raycaster.hpp File Reference

#include <optional>
#include "se/common/colour_utils.hpp"
#include "se/image/image.hpp"
#include "se/map/octree/visitor.hpp"
#include "se/map/octree/voxel_block_ray_iterator.hpp"
#include "impl/raycaster_impl.hpp"

Go to the source code of this file.

Namespaces
	se
	Helper wrapper to allocate and de-allocate octants in the octree.
	se::raycaster

Macros
#define	INVALID   -2

Functions
void	se::raycaster::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 > >	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)
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)
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)
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)

Macro Definition Documentation

INVALID

#define INVALID   -2