Helper wrapper to allocate and de-allocate octants in the octree. More...

Namespaces
	algorithms

	allocator

	colours

	fetcher

	integrator
	Helper wrapper to integrate data in the octree.

	io

	keyops

	math

	meshing

	octantops

	preprocessor

	propagator

	raycaster

	str_utils

	updater

	visitor

	yaml

Classes
struct	AppConfig

class	BaseIterator
	Iterates over all valid data in the octree at the last scale it was updated at. More...

struct	BaseTraits

struct	BaseTraits< BlocksIterator< OctreeT > >

struct	BaseTraits< FrustumIterator< MapT, SensorT > >

struct	BaseTraits< LeavesIterator< OctreeT > >

struct	BaseTraits< NodesIterator< OctreeT > >

struct	BaseTraits< OctreeIterator< OctreeT > >

struct	BaseTraits< UpdateIterator< OctreeT > >

class	Block
	The actual block used in the tree. More...

class	BlockMultiRes

class	BlockMultiRes< se::Data< FldT, ColB, SemB >, BlockSize, DerivedT >

class	BlockMultiRes< se::Data< se::Field::Occupancy, ColB, SemB >, BlockSize, DerivedT >

class	BlockMultiRes< se::Data< se::Field::TSDF, ColB, SemB >, BlockSize, DerivedT >

class	BlockSingleRes
	The base used for single-resolution blocks. More...

class	BlocksIterator

class	BoostMemoryPool

struct	ColourData

struct	ColourData< se::Colour::On >

struct	ColourDataConfig

struct	ColourDataConfig< se::Colour::On >

struct	ColourDeltaData

struct	ColourDeltaData< se::Colour::On >

struct	Config

struct	crtp
	helper class for static_cast removal. More...

struct	Data

struct	DataConfig

struct	DeltaData

class	DensePoolingImage

struct	FieldData

struct	FieldData< se::Field::Occupancy >

struct	FieldData< se::Field::TSDF >

struct	FieldDataConfig

struct	FieldDataConfig< se::Field::Occupancy >

struct	FieldDataConfig< se::Field::TSDF >

struct	FieldDeltaData
	DELTA DATA ///. More...

struct	FieldDeltaData< se::Field::Occupancy >

struct	FieldDeltaData< se::Field::TSDF >

class	FrustumIterator

class	Image

class	InteriorNetReader
	Reader for the InteriorNet dataset. More...

class	LeavesIterator

class	Map

class	Map< se::Data< FldT, ColB, SemB >, ResT, BlockSize >

struct	MapConfig

class	MapIntegrator

struct	MeshFace

class	NewerCollegeReader
	Reader for the Newer College dataset. More...

class	Node
	The node type of the octant. More...

class	NodeMultiRes

class	NodeMultiRes< se::Data< FldT, ColB, SemB >, DerivedT >

class	NodeMultiRes< se::Data< se::Field::Occupancy, ColB, SemB >, DerivedT >
	Multi-resolution data of a Occupancy node. More...

class	NodeMultiRes< se::Data< se::Field::TSDF, ColB, SemB >, DerivedT >
	Multi-resolution data of a TSDF node. More...

class	NodeSingleRes
	Single-resolution data of a node. More...

class	NodesIterator

class	OctantBase
	This class only helps to dynamic cast the octant to the right type and builds the base of nodes and blocks. More...

class	Octree
	The octree is the memory manager of the map. More...

class	OctreeIterator

class	OpenNIReader
	Reader for the Microsoft Kinect and Asus Xtion using the OpenNI2 driver. More...

class	OusterLidar

struct	OusterLidarConfig

class	PinholeCamera

struct	PinholeCameraConfig

struct	Pixel

class	RAWReader
	Reader for SLAMBench 1.0 .raw files. More...

class	RaycastCarver

class	Reader
	Base abstract class for dataset readers. More...

struct	ReaderConfig

struct	SemanticData

struct	SemanticData< se::Semantics::On >

struct	SemanticDataConfig

struct	SemanticDataConfig< se::Semantics::On >

class	SensorBase

struct	SensorBaseConfig

struct	TrackData

class	Tracker

struct	TrackerConfig

class	TUMReader
	Reader for the TUM RGBD dataset. More...

class	UpdateIterator

class	Updater

class	Updater< Map< Data< se::Field::Occupancy, ColB, SemB >, se::Res::Multi, BlockSize >, SensorT >

class	Updater< Map< Data< se::Field::TSDF, ColB, SemB >, se::Res::Multi, BlockSize >, SensorT >

class	Updater< Map< Data< se::Field::TSDF, ColB, SemB >, se::Res::Single, BlockSize >, SensorT >

class	VolumeCarver

class	VolumeCarver< Map< Data< se::Field::Occupancy, ColB, SemB >, se::Res::Multi, BlockSize >, SensorT >
	Allocate the frustum using a map-to-camera volume carving approach. More...

struct	VolumeCarverAllocation

class	VoxelBlockRayIterator

Typedefs
using	Value = float

using	Status = int

template<typename FaceT >
using	Mesh = std::vector< FaceT >
	Meshes are represented as lists of faces. More...

typedef MeshFace< 3 >	Triangle

typedef Mesh< Triangle >	TriangleMesh

typedef MeshFace< 4 >	Quad

typedef Mesh< Quad >	QuadMesh

typedef Data< se::Field::Occupancy, se::Colour::Off, se::Semantics::Off >	OccupancyData

typedef Data< se::Field::Occupancy, se::Colour::On, se::Semantics::Off >	OccupancyColData

typedef Data< se::Field::Occupancy, se::Colour::Off, se::Semantics::On >	OccupancySemData

typedef Data< se::Field::Occupancy, se::Colour::On, se::Semantics::On >	OccupancyColSemData

typedef DataConfig< se::Field::Occupancy, se::Colour::Off, se::Semantics::Off >	OccupancyDataConfig

typedef DataConfig< se::Field::Occupancy, se::Colour::On, se::Semantics::Off >	OccupancyColDataConfig

typedef DataConfig< se::Field::Occupancy, se::Colour::Off, se::Semantics::On >	OccupancySemDataConfig

typedef DataConfig< se::Field::Occupancy, se::Colour::On, se::Semantics::On >	OccupancyColSemDataConfig

typedef Data< se::Field::TSDF, se::Colour::Off, se::Semantics::Off >	TSDFData

typedef Data< se::Field::TSDF, se::Colour::On, se::Semantics::Off >	TSDFColData

typedef Data< se::Field::TSDF, se::Colour::Off, se::Semantics::On >	TSDFSemData

typedef Data< se::Field::TSDF, se::Colour::On, se::Semantics::On >	TSDFColSemData

typedef DataConfig< se::Field::TSDF, se::Colour::Off, se::Semantics::Off >	TSDFDataConfig

