- Defined in File tsdf_integrator.h
SimpleTsdfIntegrator: public voxblox::TsdfIntegratorBase¶
Basic TSDF integrator.
Every point is raycast through all the voxels, which are updated individually. An exact but very slow approach.
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.
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.