Allocator used for TSDF mapping. More...

Public Member Functions
	RaycastCarver (MapT &map, const SensorT &sensor, const se::Image< float > &depth_img, const Eigen::Isometry3f &T_WS, const timestamp_t timestamp)
	Constructs a RaycastCarver but doesn't perform any allocations yet.

std::vector< se::OctantBase * >	operator() ()
	Performs the necessary allocations and returns the allocated blocks.

Detailed Description

template<typename MapT, typename SensorT>
class se::RaycastCarver< MapT, SensorT >

Allocator used for TSDF mapping.

It allocates blocks (i.e. octree leaves) in a band around the surface by performing ray marching along the depth measurement rays.

Constructor & Destructor Documentation

se::RaycastCarver< MapT, SensorT >::RaycastCarver	(	MapT &	map,
		const SensorT &	sensor,
		const se::Image< float > &	depth_img,
		const Eigen::Isometry3f &	T_WS,
		const timestamp_t	timestamp
	)

Constructs a RaycastCarver but doesn't perform any allocations yet.

Call se::RaycastCarver::operator()() to perform the actual allocations.

Parameters

[in]	map	The map to be updated.
[in]	sensor	The sensor model used to capture `depth_img`.
[in]	depth_img	The depth image to be integrated into `map`.
[in]	T_WS	The transformation from the sensor frame S that `depth_img` was captured from to the world frame W.
[in]	timestamp	The timestamp of the frame to be integrated. Currently unused.

std::vector< se::OctantBase * > se::RaycastCarver< MapT, SensorT >::operator() ( )

Performs the necessary allocations and returns the allocated blocks.

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