se::fetcher Namespace Reference

Functions
template<typename MapT , typename SensorT >
std::vector< se::OctantBase * >	frustum (MapT &map, const SensorT &sensor, const Eigen::Isometry3f &T_WS)
	Return the currently allocated Blocks that intersect the camera frustum.
template<typename OctreeT >
OctantBase *	octant (const Eigen::Vector3i &octant_coord, const scale_t scale_desired, OctantBase *const base_parent_ptr)
	Return the octant with coordinates in voxels octant_coord and scale scale_desired.
template<typename OctreeT >
const OctantBase *	octant (const Eigen::Vector3i &octant_coord, const scale_t scale_desired, const OctantBase *const base_parent_ptr)
	Same as se::fetcher::octant() but returning a pointer to const.
template<typename OctreeT >
OctantBase *	finest_octant (const Eigen::Vector3i &octant_coord, const scale_t scale_desired, OctantBase *const base_parent_ptr)
	Return the finest allocated octant with coordinates in voxels octant_coord and scale up to scale_desired.
template<typename OctreeT >
const OctantBase *	finest_octant (const Eigen::Vector3i &octant_coord, const scale_t scale_desired, const OctantBase *const base_parent_ptr)
	Same as se::fetcher::finest_octant() but returning a pointer to const.
template<typename OctreeT >
OctantBase *	block (const Eigen::Vector3i &block_coord, OctantBase *const base_parent_ptr)
	Return the block with coordinates in voxels block_coord.
template<typename OctreeT >
const OctantBase *	block (const Eigen::Vector3i &block_coord, const OctantBase *const base_parent_ptr)
	Same as se::fetcher::block() but returning a pointer to const.
template<typename OctreeT >
OctantBase *	leaf (const Eigen::Vector3i &leaf_coord, OctantBase *const base_parent_ptr)
	Return the finest allocated octant with coordinates in voxels block_coord.
template<typename OctreeT >
const OctantBase *	leaf (const Eigen::Vector3i &leaf_coord, const OctantBase *const base_parent_ptr)
	Same as se::fetcher::leaf() but returning a pointer to const.
template<typename OctreeT >
std::vector< const OctantBase * >	face_neighbours (const OctantBase *const octant_ptr, const OctreeT &octree)
	Return the face neighbours of octant_ptr which is an octant of octree.

Variables
static const Eigen::Matrix< int, 3, 6 >	face_neighbour_offsets
	Unit-less relative offsets to the 6 face neighbours of an octant.

Function Documentation

frustum()

template<typename MapT , typename SensorT >

std::vector< se::OctantBase * > se::fetcher::frustum ( MapT &  map, const SensorT &  sensor, const Eigen::Isometry3f &  T_WS  )

inline

Return the currently allocated Blocks that intersect the camera frustum.

Some false positives might be returned since Blocks are approximated by their bounding spheres and because sphereInFrustum() may return false positives in rare cases.

Template Parameters

MapT	The map type.
SensorT	The sensor type.

Parameters

map	The map to fetch Blocks from.
sensor	The sensor whose frustum is used for the test.
T_WS	The pose of the sensor in the world frame.

Returns

A vector of pointers to Blocks that intersect the sensor frustum.

octant() [1/2]

template<typename OctreeT >

OctantBase * se::fetcher::octant	(	const Eigen::Vector3i &	octant_coord,
		const scale_t	scale_desired,
		OctantBase *const	base_parent_ptr
	)

Return the octant with coordinates in voxels octant_coord and scale scale_desired.

Template Parameters

OctreeT

The type of the se::Octree base_parent_ptr is part of.

Parameters

octant_coord	The coordinates in voxels of the octant to be fetched.
scale_desired	The scale of the octant to be fetched.
base_parent_ptr	The octant to start searching from (e.g. the octree root).

