Class IntegratorBase

• Defined in File integrator_base.h

Inheritance Relationships

Derived Types

• public wavemap::ProjectiveIntegrator (Class ProjectiveIntegrator)

• public wavemap::RayTracingIntegrator (Class RayTracingIntegrator)

Class Documentation

class IntegratorBase

Subclassed by wavemap::ProjectiveIntegrator, wavemap::RayTracingIntegrator

Public Types

using Ptr = std::shared_ptr<IntegratorBase>

Public Functions

IntegratorBase() = default

virtual ~IntegratorBase() = default

virtual void integrate(const PosedPointcloud<> &pointcloud) = 0

virtual void integrate(const PosedImage<> &range_image) = 0

Protected Static Functions

static bool isPoseValid(const Transformation3D &T_W_C)

static inline bool isMeasurementValid(const Point3D &C_end_point)

static inline Point3D getEndPointOrMaxRange(const Point3D &W_start_point, const Point3D &W_end_point, FloatingPoint measured_distance, FloatingPoint max_range)