//Integrate pointcloud already transformed to target frame
void Chisel::IntegratePointCloud(const ProjectionIntegrator& integrator, const PointCloud& cloud, const Vec3& sensorOrigin, float minDist, float maxDist)
{
ChunkVoxelMap updatedVoxels;
//TODO: parallelize
for (const Vec3& point : cloud.GetPoints())
{
IntegrateRay(integrator, updatedVoxels, sensorOrigin, point, minDist, maxDist);
}
DetermineUpdatedChunks(updatedVoxels);
}
//Integrate pointcloud after transforming to target frame
void Chisel::IntegratePointCloud(const ProjectionIntegrator& integrator, const PointCloud& cloud, const Transform& extrinsic, float minDist, float maxDist)
{
ChunkVoxelMap updatedVoxels;
const Vec3& start = extrinsic.translation();
//TODO: parallelize
for (const Vec3& point : cloud.GetPoints())
{
Vec3 point_transformed = extrinsic * point;
IntegrateRay(integrator, updatedVoxels, start, point_transformed, minDist, maxDist);
}
DetermineUpdatedChunks(updatedVoxels);
}