typedef DataConfig< se::Field::TSDF, se::Colour::On, se::Semantics::Off >	TSDFColDataConfig

typedef DataConfig< se::Field::TSDF, se::Colour::Off, se::Semantics::On >	TSDFSemDataConfig

typedef DataConfig< se::Field::TSDF, se::Colour::On, se::Semantics::On >	TSDFColSemDataConfig

template<se::Field FldT = se::Field::TSDF, se::Colour ColB = se::Colour::Off, se::Semantics SemB = se::Semantics::Off, se::Res ResT = se::Res::Single, int BlockSize = 8>
using	MapD = Map< Data< FldT, ColB, SemB >, ResT, BlockSize >

template<se::Res ResT = se::Res::Single, int BlockSize = 8>
using	OccupancyMap = Map< OccupancyData, ResT, BlockSize >

template<se::Res ResT = se::Res::Single, int BlockSize = 8>
using	OccupancyColMap = Map< OccupancyColData, ResT, BlockSize >

template<se::Res ResT = se::Res::Single, int BlockSize = 8>
using	OccupancySemMap = Map< OccupancySemData, ResT, BlockSize >

template<se::Res ResT = se::Res::Single, int BlockSize = 8>
using	OccupancyColSemMap = Map< OccupancyColSemData, ResT, BlockSize >

template<se::Res ResT = se::Res::Single, int BlockSize = 8>
using	TSDFMap = Map< TSDFData, ResT, BlockSize >

template<se::Res ResT = se::Res::Single, int BlockSize = 8>
using	TSDFColMap = Map< TSDFColData, ResT, BlockSize >

template<se::Res ResT = se::Res::Single, int BlockSize = 8>
using	TSDFSemMap = Map< TSDFSemData, ResT, BlockSize >

template<se::Res ResT = se::Res::Single, int BlockSize = 8>
using	TSDFColSemMap = Map< TSDFColSemData, ResT, BlockSize >

typedef uint64_t	key_t
	key = 1 bit buffer + 57 bits of morton code + 6 bits of scale information The maxium scale is limited by 57 / 3 = 19 scales More...

typedef uint64_t	code_t
	The type of the Morton code. More...

typedef uint64_t	scale_t
	The type of the scale in the morton code. More...

typedef unsigned int	idx_t
	Child or voxel index type. More...

typedef float	field_t
	The type of the stored field (e.g. TSDF, ESDF or occupancy) More...

typedef Eigen::Matrix< field_t, 3, 1 >	field_vec_t

typedef se::field_t	weight_t
	The type of the field type weight. More...

typedef float	time_stamp_t
	The type of the time stamp. More...

typedef uint32_t	rgba_t
	The type of the colour. More...

typedef short	semantics_t
	The type of the semantic class. More...

Enumerations
enum	VarianceState { VarianceState::Constant, VarianceState::Gradient, VarianceState::Undefined }

enum	UncertaintyModel { UncertaintyModel::Linear, UncertaintyModel::Quadratic }
	DATA CONFIG ///. More...

enum	Field { Field::TSDF, Field::Occupancy }

enum	Colour { Colour::On = true, Colour::Off = false }

enum	Semantics { Semantics::On = true, Semantics::Off = false }

enum	Res { Res::Single, Res::Multi }

enum	Integ { Integ::Simple, Integ::LiDAR, Integ::PinholeCamera }

enum	Safe { Safe::On = true, Safe::Off = false }

enum	AllocMeth { AllocMeth::Raycasting, AllocMeth::VoxelCarving }

enum	Rep { Rep::Surface, Rep::Freespace }

enum	Sort { Sort::SmallToLarge, Sort::LargeToSmall }
	The enum classes to define the sorting templates. More...

enum	ReaderType { ReaderType::OPENNI, ReaderType::RAW, ReaderType::TUM, ReaderType::INTERIORNET, ReaderType::NEWERCOLLEGE, ReaderType::UNKNOWN }

enum	ReaderStatus : int { ReaderStatus::ok = 0, ReaderStatus::skip, ReaderStatus::eof, ReaderStatus::error }
	The result of trying to read a depth/RGB image or a pose. More...

Functions
static uint32_t	pack_rgba (const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t a)
	Pack the individual RGBA channels into a single 32-bit unsigned integer. More...

static uint32_t	pack_rgba (const Eigen::Vector4f &color)
	Pack a color stored in an Eigen vector into a single 32-bit unsigned integer. More...

static uint32_t	pack_rgba (const Eigen::Vector3f &color)
	Pack a color stored in an Eigen vector into a single 32-bit unsigned integer. More...

static uint32_t	pack_rgba (const Eigen::Vector4i &color)
	Pack a color stored in an Eigen vector into a single 32-bit unsigned integer. More...

static uint32_t	pack_rgba (const Eigen::Vector3i &color)
	Pack a color stored in an Eigen vector into a single 32-bit unsigned integer. More...

static uint8_t	r_from_rgba (const uint32_t rgba)
	Get the value of the red channel from a 32-bit packed RGBA value. More...

static uint8_t	g_from_rgba (const uint32_t rgba)
	Get the value of the green channel from a 32-bit packed RGBA value. More...

static uint8_t	b_from_rgba (const uint32_t rgba)
	Get the value of the blue channel from a 32-bit packed RGBA value. More...

static uint8_t	a_from_rgba (const uint32_t rgba)
	Get the value of the alpha channel from a 32-bit packed RGBA value. More...

static uint32_t	blend (const uint32_t rgba_1, const uint32_t rgba_2, const float alpha)
	Blend two RGBA colors based on the value of the blending parameter alpha. More...

static void	rgb_to_rgba (const uint8_t rgb, uint32_t rgba, size_t num_pixels)

static void	rgba_to_rgb (const uint32_t rgba, uint8_t rgb, size_t num_pixels)

void	depth_to_rgba (uint32_t depth_RGBA_image_data, const float depth_image_data, const Eigen::Vector2i &depth_image_res, const float min_depth, const float max_depth)
	Convert a depth image to an RGBA image to allow visualizing it. More...

int	save_depth_png (const float *depth_image_data, const Eigen::Vector2i &depth_image_res, const std::string &filename, const float scale=1000.0f)
	Save a depth image with depth values in metres to a PNG. More...

int	save_depth_png (const uint16_t *depth_image_data, const Eigen::Vector2i &depth_image_res, const std::string &filename)
	Save a depth image with depth values in millimetres to a PNG. More...

int	load_depth_png (float **depth_image_data, Eigen::Vector2i &depth_image_res, const std::string &filename, const float inverse_scale=1.0f/1000.0f)
	Load a PNG depth image into a buffer with depth values in metres. More...

