Public Member Functions
	MapIntegrator (MapT &map)

template<typename SensorT >
void	integrateDepth (const timestamp_t timestamp, const Measurements< SensorT > &measurements, std::set< const OctantBase * > *const updated_octants=nullptr)
	Integrate the images in `measurements` captured at `timestamp` into the map.

template<typename SensorT >
void	integrateRayBatch (const timestamp_t timestamp, const std::vector< std::pair< Eigen::Isometry3f, Eigen::Vector3f >, Eigen::aligned_allocator< std::pair< Eigen::Isometry3f, Eigen::Vector3f > > > &rayPoseBatch, const SensorT &sensor, std::set< const OctantBase * > *const updated_octants=nullptr)
	Integrate a batch of ray images into the maps field representation.

Constructor & Destructor Documentation

◆ MapIntegrator()

template<typename MapT >

se::MapIntegrator< MapT >::MapIntegrator ( MapT & map )

template<typename MapT >

void se::MapIntegrator< MapT >::integrateDepth	(	const timestamp_t	timestamp,
		const Measurements< SensorT > &	measurements,
		std::set< const OctantBase * > *const	updated_octants = `nullptr`
	)

Integrate the images in measurements captured at timestamp into the map.

If updated_octants is non-null, *updated_octants will contain pointers to the octants updated during this integration.

Warning: The caller must ensure that any in measurements remains valid until se::MapIntegrator::integrateDepth() returns.

template<typename MapT >

void se::MapIntegrator< MapT >::integrateRayBatch	(	const timestamp_t	timestamp,
		const std::vector< std::pair< Eigen::Isometry3f, Eigen::Vector3f >, Eigen::aligned_allocator< std::pair< Eigen::Isometry3f, Eigen::Vector3f > > > &	rayPoseBatch,
		const SensorT &	sensor,
		std::set< const OctantBase * > *const	updated_octants = `nullptr`
	)

Integrate a batch of ray images into the maps field representation.

Template Parameters

SensorT

Parameters

[in]	timestamp	The timestamp of the batch to be integrated
[in]	rayPoseBatch	The batch of ray measurements and poses in the world frame
[in]	sensor	The sensor use for the projection
[in]	updated_octants	Pointers to the octants updates during integration will be stored in `updated_octants` if it's not `nullptr`.

The documentation for this class was generated from the following file: