Class ProjectiveIntegrator

• Defined in File projective_integrator.h

Inheritance Relationships

Base Type

• public wavemap::IntegratorBase (Class IntegratorBase)

Derived Types

• public wavemap::CoarseToFineIntegrator (Class CoarseToFineIntegrator)

• public wavemap::FixedResolutionIntegrator (Class FixedResolutionIntegrator)

• public wavemap::HashedChunkedWaveletIntegrator (Class HashedChunkedWaveletIntegrator)

• public wavemap::HashedWaveletIntegrator (Class HashedWaveletIntegrator)

• public wavemap::WaveletIntegrator (Class WaveletIntegrator)

Class Documentation

class ProjectiveIntegrator : public wavemap::IntegratorBase

Subclassed by wavemap::CoarseToFineIntegrator, wavemap::FixedResolutionIntegrator, wavemap::HashedChunkedWaveletIntegrator, wavemap::HashedWaveletIntegrator, wavemap::WaveletIntegrator

Public Types

using Ptr = std::shared_ptr<ProjectiveIntegrator>

Public Functions

inline explicit ProjectiveIntegrator(const ProjectiveIntegratorConfig &config, ProjectorBase::ConstPtr projection_model, PosedImage<>::Ptr posed_range_image, Image<Vector2D>::Ptr beam_offset_image, MeasurementModelBase::ConstPtr measurement_model)

virtual void integrate(const PosedPointcloud<> &pointcloud) override

virtual void integrate(const PosedImage<> &range_image) override

inline const MeasurementModelBase::ConstPtr &getMeasurementModel() const

inline ProjectorBase::ConstPtr getProjectionModel() const

inline PosedImage::ConstPtr getPosedRangeImage() const

inline Image<Vector2D>::ConstPtr getBeamOffsetImage() const

Protected Functions

virtual void importPointcloud(const PosedPointcloud<> &pointcloud)

virtual void importRangeImage(const PosedImage<> &range_image_input)

virtual void updateMap() = 0

inline FloatingPoint computeUpdate(const Point3D &C_cell_center) const

Protected Attributes

const ProjectiveIntegratorConfig config_

const ProjectorBase::ConstPtr projection_model_

const PosedImage::Ptr posed_range_image_

const Image<Vector2D>::Ptr beam_offset_image_

const MeasurementModelBase::ConstPtr measurement_model_