int	load_depth_png (uint16_t **depth_image_data, Eigen::Vector2i &depth_image_res, const std::string &filename)
	Load a PNG depth image into a buffer with depth values in millimetres. More...

int	save_depth_pgm (const float *depth_image_data, const Eigen::Vector2i &depth_image_res, const std::string &filename, const float scale=1000.0f)
	Save a depth image with depth values in metres to a P2 PGM. More...

int	save_depth_pgm (const uint16_t *depth_image_data, const Eigen::Vector2i &depth_image_res, const std::string &filename)
	Save a depth image with depth values in millimetres to a P2 PGM. More...

int	load_depth_pgm (float **depth_image_data, Eigen::Vector2i &depth_image_res, const std::string &filename, const float inverse_scale=1.0f/1000.0f)
	Load a P2 PGM depth image into a buffer with depth values in metres. More...

int	load_depth_pgm (uint16_t **depth_image_data, Eigen::Vector2i &depth_image_res, const std::string &filename)
	Load a P2 PGM depth image into a buffer with depth values in millimeters. More...

static Eigen::Vector2i	round_pixel (const Eigen::Vector2f &pixel_f)

static void	convert_to_output_rgba_img (const se::Image< uint32_t > &input_rgba_img, uint32_t *output_rgba_img_data)

static void	convert_to_output_depth_img (const se::Image< float > &input_depth_img, uint32_t *output_depth_img_data)

static void	convert_to_output_depth_img (const se::Image< float > &input_depth_img, const float min_depth, const float max_depth, uint32_t *output_depth_img_data)

static Eigen::Vector3f	get_sample_coord (const Eigen::Vector3i &octant_coord, const int octant_size)
	compute the sample coordinates for a given octant coordinate More...

template<typename ConfigT >
float	compute_three_sigma (const se::field_t depth_value, const float sigma_min, const float sigma_max, const ConfigT config)
	Compute the estimated uncertainty boundary for a given depth measurement. More...

template<typename ConfigT >
float	compute_tau (const se::field_t depth_value, const float tau_min, const float tau_max, const ConfigT config)
	Compute the estimated wall thickness tau for a given depth measurement. More...

template<typename OctreeT >
QuadMesh	octree_structure_mesh (OctreeT &octree)
	Extract the octree structure as a quadrilateral mesh. More...

std::ostream &	operator<< (std::ostream &os, const FieldDataConfig< se::Field::Occupancy > &c)

std::ostream &	operator<< (std::ostream &os, const FieldDataConfig< se::Field::TSDF > &c)

template<se::Colour ColB>
std::ostream &	operator<< (std::ostream &os, const ColourDataConfig< ColB > &)

std::ostream &	operator<< (std::ostream &os, const ColourDataConfig< se::Colour::On > &c)

template<se::Semantics SemB>
std::ostream &	operator<< (std::ostream &os, const SemanticDataConfig< SemB > &)

std::ostream &	operator<< (std::ostream &os, const SemanticDataConfig< se::Semantics::On > &c)

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>
std::ostream &	operator<< (std::ostream &os, const DataConfig< FldT, ColB, SemB > &c)

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>
void	set_invalid (Data< FldT, ColB, SemB > &data)

template<se::Colour ColB, se::Semantics SemB>
void	set_invalid (Data< se::Field::TSDF, ColB, SemB > &data)

template<se::Colour ColB, se::Semantics SemB>
void	set_invalid (Data< se::Field::Occupancy, ColB, SemB > &data)

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>
bool	is_valid (const Data< FldT, ColB, SemB > &data)

template<se::Colour ColB, se::Semantics SemB>
bool	is_valid (const Data< se::Field::TSDF, ColB, SemB > &data)

template<se::Colour ColB, se::Semantics SemB>
bool	is_valid (const Data< se::Field::Occupancy, ColB, SemB > &data)

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>
bool	is_invalid (const Data< FldT, ColB, SemB > &data)

template<se::Colour ColB, se::Semantics SemB>
bool	is_invalid (const Data< se::Field::TSDF, ColB, SemB > &data)

template<se::Colour ColB, se::Semantics SemB>
bool	is_invalid (const Data< se::Field::Occupancy, ColB, SemB > &data)

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>
float	get_field (const Data< FldT, ColB, SemB > data)

template<se::Colour ColB, se::Semantics SemB>
float	get_field (const Data< se::Field::TSDF, ColB, SemB > data)

template<se::Colour ColB, se::Semantics SemB>
float	get_field (const Data< se::Field::Occupancy, ColB, SemB > data)

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>
float	is_inside (const Data< FldT, ColB, SemB > &data)

template<se::Colour ColB, se::Semantics SemB>
float	is_inside (const Data< se::Field::TSDF, ColB, SemB > &data)

template<se::Colour ColB, se::Semantics SemB>
float	is_inside (const Data< se::Field::Occupancy, ColB, SemB > &data)

std::ostream &	operator<< (std::ostream &os, const MapConfig &c)

template<typename NodeT >
void	get_child_idx (const Eigen::Vector3i &octant_coord, NodeT *node_ptr, unsigned int &child_idx)
	Get the child idx for a given child coordinate and pointer to the parent node. More...

std::ostream &	operator<< (std::ostream &os, const OusterLidarConfig &c)

std::ostream &	operator<< (std::ostream &os, const PinholeCameraConfig &c)

std::ostream &	operator<< (std::ostream &os, const TrackerConfig &c)

static Eigen::Matrix< float, 6, 6 >	makeJTJ (const Eigen::Matrix< float, 1, 21 > &v)

static Eigen::Matrix< float, 6, 1 >	solve (const Eigen::Matrix< float, 1, 27 > &vals)

std::ostream &	operator<< (std::ostream &os, const AppConfig &c)

template<typename DataConfigT , typename SensorConfigT >
std::ostream &	operator<< (std::ostream &os, const Config< DataConfigT, SensorConfigT > &c)

cv::Mat	montage (int montage_width, int montage_height, const std::vector< cv::Mat > &images, const std::vector< std::string > &labels)
	Create a montage of several images and overlay labels. More...

Reader *	create_reader (const se::ReaderConfig &config)
	Create the appropriate reader instance based on the configuration. More...

ReaderType	string_to_reader_type (const std::string &s)

std::string	reader_type_to_string (ReaderType t)

std::ostream &	operator<< (std::ostream &os, const ReaderConfig &c)

std::ostream &	operator<< (std::ostream &os, const ReaderStatus &s)

Variables
PerfStats	perfstats

static const se::field_t	dflt_tsdf = 1.f

static const se::field_t	dflt_occupancy = 0.f

static const se::weight_t	dflt_weight = 0

static const se::time_stamp_t	dflt_time_stamp = -1.f

static const se::rgba_t	dflt_rgba = 0xFFFFFFFF

static const se::semantics_t	dflt_semantics = 0

constexpr uint64_t	CODE_MASK []
	#define NUM_DIM 3 uint64_t MASK[64]; MASK[0] = 0x1c0000000000000; More...

constexpr uint64_t	SCALE_MASK = 0x1F
	11 111 More...

static Eigen::Vector3f	sample_offset_frac = Eigen::Vector3f::Constant(0.5f)

constexpr float	e_delta = 0.1f

Detailed Description

Helper wrapper to allocate and de-allocate octants in the octree.

