Class FastTsdfIntegrator¶
- Defined in File tsdf_integrator.h
Inheritance Relationships¶
Base Type¶
public voxblox::TsdfIntegratorBase
(Class TsdfIntegratorBase)
Class Documentation¶
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class
FastTsdfIntegrator
: public voxblox::TsdfIntegratorBase¶ An integrator that prioritizes speed over everything else.
Rays are cast from the pointcloud to the sensor origin. If a ray intersects max_consecutive_ray_collisions voxels in a row that have already been updated by other rays from the same cloud, it is terminated early. This results in a large reduction in the number of freespace updates and greatly improves runtime while ensuring all voxels receive at least a minimum number of updates. Speed is further enhanced through limiting the number of rays cast from each voxel as set by start_voxel_subsampling_factor and use of the ApproxHashSet. Up to an order of magnitude faster then the other integrators for small voxels.
Public Functions
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void
integrateFunction
(const Transformation &T_G_C, const Pointcloud &points_C, const Colors &colors, const bool freespace_points, ThreadSafeIndex *index_getter)¶
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void
integratePointCloud
(const Transformation &T_G_C, const Pointcloud &points_C, const Colors &colors, const bool freespace_points = false)¶ Integrates the given point infomation into the TSDF.
NOT thread safe.
- Parameters
freespace_points
: if true points will only be integrated up to the truncation distance. Used when we are given a minimum distance to a point, rather then exact distance. This is useful for clearing out free space.
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void