Functions
template<typename DataT >
bool	weighted_mean_update (DataT &data, const se::field_t sample_value, const se::weight_t max_weight)
	Update the weighted mean log-odd octant occupancy and set the octant to observed. More...

template<typename DataT , typename ConfigT >
bool	update_voxel (DataT &data, const float range_diff, const float tau, const float three_sigma, const ConfigT config)
	Update a field with a new measurement, a weighting of 1 is considered for the new measurement. More...

template<typename DataT , typename ConfigT >
void	free_node (DataT &node_data, const ConfigT config)
	Reduce the node data by the minimum log-odd occupancy update per iteration. More...

template<typename DataT , typename ConfigT >
bool	free_voxel (DataT &voxel_data, const ConfigT config)
	Reduce the node data by the minimum log-odd occupancy update per iteration. More...

template<typename NodeT , typename BlockT >
NodeT::DataType	propagate_to_parent_node (se::OctantBase *octant_ptr, const unsigned int frame)
	Propagate a summary of the eight nodes children to its parent. More...

template<typename BlockT >
void	propagate_block_to_coarsest_scale (se::OctantBase *octant_ptr)
	Summariese the values from the current integration scale recursively up to the block's max scale. More...

Function Documentation

◆ weighted_mean_update()

template<typename DataT >

bool se::updater::weighted_mean_update	(	DataT &	data,
		const se::field_t	sample_value,
		const se::weight_t	max_weight
	)

inline

Update the weighted mean log-odd octant occupancy and set the octant to observed.

Parameters

[in,out]	data	The data in the octant.
[in]	sample_value	The sample occupancy to be integrated.

Returns: True/false if the voxel has been observed the first time

◆ update_voxel()

template<typename DataT , typename ConfigT >

bool se::updater::update_voxel	(	DataT &	data,
		const float	range_diff,
		const float	tau,
		const float	three_sigma,
		const ConfigT	config
	)

inline

Update a field with a new measurement, a weighting of 1 is considered for the new measurement.

Parameters

[in]	range_diff	The range difference between the voxel sample point and the depth value of the reprojection.
[in]	tau	The estimated wall thickness.
[in]	three_sigma	The 3x sigma uncertainty.
[in,out]	voxel_data	The reference to the voxel data of the voxel to be updated.

Returns: True/false if the node has been observed the first time

◆ free_node()

template<typename DataT , typename ConfigT >

void se::updater::free_node	(	DataT &	node_data,
		const ConfigT	config
	)

inline

Reduce the node data by the minimum log-odd occupancy update per iteration.

This function can be used to faster update a octant if it's know that it is in free space. The aim is to increase computation time by avoiding to compute the sample value from scratch.

Parameters

[in,out] node_data The reference to the node data.

◆ free_voxel()

template<typename DataT , typename ConfigT >

bool se::updater::free_voxel	(	DataT &	voxel_data,
		const ConfigT	config
	)

inline

Reduce the node data by the minimum log-odd occupancy update per iteration.

This function can be used to faster update a octant if it's know that it is in free space. The aim is to increase computation time by avoiding to compute the sample value from scratch.

Parameters

[in,out] node_data The reference to the node data.

◆ propagate_to_parent_node()

template<typename NodeT , typename BlockT >

NodeT::DataType se::updater::propagate_to_parent_node	(	se::OctantBase *	octant_ptr,
		const unsigned int	frame
	)

inline

Propagate a summary of the eight nodes children to its parent.

Parameters

[in]	node	Node to be summariesed
[in]	voxel_depth	Maximum depth of the octree
[in]	frame	Current frame

Returns: data Summary of the node

◆ propagate_block_to_coarsest_scale()

template<typename BlockT >

void se::updater::propagate_block_to_coarsest_scale ( se::OctantBase * octant_ptr )

inline

Summariese the values from the current integration scale recursively up to the block's max scale.

Parameters

[in]	block	The block to be updated.
[in]	initial_scale	Scale from which propagate up voxel values

Functions

Function Documentation

◆ weighted_mean_update()

◆ update_voxel()

◆ free_node()

◆ free_voxel()

◆ propagate_to_parent_node()

◆ propagate_block_to_coarsest_scale()