Helper wrapper to traverse the octree.

The actual allocation and deallocation of memory is still only handled by the octree class.

All functions take a const octree references and as no manipulation of the octree is done.

Typedef Documentation

◆ Value

using se::Value = typedef float

◆ Status

using se::Status = typedef int

◆ Mesh

template<typename FaceT >

using se::Mesh = typedef std::vector<FaceT>

Meshes are represented as lists of faces.

Bug:: This representation has the inherent problem that there is vertex duplication. A more advanced representation would be needed to alleviate this, e.g. a list of vertices and a list of faces with indices to the list of faces.

◆ Triangle

typedef MeshFace<3> se::Triangle

◆ TriangleMesh

typedef Mesh<Triangle> se::TriangleMesh

◆ Quad

typedef MeshFace<4> se::Quad

◆ QuadMesh

typedef Mesh<Quad> se::QuadMesh

◆ OccupancyData

typedef Data<se::Field::Occupancy, se::Colour::Off, se::Semantics::Off> se::OccupancyData

◆ OccupancyColData

typedef Data<se::Field::Occupancy, se::Colour::On, se::Semantics::Off> se::OccupancyColData

◆ OccupancySemData

typedef Data<se::Field::Occupancy, se::Colour::Off, se::Semantics::On> se::OccupancySemData

◆ OccupancyColSemData

typedef Data<se::Field::Occupancy, se::Colour::On, se::Semantics::On> se::OccupancyColSemData

◆ OccupancyDataConfig

typedef DataConfig<se::Field::Occupancy, se::Colour::Off, se::Semantics::Off> se::OccupancyDataConfig

◆ OccupancyColDataConfig

typedef DataConfig<se::Field::Occupancy, se::Colour::On, se::Semantics::Off> se::OccupancyColDataConfig

◆ OccupancySemDataConfig

typedef DataConfig<se::Field::Occupancy, se::Colour::Off, se::Semantics::On> se::OccupancySemDataConfig

◆ OccupancyColSemDataConfig

typedef DataConfig<se::Field::Occupancy, se::Colour::On, se::Semantics::On> se::OccupancyColSemDataConfig

◆ TSDFData

typedef Data<se::Field::TSDF, se::Colour::Off, se::Semantics::Off> se::TSDFData

◆ TSDFColData

typedef Data<se::Field::TSDF, se::Colour::On, se::Semantics::Off> se::TSDFColData

◆ TSDFSemData

typedef Data<se::Field::TSDF, se::Colour::Off, se::Semantics::On> se::TSDFSemData

◆ TSDFColSemData

typedef Data<se::Field::TSDF, se::Colour::On, se::Semantics::On> se::TSDFColSemData

◆ TSDFDataConfig

typedef DataConfig<se::Field::TSDF, se::Colour::Off, se::Semantics::Off> se::TSDFDataConfig

◆ TSDFColDataConfig

typedef DataConfig<se::Field::TSDF, se::Colour::On, se::Semantics::Off> se::TSDFColDataConfig

◆ TSDFSemDataConfig

typedef DataConfig<se::Field::TSDF, se::Colour::Off, se::Semantics::On> se::TSDFSemDataConfig

◆ TSDFColSemDataConfig

typedef DataConfig<se::Field::TSDF, se::Colour::On, se::Semantics::On> se::TSDFColSemDataConfig

◆ MapD

template<se::Field FldT = se::Field::TSDF, se::Colour ColB = se::Colour::Off, se::Semantics SemB = se::Semantics::Off, se::Res ResT = se::Res::Single, int BlockSize = 8>

using se::MapD = typedef Map<Data<FldT, ColB, SemB>, ResT, BlockSize>

◆ OccupancyMap

template<se::Res ResT = se::Res::Single, int BlockSize = 8>

using se::OccupancyMap = typedef Map<OccupancyData, ResT, BlockSize>

◆ OccupancyColMap

template<se::Res ResT = se::Res::Single, int BlockSize = 8>

using se::OccupancyColMap = typedef Map<OccupancyColData, ResT, BlockSize>

◆ OccupancySemMap

template<se::Res ResT = se::Res::Single, int BlockSize = 8>

using se::OccupancySemMap = typedef Map<OccupancySemData, ResT, BlockSize>

◆ OccupancyColSemMap

template<se::Res ResT = se::Res::Single, int BlockSize = 8>

using se::OccupancyColSemMap = typedef Map<OccupancyColSemData, ResT, BlockSize>

◆ TSDFMap

template<se::Res ResT = se::Res::Single, int BlockSize = 8>

using se::TSDFMap = typedef Map<TSDFData, ResT, BlockSize>

◆ TSDFColMap

template<se::Res ResT = se::Res::Single, int BlockSize = 8>

using se::TSDFColMap = typedef Map<TSDFColData, ResT, BlockSize>

◆ TSDFSemMap

template<se::Res ResT = se::Res::Single, int BlockSize = 8>

using se::TSDFSemMap = typedef Map<TSDFSemData, ResT, BlockSize>

◆ TSDFColSemMap

template<se::Res ResT = se::Res::Single, int BlockSize = 8>

using se::TSDFColSemMap = typedef Map<TSDFColSemData, ResT, BlockSize>

◆ key_t

typedef uint64_t se::key_t

key = 1 bit buffer + 57 bits of morton code + 6 bits of scale information The maxium scale is limited by 57 / 3 = 19 scales

Note: uint64_t has 64 bits We'll use the key to store both, the Morton code and scale information In 3D three bits are required to encode the Morton code at each scale. 21 scales -> 3 bits * 21 = 63 bits; 64 bits - 63 bits = 1 bit to encode unsigned int up to 21 [not possible] 20 scales -> 3 bits * 20 = 60 bits; 64 bits - 60 bits = 4 bits to encode unsigned int up to 20 [not possible] 19 scales -> 3 bits * 19 = 57 bits; 64 bits - 57 bits = 7 bits to encode unsigend int up to 19 [possible]

The tree cannot allocate any depth further than 19 allowing a map size = 524288 * map resolution That is a maximum map size of 1 x 1 x 1 km^3 at 2 mm resolutionThe type of the Key i.e. code | scale

◆ code_t

typedef uint64_t se::code_t

The type of the Morton code.

