se::fetcher Namespace Reference

Functions
template<typename MapT , typename SensorT >
std::vector< se::OctantBase * >	frustum (MapT &map, const SensorT &sensor, const Eigen::Matrix4f &T_WS)
	Return the currently allocated Blocks that intersect the camera frustum. More...
template<typename OctreeT >
se::OctantBase *	octant (const Eigen::Vector3i &octant_coord, const se::scale_t scale_desired, se::OctantBase *base_parent_ptr)
	Fetch the octant for given coordinates and scale. More...
template<typename OctreeT >
se::OctantBase *	finest_octant (const Eigen::Vector3i &octant_coord, const se::scale_t scale_desired, se::OctantBase *base_parent_ptr)
	Fetch the octant for given coordinates and scale. More...
template<typename OctreeT >
se::OctantBase *	block (const Eigen::Vector3i &block_coord, se::OctantBase *base_parent_ptr)
	Fetch the block for given block coordinates. More...
template<typename OctreeT >
se::OctantBase *	leaf (const Eigen::Vector3i &leaf_coord, se::OctantBase *base_parent_ptr)
	Fetch the leaf for given block coordinates. More...

Function Documentation

frustum()

template<typename MapT , typename SensorT >

std::vector< se::OctantBase * > se::fetcher::frustum ( MapT &  map, const SensorT &  sensor, const Eigen::Matrix4f &  T_WS  )

inline

Return the currently allocated Blocks that intersect the camera frustum.

Some false positives might be returned since Blocks are approximated by their bounding spheres and because sphereInFrustum() may return false positives in rare cases.

Template Parameters

MapT	The map type.
SensorT	The sensor type.

Parameters

map	The map to fetch Blocks from.
sensor	The sensor whose frustum is used for the test.
T_WS	The pose of the sensor in the world frame.

Returns

A vector of pointers to Blocks that intersect the sensor frustum.

octant()

template<typename OctreeT >

se::OctantBase* se::fetcher::octant ( const Eigen::Vector3i &  octant_coord, const se::scale_t  scale_desired, se::OctantBase *  base_parent_ptr  )

inline

Fetch the octant for given coordinates and scale.

Template Parameters

OctreeT

Parameters

octant_coord	The coordinates of the octant to be fetched
scale_desired	The scale of the node to be fetched
base_parent_ptr	The parent pointer to start the fetching process from (e.g. the octrees root)

Returns

The pointer to the octant if it is allocated, nullptr otherwise

finest_octant()

template<typename OctreeT >

se::OctantBase* se::fetcher::finest_octant ( const Eigen::Vector3i &  octant_coord, const se::scale_t  scale_desired, se::OctantBase *  base_parent_ptr  )

inline

Fetch the octant for given coordinates and scale.

Returnes the finest allocated octant up to the desired scale

Template Parameters

OctreeT

Parameters

octant_coord	The coordinates of the octant to be fetched
scale_desired	The scale of the node to be fetched
base_parent_ptr	The parent pointer to start the fetching process from (e.g. the octrees root)

Returns

The pointer to the finest allocated octant up to the desired scale

block()

template<typename OctreeT >

se::OctantBase* se::fetcher::block ( const Eigen::Vector3i &  block_coord, se::OctantBase *  base_parent_ptr  )

inline

Fetch the block for given block coordinates.

Template Parameters

OctreeT

Parameters

block_coord	The coordinates of the block to be fetched
base_parent_ptr	The parent pointer to start the fetching process from (e.g. the octrees root)

Returns

The pointer to the block if allocated, nullptr otherwise

leaf()

template<typename OctreeT >

se::OctantBase* se::fetcher::leaf ( const Eigen::Vector3i &  leaf_coord, se::OctantBase *  base_parent_ptr  )

inline

Fetch the leaf for given block coordinates.

Template Parameters

OctreeT

Parameters

leaf_coord	The coordinates of the block to be fetched
base_parent_ptr	The parent pointer to start the fetching process from (e.g. the octrees root)

Returns

The pointer to the leaf