se::raycaster Namespace Reference

Functions
void	point_cloud_to_normal (se::Image< Eigen::Vector3f > &normals, const se::Image< Eigen::Vector3f > &point_cloud, const bool is_lhc=false)
template<typename MapT >
std::enable_if_t< MapT::fld_==se::Field::Occupancy, std::optional< Eigen::Vector4f > >	raycast (MapT &map, const typename MapT::OctreeType &octree, const Eigen::Vector3f &ray_origin_W, const Eigen::Vector3f &ray_dir_W, const float t_near, const float t_far, const float mu, const float step, const float largestep)
template<typename MapT >
std::enable_if_t< MapT::fld_==se::Field::TSDF, std::optional< Eigen::Vector4f > >	raycast (MapT &map, const typename MapT::OctreeType &octree, const Eigen::Vector3f &ray_origin_W, const Eigen::Vector3f &ray_dir_W, const float t_near, const float t_far, const float mu, const float step, const float largestep)
template<typename MapT , typename SensorT >
void	raycast_volume (const MapT &map, se::Image< Eigen::Vector3f > &surface_point_cloud_W, se::Image< Eigen::Vector3f > &surface_normals_W, se::Image< int8_t > &surface_scale, const Eigen::Matrix4f &T_WS, const SensorT &sensor)
void	render_volume_kernel (uint32_t *volume_RGBA_image_data, const Eigen::Vector2i &volume_RGBA_image_res, const Eigen::Vector3f &light_W, const Eigen::Vector3f &ambient_W, const se::Image< Eigen::Vector3f > &surface_point_cloud_W, const se::Image< Eigen::Vector3f > &surface_normals_W, const se::Image< int8_t > &surface_scale)

Function Documentation

point_cloud_to_normal()

void se::raycaster::point_cloud_to_normal	(	se::Image< Eigen::Vector3f > &	normals,
		const se::Image< Eigen::Vector3f > &	point_cloud,
		const bool	is_lhc = false
	)

raycast() [1/2]

template<typename MapT >

std::enable_if_t<MapT::fld_ == se::Field::Occupancy, std::optional<Eigen::Vector4f> > se::raycaster::raycast ( MapT &  map, const typename MapT::OctreeType &  octree, const Eigen::Vector3f &  ray_origin_W, const Eigen::Vector3f &  ray_dir_W, const float  t_near, const float  t_far, const float  mu, const float  step, const float  largestep  )

inline

raycast() [2/2]

template<typename MapT >

std::enable_if_t<MapT::fld_ == se::Field::TSDF, std::optional<Eigen::Vector4f> > se::raycaster::raycast ( MapT &  map, const typename MapT::OctreeType &  octree, const Eigen::Vector3f &  ray_origin_W, const Eigen::Vector3f &  ray_dir_W, const float  t_near, const float  t_far, const float  mu, const float  step, const float  largestep  )

inline

raycast_volume()

template<typename MapT , typename SensorT >

void se::raycaster::raycast_volume	(	const MapT &	map,
		se::Image< Eigen::Vector3f > &	surface_point_cloud_W,
		se::Image< Eigen::Vector3f > &	surface_normals_W,
		se::Image< int8_t > &	surface_scale,
		const Eigen::Matrix4f &	T_WS,
		const SensorT &	sensor
	)

render_volume_kernel()

void se::raycaster::render_volume_kernel	(	uint32_t *	volume_RGBA_image_data,
		const Eigen::Vector2i &	volume_RGBA_image_res,
		const Eigen::Vector3f &	light_W,
		const Eigen::Vector3f &	ambient_W,
		const se::Image< Eigen::Vector3f > &	surface_point_cloud_W,
		const se::Image< Eigen::Vector3f > &	surface_normals_W,
		const se::Image< int8_t > &	surface_scale
	)