◆ scale_t

typedef uint64_t se::scale_t

The type of the scale in the morton code.

◆ idx_t

typedef unsigned int se::idx_t

Child or voxel index type.

◆ field_t

typedef float se::field_t

The type of the stored field (e.g. TSDF, ESDF or occupancy)

◆ field_vec_t

typedef Eigen::Matrix<field_t, 3, 1> se::field_vec_t

◆ weight_t

typedef se::field_t se::weight_t

The type of the field type weight.

◆ time_stamp_t

typedef float se::time_stamp_t

The type of the time stamp.

◆ rgba_t

typedef uint32_t se::rgba_t

The type of the colour.

◆ semantics_t

typedef short se::semantics_t

The type of the semantic class.

Enumeration Type Documentation

◆ VarianceState

enum se::VarianceState

strong

Enumerator
Constant
Gradient
Undefined

◆ UncertaintyModel

enum se::UncertaintyModel

strong

DATA CONFIG ///.

Enumerator
Linear
Quadratic

◆ Field

enum se::Field

strong

Enumerator
TSDF
Occupancy

◆ Colour

enum se::Colour

strong

Enumerator
On
Off

◆ Semantics

enum se::Semantics

strong

Enumerator
On
Off

◆ Res

enum se::Res

strong

Enumerator
Single
Multi

◆ Integ

enum se::Integ

strong

Enumerator
Simple
LiDAR
PinholeCamera

◆ Safe

enum se::Safe

strong

Enumerator
On
Off

◆ AllocMeth

enum se::AllocMeth

strong

Enumerator
Raycasting
VoxelCarving

◆ Rep

enum se::Rep

strong

Enumerator
Surface
Freespace

◆ Sort

enum se::Sort

strong

The enum classes to define the sorting templates.

Enumerator
SmallToLarge
LargeToSmall

◆ ReaderType

enum se::ReaderType

strong

Enumerator
OPENNI	Use the se::OpenNIReader.
RAW	Use the se::RAWReader.
TUM	Use the se::TUMReader.
INTERIORNET	Use the se::InteriorNetReader.
NEWERCOLLEGE	Use the se::NewerCollegeReader.
UNKNOWN

◆ ReaderStatus

enum se::ReaderStatus : int

strong

The result of trying to read a depth/RGB image or a pose.

Enumerator
ok	Data read successfully.
skip	Temporary data read error. Further reads might succeed. Typically used to indicate an invalid image or pose.
eof	End of dataset reached.
error	Fatal data read error. No further read should be attempted. Typically used to indicate that the dataset could not be read at all or no camera was found.

Function Documentation

◆ pack_rgba() [1/5]

static uint32_t se::pack_rgba	(	const uint8_t	r,
		const uint8_t	g,
		const uint8_t	b,
		const uint8_t	a
	)

inlinestatic

Pack the individual RGBA channels into a single 32-bit unsigned integer.

The uint32_t is stored in little-endian order in all common CPUs so the alpha channel is stored in the MSB and the red channel in the LSB. Red: bits 0-7 Green: bits 8-15 Blue: bits 16-23 Alpha: bits 24-31

Parameters

[in]	r	The value of the red channel.
[in]	g	The value of the green channel.
[in]	b	The value of the blue channel.
[in]	a	The value of the alpha channel.

Returns: The 32-bit unsigned integer RGBA value.

◆ pack_rgba() [2/5]

static uint32_t se::pack_rgba ( const Eigen::Vector4f & color )

inlinestatic

Pack a color stored in an Eigen vector into a single 32-bit unsigned integer.

It is assumed that the R, G, B and A channels are stored in the x, y, z and w members respectively. Their values are assumed to be in the range [0, 1].

Parameters

[in] color The input color as an Eigen Vector.

Returns: The 32-bit unsigned integer RGBA value.

◆ pack_rgba() [3/5]

static uint32_t se::pack_rgba ( const Eigen::Vector3f & color )

inlinestatic

Pack a color stored in an Eigen vector into a single 32-bit unsigned integer.

It is assumed that the R, G and B channels are stored in the x, y and z members respectively. Their values are assumed to be in the range [0, 1]. The alpha channel is assumed to be completely opaque, e.g. 1.

Parameters

[in] color The input color as an Eigen Vector.

Returns: The 32-bit unsigned integer RGBA value.

◆ pack_rgba() [4/5]

static uint32_t se::pack_rgba ( const Eigen::Vector4i & color )

inlinestatic

Pack a color stored in an Eigen vector into a single 32-bit unsigned integer.

It is assumed that the R, G, B and A channels are stored in the x, y, z and w members respectively. Their values are assumed to be in the range [0x00, 0xFF].

Parameters

[in] color The input color as an Eigen Vector.

Returns: The 32-bit unsigned integer RGBA value.

◆ pack_rgba() [5/5]

static uint32_t se::pack_rgba ( const Eigen::Vector3i & color )

inlinestatic

Pack a color stored in an Eigen vector into a single 32-bit unsigned integer.

It is assumed that the R, G and B channels are stored in the x, y and z members respectively. Their values are assumed to be in the range [0x00, 0xFF]. The alpha channel is assumed to be completely opaque, e.g. 0xFF.

Parameters

[in] color The input color as an Eigen Vector.

Returns: The 32-bit unsigned integer RGBA value.

◆ r_from_rgba()

static uint8_t se::r_from_rgba ( const uint32_t rgba )

inlinestatic

Get the value of the red channel from a 32-bit packed RGBA value.

Parameters

[in] rgba The 32-bit packed RGBA value.

Returns: The value of the red channel.

◆ g_from_rgba()

static uint8_t se::g_from_rgba ( const uint32_t rgba )

inlinestatic

Get the value of the green channel from a 32-bit packed RGBA value.

Parameters

[in] rgba The 32-bit packed RGBA value.

Returns: The value of the green channel.

◆ b_from_rgba()

static uint8_t se::b_from_rgba ( const uint32_t rgba )

inlinestatic

Get the value of the blue channel from a 32-bit packed RGBA value.

Parameters

[in] rgba The 32-bit packed RGBA value.

Returns: The value of the blue channel.

◆ a_from_rgba()

static uint8_t se::a_from_rgba ( const uint32_t rgba )

inlinestatic

Get the value of the alpha channel from a 32-bit packed RGBA value.

Parameters

[in] rgba The 32-bit packed RGBA value.

Returns: The value of the alpha channel.

◆ blend()

static uint32_t se::blend	(	const uint32_t	rgba_1,
		const uint32_t	rgba_2,
		const float	alpha
	)

inlinestatic

Blend two RGBA colors based on the value of the blending parameter alpha.

Returns a color alpha * rgba_1 + (1 - alpha) * rgba_2. The values of alpha are assumed to be in the range [0, 1].

