Functions
template<typename OctreeT >
OctreeT::DataType	getData (const OctreeT &octree, const Eigen::Vector3i &voxel_coord)
	Single/multi-res get data functions.

template<typename OctreeT , typename BlockT >
OctreeT::DataType	getData (const OctreeT &octree, BlockT *block_ptr, const Eigen::Vector3i &voxel_coord)
	Get the voxel data for a given coordinate.

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Multi, typename OctreeT::DataType >	getData (const OctreeT &octree, const Eigen::Vector3i &voxel_coord, const int scale_desired, int &scale_returned)
	Multi-res get data functions.

template<typename OctreeT , typename BlockT >
std::enable_if_t< OctreeT::res_==Res::Multi, typename OctreeT::DataType >	getData (const OctreeT &octree, BlockT *block_ptr, const Eigen::Vector3i &voxel_coord, const int scale_desired, int &scale_returned)
	Get the voxel data for a given coordinate and desired scale.

template<typename OctreeT >
std::enable_if_t< OctreeT::DataType::fld_==se::Field::Occupancy, typename OctreeT::DataType >	getMinData (const OctreeT &octree, const Eigen::Vector3i &voxel_coord, const int scale_desired)
	Get the min occupancy data at a given scale.

template<typename OctreeT >
std::enable_if_t< OctreeT::DataType::fld_==Field::Occupancy, typename OctreeT::DataType >	getMaxData (const OctreeT &octree, const Eigen::Vector3i &voxel_coord, const int scale_desired)
	Get the max occupancy data at a given scale.

template<typename OctreeT >
std::optional< field_t >	getField (const OctreeT &octree, const Eigen::Vector3i &voxel_coord)
	Single/Multi-res get field functions.

template<typename OctreeT , typename BlockT >
std::optional< field_t >	getField (const OctreeT &octree, BlockT *block_ptr, const Eigen::Vector3i &voxel_coord)
	Get the field value for a given coordinate.

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_t > >	getField (const OctreeT &octree, const Eigen::Vector3i &voxel_coord, const int scale_desired, int &scale_returned)
	Multi-res get field functions.

template<typename OctreeT , typename BlockT >
std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_t > >	getField (const OctreeT &octree, BlockT *block_ptr, const Eigen::Vector3i &voxel_coord, const int scale_desired, int &scale_returned)
	Get the field value for a given coordinate and desired scale.

template<typename OctreeT , typename ValidF , typename GetF >
std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< std::invoke_result_t< GetF, typename OctreeT::DataType > > >	getInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, ValidF valid, GetF get, const int desired_scale=0, int *const returned_scale=nullptr)
	Interpolate a member of se::Octree::DataType at the supplied voxel coordinates and desired scale.

template<typename OctreeT , typename ValidF , typename GetF >
std::enable_if_t< OctreeT::res_==Res::Single, std::optional< std::invoke_result_t< GetF, typename OctreeT::DataType > > >	getInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, ValidF valid, GetF get)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_t > >	getFieldInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, const int desired_scale=0, int *const returned_scale=nullptr)
	Interpolate the field at the supplied voxel coordinates and desired scale.

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Single, std::optional< field_t > >	getFieldInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Multi &&OctreeT::col_==Colour::On, std::optional< colour_t > >	getColourInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, const int desired_scale=0, int *const returned_scale=nullptr)
	Interpolate the colour at the supplied voxel coordinates and desired scale.

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Single &&OctreeT::col_==Colour::On, std::optional< colour_t > >	getColourInterp (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Single, std::optional< field_vec_t > >	getFieldGrad (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f)
	Single-res get gradient functions.

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_vec_t > >	getFieldGrad (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f)
	Multi-res get gradient functions.

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_vec_t > >	getFieldGrad (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, int &scale_returned)
	Get the field gradient for a given coordinate [float voxel coordinates].

template<typename OctreeT >
std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_vec_t > >	getFieldGrad (const OctreeT &octree, const Eigen::Vector3f &voxel_coord_f, const int scale_desired, int &scale_returned)
	Get the field gradient for a given coordinate [float voxel coordinates] and desired scale.

Function Documentation

◆ getData() [1/4]

template<typename OctreeT >

OctreeT::DataType se::visitor::getData	(	const OctreeT &	octree,
		const Eigen::Vector3i &	voxel_coord
	)

Single/multi-res get data functions.

