se::allocator Namespace Reference

Namespaces
	detail

Functions
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)
	Allocate frustum in band around the surface. More...
template<typename OctreeT >
se::OctantBase *	block (const Eigen::Vector3i &voxel_coord, OctreeT &octree, se::OctantBase *base_parent_ptr)
	Allocate a block at the provided voxel coordinates. More...
template<typename OctreeT >
se::OctantBase *	block (const se::key_t voxel_key, OctreeT &octree, se::OctantBase *base_parent_ptr)
template<typename OctreeT >
std::vector< se::OctantBase * >	blocks (const std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i >> &voxel_coords, OctreeT &octree, se::OctantBase *base_parent_ptr, const bool only_allocated=false)
	Allocate Blocks at the provided voxel coordinates. More...
template<typename OctreeT >
std::vector< se::OctantBase * >	blocks (std::vector< se::key_t > &voxel_keys, OctreeT &octree, se::OctantBase *base_parent_ptr, const bool only_allocated=false)
	Allocate Blocks at the provided voxel Morton codes. More...

Function Documentation

frustum()

template<typename MapT , typename SensorT >

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

Allocate frustum in band around the surface.

Template Parameters

MapT
SensorT

Parameters

[in]	map	The reference to the map
[in]	sensor	The sensor use for the projection
[in]	depth_img	The sensor depth image
[in]	T_WS	The transformation from sensor to world frame
[in]	band	The size of the band allocated around the surface

Returns

The allocated and fetched notes in the band around the surface measurements

block() [1/2]

template<typename OctreeT >

se::OctantBase* se::allocator::block ( const Eigen::Vector3i &  voxel_coord, OctreeT &  octree, se::OctantBase *  base_parent_ptr  )

inline

Allocate a block at the provided voxel coordinates.

Template Parameters

OctreeT

The Octree template

Parameters

[in]	voxel_coord	The 3D coordinates of a voxel within the block
[in]	octree	The octree to allocate the block in
[in]	base_parent_ptr	The starting node pointer (default nullptr will be replaced with octree root)

Returns

A block pointer to the allocated block

block() [2/2]

template<typename OctreeT >

se::OctantBase* se::allocator::block ( const se::key_t  voxel_key, OctreeT &  octree, se::OctantBase *  base_parent_ptr  )

inline

blocks() [1/2]

template<typename OctreeT >

std::vector<se::OctantBase*> se::allocator::blocks	(	const std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i >> &	voxel_coords,
		OctreeT &	octree,
		se::OctantBase *	base_parent_ptr,
		const bool	only_allocated = false
	)

Allocate Blocks at the provided voxel coordinates.

Template Parameters

OctreeT

The Octree template.

Parameters

[in]	voxel_coords	The 3D coordinates of a voxel within each block.
[in]	octree	The octree to allocate the blocks in.
[in]	base_parent_ptr	The starting node pointer. A nullptr will be replaced with the octree root.
[in]	only_allocated	Return pointers only for the newly allocated Blocks instead of all the Blocks corresponding to the coordinates in voxel_coords.

Returns

Pointers to the allocated Octants.

blocks() [2/2]

template<typename OctreeT >

std::vector<se::OctantBase*> se::allocator::blocks	(	std::vector< se::key_t > &	voxel_keys,
		OctreeT &	octree,
		se::OctantBase *	base_parent_ptr,
		const bool	only_allocated = false
	)

Allocate Blocks at the provided voxel Morton codes.

Template Parameters

OctreeT

The Octree template.

Parameters

[in]	voxel_keys	The Morton code of a voxel within each block.
[in]	octree	The octree to allocate the blocks in.
[in]	base_parent_ptr	The starting node pointer. A nullptr will be replaced with the octree root.
[in]	only_allocated	Return pointers only for the newly allocated Blocks instead of all the Blocks corresponding to the Morton codes in voxel_keys.

Returns

Pointers to the allocated Octants.