| 71 | } |
| 72 | |
| 73 | VoxelMap::VoxelMap(const double voxel_size, const double max_distance) |
| 74 | : voxel_size_(voxel_size), |
| 75 | map_resolution_(voxel_size / |
| 76 | (std::sqrt(static_cast<double>(max_points_per_normal_computation)))), |
| 77 | max_distance_(max_distance) {} |
| 78 | |
| 79 | void VoxelMap::IntegrateFrame(const Vector3dVector &points, const Eigen::Matrix4d &pose) { |
| 80 | const Eigen::Matrix3d R = pose.block<3, 3>(0, 0); |
nothing calls this directly
no outgoing calls
no test coverage detected