Functions
void	point_cloud_to_normal (se::Image< Eigen::Vector3f > &normals, const se::Image< Eigen::Vector3f > &point_cloud, const bool is_lhc=false)

template<typename MapT >
std::enable_if_t< MapT::fld_==se::Field::Occupancy, std::optional< Eigen::Vector4f > >	raycast (MapT &map, const typename MapT::OctreeType &octree, const Eigen::Vector3f &ray_origin_W, const Eigen::Vector3f &ray_dir_W, const float t_near, const float t_far, const float mu, const float step, const float largestep)

template<typename MapT >
std::enable_if_t< MapT::fld_==se::Field::TSDF, std::optional< Eigen::Vector4f > >	raycast (MapT &map, const typename MapT::OctreeType &octree, const Eigen::Vector3f &ray_origin_W, const Eigen::Vector3f &ray_dir_W, const float t_near, const float t_far, const float mu, const float step, const float largestep)

template<typename MapT , typename SensorT >
void	raycast_volume (const MapT &map, const SensorT &sensor, const Eigen::Isometry3f &T_WS, se::Image< Eigen::Vector3f > &surface_point_cloud_W, se::Image< Eigen::Vector3f > &surface_normals_W, se::Image< int8_t > &surface_scale, se::Image< colour_t > *surface_colour=nullptr)

template<typename GetDiffuseColourF >
void	render_volume (se::Image< RGBA > &render, const se::Image< Eigen::Vector3f > &surface_points_W, const se::Image< Eigen::Vector3f > &surface_normals_W, const GetDiffuseColourF get_diffuse_colour, const Eigen::Vector3f &light_source_W=Eigen::Vector3f::Zero(), const RGB ambient_light=RGB{0x1A, 0x1A, 0x1A})
	Render the surface represented by `surface_points_W` and `surface_normals_W` into `render`.

void	render_volume_scale (se::Image< RGBA > &render, const se::Image< Eigen::Vector3f > &surface_points_W, const se::Image< Eigen::Vector3f > &surface_normals_W, const se::Image< int8_t > &surface_scale, const Eigen::Vector3f &light_source_W=Eigen::Vector3f::Zero(), const RGB ambient_light=RGB{0x1A, 0x1A, 0x1A})
	Render the surface represented by `surface_points_W` and `surface_normals_W` into `render`, coloured using the scale from `surface_scale`.

void	render_volume_colour (se::Image< RGBA > &render, const se::Image< Eigen::Vector3f > &surface_points_W, const se::Image< Eigen::Vector3f > &surface_normals_W, const se::Image< RGB > &surface_colour, const Eigen::Vector3f &light_source_W=Eigen::Vector3f::Zero(), const RGB ambient_light=RGB{0x1A, 0x1A, 0x1A})
	Render the surface represented by `surface_points_W` and `surface_normals_W` into `render`, coloured using the colours from `surface_colour`.

Function Documentation

◆ point_cloud_to_normal()

void se::raycaster::point_cloud_to_normal	(	se::Image< Eigen::Vector3f > &	normals,
		const se::Image< Eigen::Vector3f > &	point_cloud,
		const bool	is_lhc = `false`
	)

◆ raycast() [1/2]

template<typename MapT >

std::enable_if_t< MapT::fld_==se::Field::Occupancy, std::optional< Eigen::Vector4f > > se::raycaster::raycast	(	MapT &	map,
		const typename MapT::OctreeType &	octree,
		const Eigen::Vector3f &	ray_origin_W,
		const Eigen::Vector3f &	ray_dir_W,
		const float	t_near,
		const float	t_far,
		const float	mu,
		const float	step,
		const float	largestep
	)

inline

◆ raycast() [2/2]

template<typename MapT >

std::enable_if_t< MapT::fld_==se::Field::TSDF, std::optional< Eigen::Vector4f > > se::raycaster::raycast	(	MapT &	map,
		const typename MapT::OctreeType &	octree,
		const Eigen::Vector3f &	ray_origin_W,
		const Eigen::Vector3f &	ray_dir_W,
		const float	t_near,
		const float	t_far,
		const float	mu,
		const float	step,
		const float	largestep
	)

inline

◆ raycast_volume()

template<typename MapT , typename SensorT >

void se::raycaster::raycast_volume	(	const MapT &	map,
		const SensorT &	sensor,
		const Eigen::Isometry3f &	T_WS,
		se::Image< Eigen::Vector3f > &	surface_point_cloud_W,
		se::Image< Eigen::Vector3f > &	surface_normals_W,
		se::Image< int8_t > &	surface_scale,
		se::Image< colour_t > *	surface_colour = `nullptr`
	)

◆ render_volume()

template<typename GetDiffuseColourF >

void se::raycaster::render_volume	(	se::Image< RGBA > &	render,
		const se::Image< Eigen::Vector3f > &	surface_points_W,
		const se::Image< Eigen::Vector3f > &	surface_normals_W,
		const GetDiffuseColourF	get_diffuse_colour,
		const Eigen::Vector3f &	light_source_W = `Eigen::Vector3f::Zero()`,
		const RGB	ambient_light = `RGB{0x1A, 0x1A, 0x1A}`
	)

Render the surface represented by surface_points_W and surface_normals_W into render.

The colour of each point is returned by the functor get_diffuse_colour which must have the following prototype:

se::RGB get_diffuse_colour(const size_t pixel_index);

se::Image

Definition image.hpp:19

se::RGB

A colour represented as a Red-Green-Blue tuple with 8-bits per channel.

Definition rgb.hpp:18

where pixel_index is a linear index into surface_points_W.

The scene is lit by a point light located at light_source_W and an ambient light with colour ambient_light.

Uses Gouraud shading with a simplified Phong reflection model containing only ambient and diffuse components (no specular component.

◆ render_volume_scale()

void se::raycaster::render_volume_scale	(	se::Image< RGBA > &	render,
		const se::Image< Eigen::Vector3f > &	surface_points_W,
		const se::Image< Eigen::Vector3f > &	surface_normals_W,
		const se::Image< int8_t > &	surface_scale,
		const Eigen::Vector3f &	light_source_W = `Eigen::Vector3f::Zero()`,
		const RGB	ambient_light = `RGB{0x1A, 0x1A, 0x1A}`
	)

Render the surface represented by surface_points_W and surface_normals_W into render, coloured using the scale from surface_scale.

Lighting is as in se::raycaster::render_volume().

◆ render_volume_colour()

void se::raycaster::render_volume_colour	(	se::Image< RGBA > &	render,
		const se::Image< Eigen::Vector3f > &	surface_points_W,
		const se::Image< Eigen::Vector3f > &	surface_normals_W,
		const se::Image< RGB > &	surface_colour,
		const Eigen::Vector3f &	light_source_W = `Eigen::Vector3f::Zero()`,
		const RGB	ambient_light = `RGB{0x1A, 0x1A, 0x1A}`
	)

Render the surface represented by surface_points_W and surface_normals_W into render, coloured using the colours from surface_colour.