Note: Code from https://stackoverflow.com/a/12016968

Parameters

[in]	rgba_1	A 32-bit packed RGBA value.
[in]	rgba_2	A 32-bit packed RGBA value.
[in]	alpha	The value of the blending parameter.

Returns: The 32-bit RGBA value of the blended color.

Warning: Swapping the rgba_1 with rgba_2 while keeping the same value for alpha will not always produce the same result.

◆ rgb_to_rgba()

static void se::rgb_to_rgba	(	const uint8_t *	rgb,
		uint32_t *	rgba,
		size_t	num_pixels
	)

inlinestatic

◆ rgba_to_rgb()

static void se::rgba_to_rgb	(	const uint32_t *	rgba,
		uint8_t *	rgb,
		size_t	num_pixels
	)

inlinestatic

◆ depth_to_rgba()

void se::depth_to_rgba	(	uint32_t *	depth_RGBA_image_data,
		const float *	depth_image_data,
		const Eigen::Vector2i &	depth_image_res,
		const float	min_depth,
		const float	max_depth
	)

Convert a depth image to an RGBA image to allow visualizing it.

The depth image is scaled using the minimum and maximum depth values to increase contrast.

Parameters

[in]	depth_RGBA_image_data	Pointer to the ouput RGBA image data.
[in]	depth_image_data	Pointer to the input depth image data.
[in]	depth_image_res	Resolution of the depth image in pixels (width and height).
[in]	min_depth	The minimum possible depth value.
[in]	max_depth	The maximum possible depth value.

◆ save_depth_png() [1/2]

int se::save_depth_png	(	const float *	depth_image_data,
		const Eigen::Vector2i &	depth_image_res,
		const std::string &	filename,
		const float	scale = `1000.0f`
	)

Save a depth image with depth values in metres to a PNG.

The data is saved in a 16-bit image with the depth values scaled by scale.

Parameters

[in]	depth_image_data	Pointer to the float image data.
[in]	depth_image_res	Resolution of the depth image in pixels (width and height).
[in]	filename	The name of the PNG file to create.
[in]	scale	The number each float depth value is multiplied with before being converted to a uint16_t. By default the resulting PNG contains depth values in millimetres.

Returns: 0 on success, nonzero on error.

◆ save_depth_png() [2/2]

int se::save_depth_png	(	const uint16_t *	depth_image_data,
		const Eigen::Vector2i &	depth_image_res,
		const std::string &	filename
	)

Save a depth image with depth values in millimetres to a PNG.

Parameters

[in]	depth_image_data	Pointer to the 16-bit image data.
[in]	depth_image_res	Resolution of the depth image in pixels (width and height).
[in]	filename	The name of the PNG file to create.

Returns: 0 on success, nonzero on error.

◆ load_depth_png() [1/2]

int se::load_depth_png	(	float **	depth_image_data,
		Eigen::Vector2i &	depth_image_res,
		const std::string &	filename,
		const float	inverse_scale = `1.0f/1000.0f`
	)

Load a PNG depth image into a buffer with depth values in metres.

Parameters

[in]	depth_image_data	Pointer to the loaded float image data.
[in]	depth_image_res	Resolution of the depth image in pixels (width and height).
[in]	filename	The name of the PNG file to load.
[in]	inverse_scale	The number each uint16_t depth value is multiplied with in order to convert it to a float value in metres. By default the resulting PNG is assumed to contain depth values in millimetres.

Returns: 0 on success, nonzero on error.

Warning: The memory for the image buffer is allocated inside this function. delete[] *depth_image_data must be called to free the memory. width * height * sizeof(float) bytes are allocated.

◆ load_depth_png() [2/2]

int se::load_depth_png	(	uint16_t **	depth_image_data,
		Eigen::Vector2i &	depth_image_res,
		const std::string &	filename
	)

Load a PNG depth image into a buffer with depth values in millimetres.

Parameters

[in]	depth_image_data	Pointer to the loaded 16-bit image data.
[in]	depth_image_res	Resolution of the depth image in pixels (width and height).
[in]	filename	The name of the PNG file to load.

Returns: 0 on success, nonzero on error.

Warning: The memory for the image buffer is allocated inside this function. delete[] *depth_image_data must be called to free the memory. width * height * sizeof(uint16_t) bytes are allocated.

◆ save_depth_pgm() [1/2]

int se::save_depth_pgm	(	const float *	depth_image_data,
		const Eigen::Vector2i &	depth_image_res,
		const std::string &	filename,
		const float	scale = `1000.0f`
	)

Save a depth image with depth values in metres to a P2 PGM.

The data is saved in a 16-bit image with the depth values scaled by scale.

Note: For documentation on the structure of P2 PGM images see here https://en.wikipedia.org/wiki/Netpbm_format

Parameters

[in]	depth_image_data	Pointer to the float image data.
[in]	depth_image_res	Resolution of the depth image in pixels (width and height).
[in]	filename	The name of the PGM file to create.
[in]	scale	The number each float depth value is multiplied with before being converted to a uint16_t. By default the resulting PNG contains depth values in millimetres.

Returns: 0 on success, nonzero on error.

◆ save_depth_pgm() [2/2]

int se::save_depth_pgm	(	const uint16_t *	depth_image_data,
		const Eigen::Vector2i &	depth_image_res,
		const std::string &	filename
	)

Save a depth image with depth values in millimetres to a P2 PGM.

Note: For documentation on the structure of P2 PGM images see here https://en.wikipedia.org/wiki/Netpbm_format

Parameters

[in]	depth_image_data	Pointer to the 16-bit image data.
[in]	depth_image_res	Resolution of the depth image in pixels (width and height).
[in]	filename	The name of the PGM file to create.

Returns: 0 on success, nonzero on error.

◆ load_depth_pgm() [1/2]

int se::load_depth_pgm	(	float **	depth_image_data,
		Eigen::Vector2i &	depth_image_res,
		const std::string &	filename,
		const float	inverse_scale = `1.0f/1000.0f`
	)

Load a P2 PGM depth image into a buffer with depth values in metres.

Parameters

[in]	depth_image_data	Pointer to the loaded float image data.
[in]	depth_image_res	Resolution of the depth image in pixels (width and height).
[in]	filename	The name of the PGM file to load.
[in]	inverse_scale	The number each uint16_t depth value is multiplied with in order to convert it to a float value in metres. By default the resulting PNG is assumed to contain depth values in millimetres.

Returns: 0 on success, nonzero on error.

Warning: The memory for the image buffer is allocated inside this function. delete[] *depth_image_data must be called to free the memory. width * height * sizeof(float) bytes are allocated.

