Class MergedTsdfIntegrator¶
- Defined in File tsdf_integrator.h
Inheritance Relationships¶
Base Type¶
public voxblox::TsdfIntegratorBase
(Class TsdfIntegratorBase)
Class Documentation¶
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class
MergedTsdfIntegrator
: public voxblox::TsdfIntegratorBase¶ Uses ray bundling to improve integration speed, points which lie in the same voxel are “merged” into a single point.
Raycasting and updating then proceeds as normal. Fast for large voxels, with minimal loss of information.
Public Functions
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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.
Protected Functions
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void
bundleRays
(const Transformation &T_G_C, const Pointcloud &points_C, const bool freespace_points, ThreadSafeIndex *index_getter, LongIndexHashMapType<AlignedVector<size_t>>::type *voxel_map, LongIndexHashMapType<AlignedVector<size_t>>::type *clear_map)¶
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void
integrateVoxel
(const Transformation &T_G_C, const Pointcloud &points_C, const Colors &colors, bool enable_anti_grazing, bool clearing_ray, const std::pair<GlobalIndex, AlignedVector<size_t>> &kv, const LongIndexHashMapType<AlignedVector<size_t>>::type &voxel_map)¶
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void
integrateVoxels
(const Transformation &T_G_C, const Pointcloud &points_C, const Colors &colors, bool enable_anti_grazing, bool clearing_ray, const LongIndexHashMapType<AlignedVector<size_t>>::type &voxel_map, const LongIndexHashMapType<AlignedVector<size_t>>::type &clear_map, size_t thread_idx)¶
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void
integrateRays
(const Transformation &T_G_C, const Pointcloud &points_C, const Colors &colors, bool enable_anti_grazing, bool clearing_ray, const LongIndexHashMapType<AlignedVector<size_t>>::type &voxel_map, const LongIndexHashMapType<AlignedVector<size_t>>::type &clear_map)¶
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void