- Defined in File integrator_utils.h
Generates the indexes of all voxels a given ray will pass through.
This class assumes PRE-SCALED coordinates, where one unit = one voxel size. The indices are also returned in this scales coordinate system, which should map to voxel indexes.
RayCaster(const Point &origin, const Point &point_G, const bool is_clearing_ray, const bool voxel_carving_enabled, const FloatingPoint max_ray_length_m, const FloatingPoint voxel_size_inv, const FloatingPoint truncation_distance, const bool cast_from_origin = true)¶