map_integrator.hpp

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/*
 * SPDX-FileCopyrightText: 2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021 Nils Funk
 * SPDX-FileCopyrightText: 2021 Sotiris Papatheodorou
 * SPDX-FileCopyrightText: 2022-2024 Simon Boche
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_MAP_INTEGRATOR_HPP
#define SE_MAP_INTEGRATOR_HPP
 
#include <se/integrator/allocator/raycast_carver.hpp>
#include <se/integrator/allocator/volume_carver.hpp>
#include <se/integrator/ray_integrator.hpp>
#include <se/integrator/uncertainty.hpp>
#include <se/integrator/updater/updater.hpp>
 
namespace se {
namespace allocator {
 
template<typename MapT, typename SensorT>
std::vector<se::OctantBase*> frustum(MapT& map,
                                     SensorT& sensor,
                                     const se::Image<float>& depth_img,
                                     const Eigen::Isometry3f& T_WS,
                                     const float band);
 
} // namespace allocator
 
 
 
namespace fetcher {
template<typename MapT, typename SensorT>
inline std::vector<se::OctantBase*>
frustum(MapT& map, const SensorT& sensor, const Eigen::Isometry3f& T_WS);
} // namespace fetcher
 
 
 
template<typename MapT>
class MapIntegrator {
    public:
    MapIntegrator(MapT& map);
 
    template<typename SensorT>
    void integrateDepth(const timestamp_t timestamp,
                        const Measurements<SensorT>& measurements,
                        std::set<const OctantBase*>* const updated_octants = nullptr);
 
    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);
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    private:
    MapT& map_;
};
 
 
 
} // namespace se
 
#include "impl/map_integrator_impl.hpp"
 
#endif // SE_MAP_INTEGRATOR_HPP