◆ load_depth_pgm() [2/2]

int se::load_depth_pgm	(	uint16_t **	depth_image_data,
		Eigen::Vector2i &	depth_image_res,
		const std::string &	filename
	)

Load a P2 PGM depth image into a buffer with depth values in millimeters.

Parameters

[in]	depth_image_data	Pointer to the loaded 16-bit image data.
[in]	depth_image_res	Resolution of the depth image in pixels (width and height).
[in]	filename	The name of the PGM file to load.

Returns: 0 on success, nonzero on error.

Warning: The memory for the image buffer is allocated inside this function. delete[] *depth_image_data must be called to free the memory. width * height * sizeof(uint16_t) bytes are allocated.

◆ round_pixel()

static Eigen::Vector2i se::round_pixel ( const Eigen::Vector2f & pixel_f )

inlinestatic

◆ convert_to_output_rgba_img()

static void se::convert_to_output_rgba_img	(	const se::Image< uint32_t > &	input_rgba_img,
		uint32_t *	output_rgba_img_data
	)

static

◆ convert_to_output_depth_img() [1/2]

static void se::convert_to_output_depth_img	(	const se::Image< float > &	input_depth_img,
		uint32_t *	output_depth_img_data
	)

static

◆ convert_to_output_depth_img() [2/2]

static void se::convert_to_output_depth_img	(	const se::Image< float > &	input_depth_img,
		const float	min_depth,
		const float	max_depth,
		uint32_t *	output_depth_img_data
	)

static

◆ get_sample_coord()

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

inlinestatic

compute the sample coordinates for a given octant coordinate

Parameters

octant_coord	The octant coordinates
octant_size	The size of the octant
sample_offset_frac	The offset fraction of the sample point to the octant corner, i.e. (0,0,0) for octant corner and (0.5, 0.5, 0.5) for octant centre

Returns: The octant sample coordinates

◆ compute_three_sigma()

template<typename ConfigT >

float se::compute_three_sigma	(	const se::field_t	depth_value,
		const float	sigma_min,
		const float	sigma_max,
		const ConfigT	config
	)

inline

Compute the estimated uncertainty boundary for a given depth measurement.

Parameters

[in] depth_value The measured depth of the depth image.

Returns: Three sigma uncertainty.

◆ compute_tau()

template<typename ConfigT >

float se::compute_tau	(	const se::field_t	depth_value,
		const float	tau_min,
		const float	tau_max,
		const ConfigT	config
	)

inline

Compute the estimated wall thickness tau for a given depth measurement.

Parameters

[in] depth_value The measured depth of the depth image.

Returns: The estimated wall thickness.

◆ octree_structure_mesh()

template<typename OctreeT >

QuadMesh se::octree_structure_mesh ( OctreeT & octree )

Extract the octree structure as a quadrilateral mesh.

Template Parameters

OctreeT

Parameters

octree The octree to extract the structure from.

Returns: A quadrilateral mesh.

◆ operator<<() [1/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const FieldDataConfig< se::Field::Occupancy > &	c
	)

◆ operator<<() [2/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const FieldDataConfig< se::Field::TSDF > &	c
	)

◆ operator<<() [3/15]

template<se::Colour ColB>

std::ostream& se::operator<<	(	std::ostream &	os,
		const ColourDataConfig< ColB > &
	)

◆ operator<<() [4/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const ColourDataConfig< se::Colour::On > &	c
	)

◆ operator<<() [5/15]

template<se::Semantics SemB>

std::ostream& se::operator<<	(	std::ostream &	os,
		const SemanticDataConfig< SemB > &
	)

◆ operator<<() [6/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const SemanticDataConfig< se::Semantics::On > &	c
	)

◆ operator<<() [7/15]

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>

std::ostream& se::operator<<	(	std::ostream &	os,
		const DataConfig< FldT, ColB, SemB > &	c
	)

◆ set_invalid() [1/3]

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>

void se::set_invalid ( Data< FldT, ColB, SemB > & data )

inline

◆ set_invalid() [2/3]

template<se::Colour ColB, se::Semantics SemB>

void se::set_invalid ( Data< se::Field::TSDF, ColB, SemB > & data )

inline

◆ set_invalid() [3/3]

template<se::Colour ColB, se::Semantics SemB>

void se::set_invalid ( Data< se::Field::Occupancy, ColB, SemB > & data )

inline

◆ is_valid() [1/3]

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>

bool se::is_valid ( const Data< FldT, ColB, SemB > & data )

inline

◆ is_valid() [2/3]

template<se::Colour ColB, se::Semantics SemB>

bool se::is_valid ( const Data< se::Field::TSDF, ColB, SemB > & data )

inline

◆ is_valid() [3/3]

template<se::Colour ColB, se::Semantics SemB>

bool se::is_valid ( const Data< se::Field::Occupancy, ColB, SemB > & data )

inline

◆ is_invalid() [1/3]

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>

bool se::is_invalid ( const Data< FldT, ColB, SemB > & data )

inline

◆ is_invalid() [2/3]

template<se::Colour ColB, se::Semantics SemB>

bool se::is_invalid ( const Data< se::Field::TSDF, ColB, SemB > & data )

inline

◆ is_invalid() [3/3]

template<se::Colour ColB, se::Semantics SemB>

bool se::is_invalid ( const Data< se::Field::Occupancy, ColB, SemB > & data )

inline

◆ get_field() [1/3]

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>

float se::get_field ( const Data< FldT, ColB, SemB > data )

inline

◆ get_field() [2/3]

template<se::Colour ColB, se::Semantics SemB>

float se::get_field ( const Data< se::Field::TSDF, ColB, SemB > data )

inline

◆ get_field() [3/3]

template<se::Colour ColB, se::Semantics SemB>

float se::get_field ( const Data< se::Field::Occupancy, ColB, SemB > data )

inline

◆ is_inside() [1/3]

template<se::Field FldT, se::Colour ColB, se::Semantics SemB>

float se::is_inside ( const Data< FldT, ColB, SemB > & data )

inline

◆ is_inside() [2/3]

template<se::Colour ColB, se::Semantics SemB>

float se::is_inside ( const Data< se::Field::TSDF, ColB, SemB > & data )

inline

◆ is_inside() [3/3]

template<se::Colour ColB, se::Semantics SemB>

float se::is_inside ( const Data< se::Field::Occupancy, ColB, SemB > & data )

inline

◆ operator<<() [8/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const MapConfig &	c
	)

◆ get_child_idx()

template<typename NodeT >

void se::get_child_idx	(	const Eigen::Vector3i &	octant_coord,
		NodeT *	node_ptr,
		unsigned int &	child_idx
	)

inline

Get the child idx for a given child coordinate and pointer to the parent node.

Warning: The function requires a pointer to the actual node rather than the se::OctantBase*.

