se::FieldData< Field::TSDF > Struct Reference

#include <data_field.hpp>

Classes
struct	Config

Public Member Functions
bool	valid () const
	Return whether the field data has been updated at least once.
bool	update (const field_t sdf, const field_t truncation_boundary, const weight_t max_weight)
	Perform a weighted average TSDF update by truncating the SDF value sdf within truncation_boundary, while ensuring the weight doesn't exceed max_weight.

Public Attributes
field_t	tsdf = 1
weight_t	weight = 0

Static Public Attributes
static constexpr bool	normals_along_gradient = true
	The direction of surface normals in TSDF fields is the same as the direction of the field gradient.
static constexpr field_t	surface_boundary = 0

Member Function Documentation

valid()

bool se::FieldData< Field::TSDF >::valid

(

)

const

Return whether the field data has been updated at least once.

update()

bool se::FieldData< Field::TSDF >::update	(	const field_t	sdf,
		const field_t	truncation_boundary,
		const weight_t	max_weight
	)

Perform a weighted average TSDF update by truncating the SDF value sdf within truncation_boundary, while ensuring the weight doesn't exceed max_weight.

Return whether the data was updated. Data isn't updated if sdf is less than -truncation_boundary.

Member Data Documentation

tsdf

field_t se::FieldData< Field::TSDF >::tsdf = 1

weight

weight_t se::FieldData< Field::TSDF >::weight = 0

normals_along_gradient

constexpr bool se::FieldData< Field::TSDF >::normals_along_gradient = true

staticconstexpr

The direction of surface normals in TSDF fields is the same as the direction of the field gradient.

This is because the TSDF field is positive outside the surface and negative inside it.

surface_boundary

constexpr field_t se::FieldData< Field::TSDF >::surface_boundary = 0

staticconstexpr

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The documentation for this struct was generated from the following file:

• include/se/map/data_field.hpp