Program Listing for File intensity_integrator.h

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#ifndef VOXBLOX_INTEGRATOR_INTENSITY_INTEGRATOR_H_
#define VOXBLOX_INTEGRATOR_INTENSITY_INTEGRATOR_H_

#include <glog/logging.h>
#include <Eigen/Core>
#include <algorithm>
#include <queue>
#include <utility>
#include <vector>

#include "voxblox/core/layer.h"
#include "voxblox/core/voxel.h"
#include "voxblox/integrator/integrator_utils.h"
#include "voxblox/utils/timing.h"

namespace voxblox {

class IntensityIntegrator {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  IntensityIntegrator(const Layer<TsdfVoxel>& tsdf_layer,
                      Layer<IntensityVoxel>* intensity_layer);

  void setMaxDistance(const FloatingPoint max_distance) {
    max_distance_ = max_distance;
  }
  FloatingPoint getMaxDistance() const { return max_distance_; }

  void addIntensityBearingVectors(const Point& origin,
                                  const Pointcloud& bearing_vectors,
                                  const std::vector<float>& intensities);

 private:
  FloatingPoint max_distance_;
  float max_weight_;
  int intensity_prop_voxel_radius_;

  const Layer<TsdfVoxel>& tsdf_layer_;
  Layer<IntensityVoxel>* intensity_layer_;
};

}  // namespace voxblox

#endif  // VOXBLOX_INTEGRATOR_INTENSITY_INTEGRATOR_H_