Template Parameters

NodeT

Parameters

[in]	child_coord	The voxel coordinates of the child
[in]	parent_ptr	The pointer to the parent node

Returns: The child index

◆ operator<<() [9/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const OusterLidarConfig &	c
	)

◆ operator<<() [10/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const PinholeCameraConfig &	c
	)

◆ operator<<() [11/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const TrackerConfig &	c
	)

◆ makeJTJ()

static Eigen::Matrix<float, 6, 6> se::makeJTJ ( const Eigen::Matrix< float, 1, 21 > & v )

inlinestatic

◆ solve()

static Eigen::Matrix<float, 6, 1> se::solve ( const Eigen::Matrix< float, 1, 27 > & vals )

inlinestatic

◆ operator<<() [12/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const AppConfig &	c
	)

◆ operator<<() [13/15]

template<typename DataConfigT , typename SensorConfigT >

std::ostream& se::operator<<	(	std::ostream &	os,
		const Config< DataConfigT, SensorConfigT > &	c
	)

◆ montage()

cv::Mat se::montage	(	int	montage_width,
		int	montage_height,
		const std::vector< cv::Mat > &	images,
		const std::vector< std::string > &	labels
	)

Create a montage of several images and overlay labels.

The montage image is filled with images in row-major order. If fewer than montage_width * montage_height images are supplied then the montage image will have some transparent regions. If fewer labels than images are provided then the last images won't have a label.

For montage_width = 3, montage_height = 2, 5 images and 3 labels the following montage will be created

┌───────────┬───────────┬───────────┐
│ images[0] │ images[1] │ images[2] │
│ labels[0] │ labels[1] │ labels[2] │
├───────────┼───────────┼───────────┤
│ images[3] │ images[4] │           │
│           │           │           │
└───────────┴───────────┴───────────┘

Warning: It is assumed that the dimensions of all images are the same and that their type is CV_8UC4.

Parameters

[in]	montage_width	The width of the montage image in images.
[in]	montage_height	The height of the montage image in images.
[in]	images	The images to montage.
[in]	labels	The labels corresponding to the images to montage.

Returns: A montage image from the supplied images and labels.

◆ create_reader()

Reader* se::create_reader ( const se::ReaderConfig & config )

Create the appropriate reader instance based on the configuration.

Parameters

[in] config The pipeline configuration.

Returns: A pointer to an instance of a class derived from Reader.

◆ string_to_reader_type()

ReaderType se::string_to_reader_type ( const std::string & s )

◆ reader_type_to_string()

std::string se::reader_type_to_string ( ReaderType t )

◆ operator<<() [14/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const ReaderConfig &	c
	)

◆ operator<<() [15/15]

std::ostream& se::operator<<	(	std::ostream &	os,
		const ReaderStatus &	s
	)

Variable Documentation

◆ perfstats

PerfStats se::perfstats

◆ dflt_tsdf

const se::field_t se::dflt_tsdf = 1.f

static

◆ dflt_occupancy

const se::field_t se::dflt_occupancy = 0.f

static

◆ dflt_weight

const se::weight_t se::dflt_weight = 0

static

◆ dflt_time_stamp

const se::time_stamp_t se::dflt_time_stamp = -1.f

static

◆ dflt_rgba

const se::rgba_t se::dflt_rgba = 0xFFFFFFFF

static

◆ dflt_semantics

const se::semantics_t se::dflt_semantics = 0

static

◆ CODE_MASK

constexpr uint64_t se::CODE_MASK[]

Initial value:

= { 
    0x1ffffffffffffff,
    0x1fffffffffffff8,
    0x1ffffffffffffc0,
    0x1fffffffffffe00,
    0x1fffffffffff000,
    0x1ffffffffff8000,
    0x1fffffffffc0000,
    0x1ffffffffe00000,
    0x1ffffffff000000,
    0x1fffffff8000000,
    0x1ffffffc0000000,
    0x1fffffe00000000,
    0x1fffff000000000,
    0x1ffff8000000000,
    0x1fffc0000000000,
    0x1ffe00000000000,
    0x1ff000000000000,
    0x1f8000000000000,
    0x1c0000000000000}

#define NUM_DIM 3 uint64_t MASK[64]; MASK[0] = 0x1c0000000000000;

for (int i = 1; i < 19; ++i) { MASK[i] = MASK[i-1] | (MASK[0] >> (i*3)); }

for (int i = 18; i >= 0; –i) { std::bitset<64> b(MASK[i]); std::cout << "0x" << std::hex << b.to_ullong() << "," << std::endl; }

◆ SCALE_MASK

constexpr uint64_t se::SCALE_MASK = 0x1F

11 111

◆ sample_offset_frac

Eigen::Vector3f se::sample_offset_frac = Eigen::Vector3f::Constant(0.5f)

inlinestatic

◆ e_delta

constexpr float se::e_delta = 0.1f

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ Value

◆ Status

◆ Mesh

◆ Triangle

◆ TriangleMesh

◆ Quad

◆ QuadMesh

◆ OccupancyData

◆ OccupancyColData

◆ OccupancySemData

◆ OccupancyColSemData

◆ OccupancyDataConfig

◆ OccupancyColDataConfig

◆ OccupancySemDataConfig

◆ OccupancyColSemDataConfig

◆ TSDFData

◆ TSDFColData

◆ TSDFSemData

◆ TSDFColSemData

◆ TSDFDataConfig

◆ TSDFColDataConfig

◆ TSDFSemDataConfig

◆ TSDFColSemDataConfig

◆ MapD

◆ OccupancyMap

◆ OccupancyColMap

◆ OccupancySemMap

◆ OccupancyColSemMap

◆ TSDFMap

◆ TSDFColMap

◆ TSDFSemMap

◆ TSDFColSemMap

◆ key_t

◆ code_t

◆ scale_t

◆ idx_t

◆ field_t

◆ field_vec_t

◆ weight_t

◆ time_stamp_t

◆ rgba_t

◆ semantics_t

Enumeration Type Documentation

◆ VarianceState

◆ UncertaintyModel

◆ Field

◆ Colour

◆ Semantics

◆ Res

◆ Integ

◆ Safe

◆ AllocMeth

◆ Rep

◆ Sort

◆ ReaderType

◆ ReaderStatus

Function Documentation

◆ pack_rgba() [1/5]

◆ pack_rgba() [2/5]

◆ pack_rgba() [3/5]

◆ pack_rgba() [4/5]

◆ pack_rgba() [5/5]

◆ r_from_rgba()

◆ g_from_rgba()

◆ b_from_rgba()

◆ a_from_rgba()

◆ blend()

◆ rgb_to_rgba()

◆ rgba_to_rgb()

◆ depth_to_rgba()

◆ save_depth_png() [1/2]

◆ save_depth_png() [2/2]