Functions
bool	ExtractFloorPlanImageAndConvertToOccupancyGrid (const Tango3DR_ReconstructionContext &t3dr_context, double time_offset, const std::string &base_frame_id, double t3dr_resolution, uint8_t threshold, nav_msgs::OccupancyGrid *occupancy_grid)

void	ExtractMeshAndConvertToMarkerArray (const Tango3DR_ReconstructionContext &t3dr_context, const Tango3DR_GridIndexArray &t3dr_updated_indices, double time_offset, const std::string &base_frame_id, visualization_msgs::MarkerArray *mesh_marker_array)

Tango3DR_Status	TangoSetup3DRConfig (const ros::NodeHandle &node_handle, double t3dr_resolution, Tango3DR_ReconstructionContext t3dr_context, Tango3DR_CameraCalibration *t3dr_color_camera_intrinsics)

void	UpdateMesh (const Tango3DR_ReconstructionContext &t3dr_context, TangoSupport_PointCloudManager point_cloud_manager, TangoSupport_ImageBufferManager image_buffer_manager, Tango3DR_Pose last_camera_depth_pose, Tango3DR_Pose last_camera_color_pose, Tango3DR_GridIndexArray *t3dr_updated_indices)

Variables
const double	TANGO_3DR_DEFAULT_FLOORPLAN_MAX_ERROR = 0.

const int32_t	TANGO_3DR_DEFAULT_MAX_VOXEL_WEIGHT = 16383

const int32_t	TANGO_3DR_DEFAULT_MIN_NUM_VERTICES = 1

const double	TANGO_3DR_DEFAULT_RESOLUTION = 0.05

const int32_t	TANGO_3DR_DEFAULT_UPDATE_METHOD = 0

const bool	TANGO_3DR_DEFAULT_USE_SPACE_CLEARING = false

const std::string	TANGO_3DR_FLOORPLAN_MAX_ERROR_PARAM_NAME = "reconstruction/floorplan_max_error"

const std::string	TANGO_3DR_MAX_VOXEL_WEIGHT_PARAM_NAME = "reconstruction/max_voxel_weight"

const std::string	TANGO_3DR_MIN_NUM_VERTICES_PARAM_NAME = "reconstruction/min_num_vertices"

const uint8_t	TANGO_3DR_OCCUPANCY_GRID_DEFAULT_THRESHOLD = 180

const std::string	TANGO_3DR_OCCUPANCY_GRID_THRESHOLD_PARAM_NAME = "reconstruction/occupancy_grid_threshold"

const std::string	TANGO_3DR_RESOLUTION_PARAM_NAME = "reconstruction/resolution_3d"

const std::string	TANGO_3DR_UPDATE_METHOD_PARAM_NAME = "reconstruction/update_method"

const std::string	TANGO_3DR_USE_SPACE_CLEARING_PARAM_NAME = "reconstruction/use_space_clearing"

Function Documentation

bool tango_3d_reconstruction_helper::ExtractFloorPlanImageAndConvertToOccupancyGrid	(	const Tango3DR_ReconstructionContext &	t3dr_context,
		double	time_offset,
		const std::string &	base_frame_id,
		double	t3dr_resolution,
		uint8_t	threshold,
		nav_msgs::OccupancyGrid *	occupancy_grid
	)

void tango_3d_reconstruction_helper::ExtractMeshAndConvertToMarkerArray	(	const Tango3DR_ReconstructionContext &	t3dr_context,
		const Tango3DR_GridIndexArray &	t3dr_updated_indices,
		double	time_offset,
		const std::string &	base_frame_id,
		visualization_msgs::MarkerArray *	mesh_marker_array
	)

Tango3DR_Status tango_3d_reconstruction_helper::TangoSetup3DRConfig	(	const ros::NodeHandle &	node_handle,
		double *	t3dr_resolution,
		Tango3DR_ReconstructionContext *	t3dr_context,
		Tango3DR_CameraCalibration *	t3dr_color_camera_intrinsics
	)

void tango_3d_reconstruction_helper::UpdateMesh	(	const Tango3DR_ReconstructionContext &	t3dr_context,
		TangoSupport_PointCloudManager *	point_cloud_manager,
		TangoSupport_ImageBufferManager *	image_buffer_manager,
		Tango3DR_Pose *	last_camera_depth_pose,
		Tango3DR_Pose *	last_camera_color_pose,
		Tango3DR_GridIndexArray *	t3dr_updated_indices
	)

Variable Documentation

const double tango_3d_reconstruction_helper::TANGO_3DR_DEFAULT_FLOORPLAN_MAX_ERROR = 0.

const int32_t tango_3d_reconstruction_helper::TANGO_3DR_DEFAULT_MAX_VOXEL_WEIGHT = 16383

const int32_t tango_3d_reconstruction_helper::TANGO_3DR_DEFAULT_MIN_NUM_VERTICES = 1

const double tango_3d_reconstruction_helper::TANGO_3DR_DEFAULT_RESOLUTION = 0.05

const int32_t tango_3d_reconstruction_helper::TANGO_3DR_DEFAULT_UPDATE_METHOD = 0

const bool tango_3d_reconstruction_helper::TANGO_3DR_DEFAULT_USE_SPACE_CLEARING = false

const std::string tango_3d_reconstruction_helper::TANGO_3DR_FLOORPLAN_MAX_ERROR_PARAM_NAME = "reconstruction/floorplan_max_error"

const std::string tango_3d_reconstruction_helper::TANGO_3DR_MAX_VOXEL_WEIGHT_PARAM_NAME = "reconstruction/max_voxel_weight"

const std::string tango_3d_reconstruction_helper::TANGO_3DR_MIN_NUM_VERTICES_PARAM_NAME = "reconstruction/min_num_vertices"

const uint8_t tango_3d_reconstruction_helper::TANGO_3DR_OCCUPANCY_GRID_DEFAULT_THRESHOLD = 180

const std::string tango_3d_reconstruction_helper::TANGO_3DR_OCCUPANCY_GRID_THRESHOLD_PARAM_NAME = "reconstruction/occupancy_grid_threshold"

const std::string tango_3d_reconstruction_helper::TANGO_3DR_RESOLUTION_PARAM_NAME = "reconstruction/resolution_3d"

const std::string tango_3d_reconstruction_helper::TANGO_3DR_UPDATE_METHOD_PARAM_NAME = "reconstruction/update_method"

const std::string tango_3d_reconstruction_helper::TANGO_3DR_USE_SPACE_CLEARING_PARAM_NAME = "reconstruction/use_space_clearing"