Program Listing for File voxel.h

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#ifndef VOXBLOX_CORE_VOXEL_H_
#define VOXBLOX_CORE_VOXEL_H_

#include <cstdint>
#include <string>

#include "voxblox/core/color.h"
#include "voxblox/core/common.h"

namespace voxblox {

struct TsdfVoxel {
  float distance = 0.0f;
  float weight = 0.0f;
  Color color;
};

struct EsdfVoxel {
  float distance = 0.0f;

  bool observed = false;
  bool hallucinated = false;
  bool in_queue = false;
  bool fixed = false;

  Eigen::Vector3i parent = Eigen::Vector3i::Zero();

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

struct OccupancyVoxel {
  float probability_log = 0.0f;
  bool observed = false;
};

struct IntensityVoxel {
  float intensity = 0.0f;
  float weight = 0.0f;
};

namespace voxel_types {
const std::string kNotSerializable = "not_serializable";
const std::string kTsdf = "tsdf";
const std::string kEsdf = "esdf";
const std::string kOccupancy = "occupancy";
const std::string kIntensity = "intensity";
}  // namespace voxel_types

template <typename Type>
std::string getVoxelType() {
  return voxel_types::kNotSerializable;
}

template <>
inline std::string getVoxelType<TsdfVoxel>() {
  return voxel_types::kTsdf;
}

template <>
inline std::string getVoxelType<EsdfVoxel>() {
  return voxel_types::kEsdf;
}

template <>
inline std::string getVoxelType<OccupancyVoxel>() {
  return voxel_types::kOccupancy;
}

template <>
inline std::string getVoxelType<IntensityVoxel>() {
  return voxel_types::kIntensity;
}

}  // namespace voxblox

#endif  // VOXBLOX_CORE_VOXEL_H_