Class IntensityIntegrator¶
- Defined in File intensity_integrator.h
Class Documentation¶
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class
IntensityIntegrator
¶ Integrates intensities from a set of bearing vectors (i.e., an intensity image, such as a thermal image) by projecting them onto the TSDF surface and coloring near the surface crossing.
Public Functions
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IntensityIntegrator
(const Layer<TsdfVoxel> &tsdf_layer, Layer<IntensityVoxel> *intensity_layer)¶
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void
setMaxDistance
(const FloatingPoint max_distance)¶ Set the max distance for projecting into the TSDF layer.
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FloatingPoint
getMaxDistance
() const¶
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void
addIntensityBearingVectors
(const Point &origin, const Pointcloud &bearing_vectors, const std::vector<float> &intensities)¶ Integrates intensities into the intensity layer by projecting normalized bearing vectors (in the WORLD coordinate frame) from the origin (also in the world coordinate frame) into the TSDF layer, and then setting the intensities near the surface boundaries.
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