Get the voxel data for a given coordinate. The function returns init data if the data is not allocated.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	voxel_coord	The voxel coordinates to be accessed

Returns: The data in the voxel to be accessed Returns init data if block is not allocated

◆ getData() [2/4]

template<typename OctreeT , typename BlockT >

OctreeT::DataType se::visitor::getData	(	const OctreeT &	octree,
		BlockT *	block_ptr,
		const Eigen::Vector3i &	voxel_coord
	)

Get the voxel data for a given coordinate.

The function checks first if the voxel coordinates are contained in the provided block pointer. If this is not the case the function fetches the correct block. The function returns init data if the data is not allocated.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	block_ptr	The pointer to the block to checked first
[in]	voxel_coord	The voxel coordinates to be accessed

Returns: The data in the voxel to be accessed Returns init data if block is not allocated

◆ getData() [3/4]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Multi, typename OctreeT::DataType > se::visitor::getData	(	const OctreeT &	octree,
		const Eigen::Vector3i &	voxel_coord,
		const int	scale_desired,
		int &	scale_returned
	)

Multi-res get data functions.

Get the voxel data for a given coordinate and desired scale. The function returns init data if the data is not allocated.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree_ptr	The pointer to the octree
[in]	voxel_coord	The voxel coordinates to be accessed
[in]	scale_desired	The scale to fetch the data from (init data for MultiresTSDF at node level)
[in]	scale_returned	The scale the data is returned from (max (scale desired, finest scale with valid data)

Returns: The data in octant at the returned scale

◆ getData() [4/4]

template<typename OctreeT , typename BlockT >

std::enable_if_t< OctreeT::res_==Res::Multi, typename OctreeT::DataType > se::visitor::getData	(	const OctreeT &	octree,
		BlockT *	block_ptr,
		const Eigen::Vector3i &	voxel_coord,
		const int	scale_desired,
		int &	scale_returned
	)

Get the voxel data for a given coordinate and desired scale.

The function checks first if the voxel coordinates are contained in the provided block pointer. If this is not the case the function fetches the correct block. The function returns init data if the data is not allocated.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	block_ptr	The pointer to the block to checked first
[in]	voxel_coord	The voxel coordinates to be accessed
[in]	scale_desired	The scale to fetch the data from (init data for MultiresTSDF at node level)
[in]	scale_returned	The scale the data is returned from (max (scale desired, finest scale with valid data)

Returns: The data in octant at the returned scale

◆ getMinData()

template<typename OctreeT >

std::enable_if_t< OctreeT::DataType::fld_==se::Field::Occupancy, typename OctreeT::DataType > se::visitor::getMinData	(	const OctreeT &	octree,
		const Eigen::Vector3i &	voxel_coord,
		const int	scale_desired
	)

inline

Get the min occupancy data at a given scale.

Template Parameters

OctreeT The type of octree used (has to be of field type occupancy and multi-res)

Parameters

octree	The reference to the octree
voxel_coord	The voxel coordinates in [voxel] to be accessed
scale_desired	The scale to be accessed

Returns: The min data at the requested scale.

◆ getMaxData()

template<typename OctreeT >

std::enable_if_t< OctreeT::DataType::fld_==Field::Occupancy, typename OctreeT::DataType > se::visitor::getMaxData	(	const OctreeT &	octree,
		const Eigen::Vector3i &	voxel_coord,
		const int	scale_desired
	)

Get the max occupancy data at a given scale.

Template Parameters

OctreeT The type of octree used (has to be of field type occupancy and multi-res)

Parameters

octree	The reference to the octree
voxel_coord	The voxel coordinates in [voxel] to be accessed
scale_desired	The scale to be accessed

Returns: The max data at the requested scale.

◆ getField() [1/4]

template<typename OctreeT >

std::optional< field_t > se::visitor::getField	(	const OctreeT &	octree,
		const Eigen::Vector3i &	voxel_coord
	)

Single/Multi-res get field functions.

Get the field value for a given coordinate. The function returns {}/invalid if the data is invalid.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	voxel_coord	The voxel coordinates to be accessed

Returns: The field value to be accessed if the data is valid, {}/invalid otherwise

◆ getField() [2/4]

template<typename OctreeT , typename BlockT >

std::optional< field_t > se::visitor::getField	(	const OctreeT &	octree,
		BlockT *	block_ptr,
		const Eigen::Vector3i &	voxel_coord
	)

Get the field value for a given coordinate.

