multires_ofusion_core.hpp

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/*
 * SPDX-FileCopyrightText: 2019-2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2019-2021 Nils Funk
 * SPDX-FileCopyrightText: 2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_MULTIRES_OFUSION_CORE_HPP
#define SE_MULTIRES_OFUSION_CORE_HPP
 
#include <algorithm>
#include <se/map/octant/octant.hpp>
 
namespace se {
 
 
 
template<typename ConfigT>
float compute_three_sigma(const field_t depth_value,
                          const float sigma_min,
                          const float sigma_max,
                          const ConfigT config);
 
 
 
template<typename ConfigT>
float compute_tau(const field_t depth_value,
                  const float tau_min,
                  const float tau_max,
                  const ConfigT config);
 
 
 
namespace updater {
 
template<typename DataT, typename ConfigT>
bool update_voxel(DataT& data,
                  const float range_diff,
                  const float tau,
                  const float three_sigma,
                  const ConfigT config);
 
 
 
template<typename DataT, typename ConfigT>
bool free_voxel(DataT& voxel_data, const ConfigT config);
 
 
template<typename NodeT, typename BlockT>
typename NodeT::DataType propagate_to_parent_node(OctantBase* octant_ptr,
                                                  const timestamp_t timestamp);
 
 
 
template<typename BlockT>
void propagate_block_to_coarsest_scale(OctantBase* octant_ptr);
 
 
 
} // namespace updater
} // namespace se
 
#include "impl/multires_ofusion_core_impl.hpp"
 
#endif // SE_MULTIRES_OFUSION_CORE_HPP