Inheritance diagram for ufo::AngularIntegrator< Dim, SensorErrorFun >:

Classes
struct	Data

struct	Data2

struct	ThreadMisses

Public Member Functions
	AngularIntegrator (SensorErrorFun sensor_error_f=SensorErrorFun())

constexpr float	angularResolution () const noexcept

constexpr void	angularResolution (float resolution) noexcept

template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>
void	operator() (ExecutionPolicy &&policy, Map &map, PointCloud< Dim, T, Rest... > cloud, Transform< Dim, T > const &frame_origin={}, Vec< Dim, T > sensor_origin={}, std::future< void > const &finish_before_touch={}) const

template<class Map , class T , class... Rest>
void	operator() (Map &map, PointCloud< Dim, T, Rest... > cloud, Transform< Dim, T > const &frame_origin={}, Vec< Dim, T > sensor_origin={}) const

SensorErrorFun &	sensorErrorFunction ()

SensorErrorFun const &	sensorErrorFunction () const

Public Member Functions inherited from ufo::Integrator< Dim >
template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>
void	operator() (ExecutionPolicy &&policy, Map &map, PointCloud< Dim, T, Rest... > cloud, Transform< Dim, T > const &transform={}) const

template<class Map , class T , class... Rest>
void	operator() (Map &map, PointCloud< Dim, T, Rest... > cloud, Transform< Dim, T > const &transform={}) const

Public Attributes
float	angular_resolution_factor_ {}

__block std::vector< float >	cached_distances_

__block std::vector< detail::Miss< Dim > >	cached_misses_

std::uint_fast32_t	columns_ {}

__block std::vector< Data >	data_

__block std::vector< Data2 >	data_2_

std::uint_fast32_t	ds_ = 10u

float	max_distance = std::numeric_limits<float>::infinity()

float	min_distance = 0.0f

float	orientation_error = radians(0.0f)

std::uint_fast32_t	rows_ {}

float	sensor_angular_resolution = radians(0.0f)

SensorErrorFun	sensor_error_f_

__block std::deque< ThreadMisses >	thread_misses_

float	translation_error = 0.0f

Public Attributes inherited from ufo::Integrator< Dim >
CountSamplingMethod	count_sample_method = CountSamplingMethod::NONE

bool	free_hits = false

depth_t	hit_depth = 0

depth_t	miss_depth = 0

occupancy_t	occupancy_hit = 0.75f

logit_t	occupancy_max_clamp_thres = 0.971f

logit_t	occupancy_min_clamp_thres = 0.1192f

occupancy_t	occupancy_miss = 0.45f

bool	propagate = false

bool	prune = true

bool	reset_modified = true

DownSamplingMethod	sample_method = DownSamplingMethod::NONE

bool	verbose = false

unsigned	void_region_distance = 2

bool	void_region_instant_max_occupancy = true

bool	void_region_instant_min_occupancy = true

Additional Inherited Members
Public Types inherited from ufo::Integrator< Dim >
using	depth_t = unsigned

using	logit_t = float

using	occupancy_t = float

Protected Member Functions inherited from ufo::Integrator< Dim >
template<class Map , class... Ts>
void	insertHit (Map &map, TreeIndex const &node, SoAElement< Ts... > const &data, logit_t occupancy, logit_t occupancy_min, logit_t occupancy_max) const

template<class Map , class T , class... Ts>
void	insertHit (Map &map, Vec< Dim, T > const &sensor_origin, TreeIndex const &node, SoAElement< Ts... > const &data, logit_t occupancy, logit_t occupancy_min, logit_t occupancy_max) const

template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>
void	insertHits (ExecutionPolicy &&policy, Map &map, PointCloud< Dim, T, Rest... > const &cloud) const

template<class ExecutionPolicy , class Map , class T , class... Rest, std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>
void	insertHits (ExecutionPolicy &&policy, Map &map, PointCloud< Dim, T, Rest... > const &cloud, Vec< Dim, T > const &sensor_origin) const

template<class Map , class T , class... Rest>
void	insertHits (Map &map, PointCloud< Dim, T, Rest... > const &cloud) const

template<class Map , class T , class... Rest>
void	insertHits (Map &map, PointCloud< Dim, T, Rest... > const &cloud, Vec< Dim, T > const &sensor_origin) const

template<class Map >
void	insertMiss (Map &map, detail::Miss< Dim > const &miss, logit_t occupancy, logit_t occupancy_min, logit_t occupancy_max) const

template<class ExecutionPolicy , class Map , std::enable_if_t< execution::is_execution_policy_v< ExecutionPolicy >, bool > = true>
void	insertMisses (ExecutionPolicy &&policy, Map &map, std::vector< detail::Miss< Dim > > &misses) const

template<class Map >
void	insertMisses (Map &map, std::vector< detail::Miss< Dim > > &misses) const

Protected Attributes inherited from ufo::Integrator< Dim >
__block std::vector< detail::Hit< Dim > >	cached_hits_

Detailed Description

template<std::size_t Dim, class SensorErrorFun = FixedSensorError>
class ufo::AngularIntegrator< Dim, SensorErrorFun >

Definition at line 75 of file angular_integrator.hpp.