#include <algorithm>
#include <se/map/octant/octant.hpp>
#include "impl/multires_ofusion_core_impl.hpp"

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

namespace	se::updater

Functions
template<typename ConfigT >
float	se::compute_three_sigma (const field_t depth_value, const float sigma_min, const float sigma_max, const ConfigT config)
	Compute the estimated uncertainty boundary for a given depth measurement.

template<typename ConfigT >
float	se::compute_tau (const field_t depth_value, const float tau_min, const float tau_max, const ConfigT config)
	Compute the estimated wall thickness tau for a given depth measurement.

template<typename DataT , typename ConfigT >
bool	se::updater::update_voxel (DataT &data, const float range_diff, const float tau, const float three_sigma, const ConfigT config)
	Update a field with a new measurement, a weighting of 1 is considered for the new measurement.

template<typename DataT , typename ConfigT >
bool	se::updater::free_voxel (DataT &voxel_data, const ConfigT config)
	Reduce the node data by the minimum log-odd occupancy update per iteration.

template<typename NodeT , typename BlockT >
NodeT::DataType	se::updater::propagate_to_parent_node (OctantBase *octant_ptr, const timestamp_t timestamp)
	Propagate a summary of the eight nodes children to its parent.

template<typename BlockT >
void	se::updater::propagate_block_to_coarsest_scale (OctantBase *octant_ptr)
	Summariese the values from the current integration scale recursively up to the block's max scale.

Namespaces

Functions