Returns

The pointer to the fetched octant or nullptr if no octant is allocated at the supplied coordinates and scale.

octant() [2/2]

template<typename OctreeT >

const OctantBase * se::fetcher::octant	(	const Eigen::Vector3i &	octant_coord,
		const scale_t	scale_desired,
		const OctantBase *const	base_parent_ptr
	)

Same as se::fetcher::octant() but returning a pointer to const.

finest_octant() [1/2]

template<typename OctreeT >

OctantBase * se::fetcher::finest_octant	(	const Eigen::Vector3i &	octant_coord,
		const scale_t	scale_desired,
		OctantBase *const	base_parent_ptr
	)

Return the finest allocated octant with coordinates in voxels octant_coord and scale up to scale_desired.

Template Parameters

OctreeT

The type of the se::Octree base_parent_ptr is part of.

Parameters

octant_coord	The coordinates in voxels of the octant to be fetched.
scale_desired	The maximum scale of the octant to be fetched.
base_parent_ptr	The octant to start searching from, e.g. the octree root.

Returns

The pointer to the fetched octant or nullptr if no octant is allocated at the supplied coordinates.

finest_octant() [2/2]

template<typename OctreeT >

const OctantBase * se::fetcher::finest_octant	(	const Eigen::Vector3i &	octant_coord,
		const scale_t	scale_desired,
		const OctantBase *const	base_parent_ptr
	)

Same as se::fetcher::finest_octant() but returning a pointer to const.

block() [1/2]

template<typename OctreeT >

OctantBase * se::fetcher::block	(	const Eigen::Vector3i &	block_coord,
		OctantBase *const	base_parent_ptr
	)

Return the block with coordinates in voxels block_coord.

Template Parameters

OctreeT

The type of the se::Octree base_parent_ptr is part of.

Parameters

block_coord	The coordinates in voxels of the block to be fetched.
base_parent_ptr	The octant to start searching from, e.g. the octree root.

Returns

The pointer to the fetched block or nullptr if no block is allocated at the supplied coordinates.

block() [2/2]

template<typename OctreeT >

const OctantBase * se::fetcher::block	(	const Eigen::Vector3i &	block_coord,
		const OctantBase *const	base_parent_ptr
	)

Same as se::fetcher::block() but returning a pointer to const.

leaf() [1/2]

template<typename OctreeT >

OctantBase * se::fetcher::leaf	(	const Eigen::Vector3i &	leaf_coord,
		OctantBase *const	base_parent_ptr
	)

Return the finest allocated octant with coordinates in voxels block_coord.

Template Parameters

OctreeT

The type of the se::Octree base_parent_ptr is part of.

Parameters

block_coord	The coordinates in voxels of the octant to be fetched.
base_parent_ptr	The octant to start searching from, e.g. the octree root.

Returns

The pointer to the fetched octant or nullptr if no octant is allocated at the supplied coordinates.

leaf() [2/2]

template<typename OctreeT >

const OctantBase * se::fetcher::leaf	(	const Eigen::Vector3i &	leaf_coord,
		const OctantBase *const	base_parent_ptr
	)

Same as se::fetcher::leaf() but returning a pointer to const.

face_neighbours()

template<typename OctreeT >

std::vector< const OctantBase * > se::fetcher::face_neighbours	(	const OctantBase *const	octant_ptr,
		const OctreeT &	octree
	)

Return the face neighbours of octant_ptr which is an octant of octree.

The returned face neighbours will be at the same or higher scale than octant_ptr. A nullptr is returned for each unallocated face neighbour. Face neighbours outside the octree are ignored. Octants at the faces, edges and corners of the octree volume have 5, 4 and 3 face neighbours respectively, thus the function will return between 3 and 6, potentially null, pointers to neighbours.

Variable Documentation

face_neighbour_offsets

const Eigen::Matrix<int, 3, 6> se::fetcher::face_neighbour_offsets

static

Initial value:

= (Eigen::Matrix<int, 3, 6>() <<
     0,  0, -1,  1,  0,  0,
     0, -1,  0,  0,  1,  0,
    -1,  0,  0,  0,  0,  1).finished()

Unit-less relative offsets to the 6 face neighbours of an octant.