Class OccupancyIntegrator

• Defined in File occupancy_integrator.h

Nested Relationships

Nested Types

• Struct OccupancyIntegrator::Config

Class Documentation

class OccupancyIntegrator

Integrates a pointcloud into an occupancy layer by raycasting the points and updating all the voxels the rays pass through.

Public Functions

OccupancyIntegrator(const Config &config, Layer<OccupancyVoxel> *layer)

void updateOccupancyVoxel(bool occupied, OccupancyVoxel *occ_voxel)

void integratePointCloud(const Transformation &T_G_C, const Pointcloud &points_C)

Protected Attributes

Config config_

Layer<OccupancyVoxel> *layer_

FloatingPoint voxel_size_

size_t voxels_per_side_

FloatingPoint block_size_

float prob_hit_log_

float prob_miss_log_

float clamp_min_log_

float clamp_max_log_

float min_occupancy_log_

FloatingPoint voxel_size_inv_

FloatingPoint voxels_per_side_inv_

FloatingPoint block_size_inv_

struct Config

Public Members

float probability_hit = 0.65f

float probability_miss = 0.4f

float threshold_min = 0.12f

float threshold_max = 0.97f

float threshold_occupancy = 0.7f

FloatingPoint min_ray_length_m = 0.1

FloatingPoint max_ray_length_m = 5.0