Center of the next lower pixel, i.e., not necessarily the pixel containing (x, y). For each dimension, the largest pixel index so that the correspondi

Center of the next lower voxel, i.e., not necessarily the voxel containing (x, y, z). For each dimension, the largest voxel index so that the correspo

Clamps correspondece cost to be in the range [kMinCorrespondenceCost, kMaxCorrespondenceCost].

Clamps TSD to be in the range [min_tsd_, max_tsd_].

Clamps weight to be in the range [min_tsd_, max_tsd_].

Computes the earliest intersection of the ray 'from' to 'to' with the axis-aligned cube with edge length 30 and center at the origin. Assumes that 'fr

Computes the earliest intersection of the ray 'from' to 'to' with all bubbles. Returns 'to' if no intersection exists.

Computes all differences in seconds between consecutive pulses.

This method is defined here instead of the header file as it was observed that defining it in the header file has a negative impact on the runtime per