The function returns {}/invalid if the data is invalid. The function checks first if the voxel coordinates are contained in the provided block pointer. If this is not the case the function fetches the correct octant.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	block_ptr	The pointer to the block to checked first
[in]	voxel_coord	The voxel coordinates to be accessed

Returns: The field value to be accessed if the data is valid, {}/invalid otherwise

◆ getField() [3/4]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_t > > se::visitor::getField	(	const OctreeT &	octree,
		const Eigen::Vector3i &	voxel_coord,
		const int	scale_desired,
		int &	scale_returned
	)

Multi-res get field functions.

Get the field value for a given coordinate and desired scale. The function returns {}/invalid if the data is invalid.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	voxel_coord	The voxel coordinates to be accessed
[in]	scale_desired	The scale to fetch the data from (init data for MultiresTSDF at node level)
[in]	scale_returned	The scale the field value is returned from (max (scale desired, finest scale with valid data)

Returns: The field value at the returned scale if the data is valid, {}/invalid otherwise

◆ getField() [4/4]

template<typename OctreeT , typename BlockT >

std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_t > > se::visitor::getField	(	const OctreeT &	octree,
		BlockT *	block_ptr,
		const Eigen::Vector3i &	voxel_coord,
		const int	scale_desired,
		int &	scale_returned
	)

Get the field value for a given coordinate and desired scale.

The function returns {}/invalid if the data is invalid. The function checks first if the voxel coordinates are contained in the provided block pointer. If this is not the case the function fetches the correct octant.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	block_ptr	The pointer to the block to checked first
[in]	voxel_coord	The voxel coordinates to be accessed
[in]	scale_desired	The scale to fetch the data from (init data for MultiresTSDF at node level)
[in]	scale_returned	The scale the field value is returned from (max (scale desired, finest scale with valid data)

Returns: The field value at the returned scale if the data is valid, {}/invalid otherwise

◆ getInterp() [1/2]

template<typename OctreeT , typename ValidF , typename GetF >

std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< std::invoke_result_t< GetF, typename OctreeT::DataType > > > se::visitor::getInterp	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f,
		ValidF	valid,
		GetF	get,
		const int	desired_scale = `0`,
		int *const	returned_scale = `nullptr`
	)

Interpolate a member of se::Octree::DataType at the supplied voxel coordinates and desired scale.

The scale the member is interpolated at may be coarser than desired_scale and is written in returned_scale.

Parameters

[in]	octree	The multi-resolution octree containing the data.
[in]	voxel_coord_f	The voxel coordinates the member will be interpolated at. The coordinates may have a fractional part.
[in]	valid	A functor with the following prototype, returning whether the supplied data is valid and should be used for interpolation: template<typename OctreeT> bool valid(const typename OctreeT::DataType& data);
[in]	get	A functor with the following prototype, returning the member of type `T` to be interpolated: template<typename OctreeT> T get(const typename OctreeT::DataType& data); se::Image Definition image.hpp:19 Type `T` must implement the following operators: T operator+(const T& a, const T& b); T operator*(const T& a, const float b);
[in]	desired_scale	The finest scale the member should be interpolated at.
[out]	returned_scale	The actual scale the member was interpolated at will be stored into `returned_scale` if `returned_scale` is non-null. `returned_scale` is not modified if `std::nullopt` is returned. The value of `*returned_scale` will not be less than `desired_scale`.

Returns: The interpolated member if the data is valid, std::nullopt otherwise.

◆ getInterp() [2/2]

template<typename OctreeT , typename ValidF , typename GetF >

std::enable_if_t< OctreeT::res_==Res::Single, std::optional< std::invoke_result_t< GetF, typename OctreeT::DataType > > > se::visitor::getInterp	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f,
		ValidF	valid,
		GetF	get
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

This overload works only for single-resolution octrees. The member is interpolated at scale 0, the finest and only scale.

◆ getFieldInterp() [1/2]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_t > > se::visitor::getFieldInterp	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f,
		const int	desired_scale = `0`,
		int *const	returned_scale = `nullptr`
	)

Interpolate the field at the supplied voxel coordinates and desired scale.

The scale the field is interpolated at may be coarser than desired_scale and is written in returned_scale.

Parameters

[in]	octree	The multi-resolution octree containing the data.
[in]	voxel_coord_f	The voxel coordinates the field will be interpolated at. The coordinates may have a fractional part.
[in]	desired_scale	The finest scale the field should be interpolated at.
[out]	returned_scale	The actual scale the field was interpolated at will be stored into `returned_scale` if `returned_scale` is non-null. `returned_scale` is not modified if `std::nullopt` is returned. The value of `*returned_scale` will not be less than `desired_scale`.

