "se/common/str_utils.hpp"
#include "se/map/data.hpp"
#include "se/map/octant/octant.hpp"

namespace se {



template<typename ConfigT>
inline float compute_three_sigma(const se::field_t depth_value,
                                 const float sigma_min,
                                 const float sigma_max,
                                 const ConfigT config);



template<typename ConfigT>
inline float compute_tau(const se::field_t depth_value,
                         const float tau_min,
                         const float tau_max,
                         const ConfigT config);



namespace updater {


template<typename DataT>
inline bool
weighted_mean_update(DataT& data, const se::field_t sample_value, const se::weight_t max_weight);



template<typename DataT, typename ConfigT>
inline bool update_voxel(DataT& data,
                         const float range_diff,
                         const float tau,
                         const float three_sigma,
                         const ConfigT config);



template<typename DataT, typename ConfigT>
inline void free_node(DataT& node_data, const ConfigT config);


template<typename DataT, typename ConfigT>
inline bool free_voxel(DataT& voxel_data, const ConfigT config);


template<typename NodeT, typename BlockT>
inline typename NodeT::DataType propagate_to_parent_node(se::OctantBase* octant_ptr,
                                                         const unsigned int frame);



template<typename BlockT>
inline void propagate_block_to_coarsest_scale(se::OctantBase* octant_ptr);



} // namespace updater
} // namespace se

#include "impl/multires_ofusion_core_impl.hpp"

#endif // SE_MULTIRES_OFUSION_CORE_HPP