se::ray_integrator Namespace Reference

Functions
template<typename DataT , typename ConfigT >
bool	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	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	propagate_to_parent_node (se::OctantBase *octant_ptr, const timestamp_t timestamp)
	Propagate a summary of the eight nodes children to its parent.
template<typename BlockT >
void	propagate_block_to_coarsest_scale (se::OctantBase *octant_ptr)
	Summariese the values from the current integration scale recursively up to the block's max scale.
template<typename BlockT >
void	propagate_block_to_scale (se::OctantBase *octant_ptr, int desired_scale)
	Summariese the values from the current integration scale recursively up to the desired scale.
template<typename BlockT >
void	propagate_block_down_to_scale (se::OctantBase *octant_ptr, int desired_scale)
	Propagate down to lower scale at block level.

Function Documentation

update_voxel()

template<typename DataT , typename ConfigT >

bool se::ray_integrator::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.

Parameters

[in]	range_diff	The range difference between the voxel sample point and the depth value of the reprojection.
[in]	tau	The estimated wall thickness.
[in]	three_sigma	The 3x sigma uncertainty.
[in,out]	voxel_data	The reference to the voxel data of the voxel to be updated.

Returns

True/false if the node has been observed the first time

free_voxel()

template<typename DataT , typename ConfigT >

bool se::ray_integrator::free_voxel	(	DataT &	voxel_data,
		const ConfigT	config
	)

Reduce the node data by the minimum log-odd occupancy update per iteration.

This function can be used to faster update a octant if it's know that it is in free space. The aim is to increase computation time by avoiding to compute the sample value from scratch.

Parameters

[in,out]

node_data

The reference to the node data.

propagate_to_parent_node()

template<typename NodeT , typename BlockT >

NodeT::DataType se::ray_integrator::propagate_to_parent_node	(	se::OctantBase *	octant_ptr,
		const timestamp_t	timestamp
	)

Propagate a summary of the eight nodes children to its parent.

Parameters

[in]	node	Node to be summariesed
[in]	voxel_depth	Maximum depth of the octree
[in]	timestamp	The timestamp of the current ray

Returns

data Summary of the node

propagate_block_to_coarsest_scale()

template<typename BlockT >

void se::ray_integrator::propagate_block_to_coarsest_scale

(

se::OctantBase *

octant_ptr

)

Summariese the values from the current integration scale recursively up to the block's max scale.

Parameters

[in]	block	The block to be updated.
[in]	initial_scale	Scale from which propagate up voxel values

propagate_block_to_scale()

template<typename BlockT >

void se::ray_integrator::propagate_block_to_scale	(	se::OctantBase *	octant_ptr,
		int	desired_scale
	)

Summariese the values from the current integration scale recursively up to the desired scale.

Parameters

[in]	block	The block to be updated.
[in]	desired_scale	Scale to propagate to

propagate_block_down_to_scale()

template<typename BlockT >

void se::ray_integrator::propagate_block_down_to_scale	(	se::OctantBase *	octant_ptr,
		int	desired_scale
	)

Propagate down to lower scale at block level.

Parameters

[in]	block	The block to be updated.
[in]	desired_scale	Scale to propagate to