Returns: The interpolated field value if the data is valid, std::nullopt otherwise.

◆ getFieldInterp() [2/2]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Single, std::optional< field_t > > se::visitor::getFieldInterp	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

This overload works only for single-resolution octrees. The field is interpolated at scale 0, the finest and only scale.

◆ getColourInterp() [1/2]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Multi &&OctreeT::col_==Colour::On, std::optional< colour_t > > se::visitor::getColourInterp	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f,
		const int	desired_scale = `0`,
		int *const	returned_scale = `nullptr`
	)

Interpolate the colour at the supplied voxel coordinates and desired scale.

The scale the colour is interpolated at may be coarser than desired_scale and is written in returned_scale.

Parameters

[in]	octree	The multi-resolution octree containing the data.
[in]	voxel_coord_f	The voxel coordinates the colour will be interpolated at. The coordinates may have a fractional part.
[in]	desired_scale	The finest scale the colour should be interpolated at.
[out]	returned_scale	The actual scale the colour was interpolated at will be stored into `returned_scale` if `returned_scale` is non-null. `returned_scale` is not modified if `std::nullopt` is returned. The value of `*returned_scale` will not be less than `desired_scale`.

Returns: The interpolated colour if the data is valid, std::nullopt otherwise.

◆ getColourInterp() [2/2]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Single &&OctreeT::col_==Colour::On, std::optional< colour_t > > se::visitor::getColourInterp	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

This overload works only for single-resolution octrees. The colour is interpolated at scale 0, the finest and only scale.

◆ getFieldGrad() [1/4]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Single, std::optional< field_vec_t > > se::visitor::getFieldGrad	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f
	)

Single-res get gradient functions.

Get the field gradient for a given coordinate [float voxel coordinates]. The function returns {}/invalid if the gradient is invalid.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	voxel_coord_f	The voxel coordinates to be accessed [float voxel coordiantes]

Returns: The field gradient if the gradient is valid, {}/invalid otherwise

◆ getFieldGrad() [2/4]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_vec_t > > se::visitor::getFieldGrad	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f
	)

Multi-res get gradient functions.

Get the field gradient for a given coordinate [float voxel coordinates]. The function returns {}/invalid if the gradient is invalid.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	voxel_coord_f	The voxel coordinates to be accessed [float voxel coordiantes]

Returns: The field gradient if the gradient is valid, {}/invalid otherwise

◆ getFieldGrad() [3/4]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_vec_t > > se::visitor::getFieldGrad	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f,
		int &	scale_returned
	)

Get the field gradient for a given coordinate [float voxel coordinates].

The function returns {}/invalid if the gradient is invalid.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	voxel_coord_f	The voxel coordinates to be accessed [float voxel coordiantes]
[in]	scale_returned	The scale the gradient has been computed at

Returns: The field gradient if the gradient is valid, {}/invalid otherwise

◆ getFieldGrad() [4/4]

template<typename OctreeT >

std::enable_if_t< OctreeT::res_==Res::Multi, std::optional< field_vec_t > > se::visitor::getFieldGrad	(	const OctreeT &	octree,
		const Eigen::Vector3f &	voxel_coord_f,
		const int	scale_desired,
		int &	scale_returned
	)

Get the field gradient for a given coordinate [float voxel coordinates] and desired scale.

The function returns {}/invalid if the gradient is invalid.

Template Parameters

OctreeT The type of the octree used

Parameters

[in]	octree	The reference to the octree
[in]	voxel_coord_f	The voxel coordinates to be accessed [float voxel coordiantes]
[in]	scale_desired	The finest scale to compute the gradient at
[in]	scale_returned	The scale the gradient has been computed at (max (scale desired, finest common neighbour scale)

Returns: The field gradient if the gradient is valid, {}/invalid otherwise

Functions

Function Documentation

◆ getData() [1/4]

◆ getData() [2/4]

◆ getData() [3/4]

◆ getData() [4/4]

◆ getMinData()

◆ getMaxData()

◆ getField() [1/4]

◆ getField() [2/4]

◆ getField() [3/4]

◆ getField() [4/4]

◆ getInterp() [1/2]

◆ getInterp() [2/2]

◆ getFieldInterp() [1/2]

◆ getFieldInterp() [2/2]

◆ getColourInterp() [1/2]

◆ getColourInterp() [2/2]

◆ getFieldGrad() [1/4]

◆ getFieldGrad() [2/4]

◆ getFieldGrad() [3/4]

◆ getFieldGrad() [4/4]