raycast_carver.hpp

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/*
 * SPDX-FileCopyrightText: 2016-2019 Emanuele Vespa
 * SPDX-FileCopyrightText: 2021 Smart Robotics Lab, Imperial College London, Technical University of Munich
 * SPDX-FileCopyrightText: 2021 Nils Funk
 * SPDX-FileCopyrightText: 2021 Sotiris Papatheodorou
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef SE_RAYCAST_CARVER_HPP
#define SE_RAYCAST_CARVER_HPP
 
#include <Eigen/Geometry>
#include <se/common/timings.hpp>
#include <se/image/image.hpp>
#include <se/map/octant/octant.hpp>
#include <se/map/octree/allocator.hpp>
#include <se/map/octree/fetcher.hpp>
#include <se/map/octree/iterator.hpp>
#include <set>
 
namespace se {
namespace fetcher {
 
 
 
template<typename MapT, typename SensorT>
inline std::vector<se::OctantBase*>
frustum(MapT& map, const SensorT& sensor, const Eigen::Isometry3f& T_WS);
 
 
 
} // namespace fetcher
 
 
 
template<typename MapT, typename SensorT>
class RaycastCarver {
    public:
    RaycastCarver(MapT& map,
                  const SensorT& sensor,
                  const se::Image<float>& depth_img,
                  const Eigen::Isometry3f& T_WS,
                  const timestamp_t timestamp);
 
    std::vector<se::OctantBase*> operator()();
 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    private:
    MapT& map_;
    typename MapT::OctreeType& octree_;
    const SensorT& sensor_;
    const se::Image<float>& depth_img_;
    const Eigen::Isometry3f& T_WS_;
    const float band_;
};
 
} // namespace se
 
#include "impl/raycast_carver_impl.hpp"
 
#endif // SE_RAYCAST_CARVER_HPP