Class TsdfMap¶
- Defined in File tsdf_map.h
Class Documentation¶
-
class
TsdfMap
¶ Map holding a Truncated Signed Distance Field Layer.
Contains functions for interacting with the layer and getting gradient and distance information.
Public Types
-
using
EigenDStride
= Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>¶
-
using
EigenDRef
= Eigen::Ref<MatrixType, 0, EigenDStride>¶
Public Functions
-
virtual
~TsdfMap
()¶
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FloatingPoint
block_size
() const¶
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FloatingPoint
voxel_size
() const¶
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unsigned int
coordPlaneSliceGetDistanceWeight
(unsigned int free_plane_index, double free_plane_val, EigenDRef<Eigen::Matrix<double, 3, Eigen::Dynamic>> &positions, Eigen::Ref<Eigen::VectorXd> distances, Eigen::Ref<Eigen::VectorXd> weights, unsigned int max_points) const¶ Extract all voxels on a slice plane that is parallel to one of the axis-aligned planes.
free_plane_index specifies the free coordinate (zero-based; x, y, z order) free_plane_val specifies the plane intercept coordinate along that axis
-
struct
Config
¶
-
using