raycast_carver.hpp

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/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021 Nils Funk
 * SPDX-FileCopyrightText: 2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */

#ifndef SE_RAYCAST_CARVER_HPP
#define SE_RAYCAST_CARVER_HPP

#include "se/common/math_util.hpp"
#include "se/integrator/allocator/dense_pooling_image.hpp"
#include "se/integrator/allocator/volume_carver.hpp"
#include "se/integrator/updater/multires_ofusion_core.hpp"
#include "se/map/octree/propagator.hpp"

namespace se {
namespace fetcher {



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



} // namespace fetcher



template<typename MapT, typename SensorT>
class RaycastCarver {
    public:
    typedef typename MapT::OctreeType OctreeType;

    struct RaycastCarverConfig {
        RaycastCarverConfig(const MapT& map) :
                truncation_boundary(map.getRes() * map.getDataConfig().truncation_boundary_factor),
                band(2 * truncation_boundary)
        {
        }

        const float truncation_boundary;
        const float band;
    };

    RaycastCarver(MapT& map,
                  const SensorT& sensor,
                  const se::Image<float>& depth_img,
                  const Eigen::Matrix4f& T_WS,
                  const int frame);

    std::vector<se::OctantBase*> operator()();

    MapT& map_;
    OctreeType& octree_;
    const SensorT& sensor_;
    const se::Image<float>& depth_img_;
    const Eigen::Matrix4f& T_WS_;
    const int frame_;
    const RaycastCarverConfig config_;
};



} // namespace se

#include "impl/raycast_carver_impl.hpp"

#endif // SE_RAYCAST_CARVER_HPP