Base class for user-supplied objects capable of describing voxels connectivity, used to build prior factors of the MRF graph.
- See also
- setvoxelsConnectivity()
Definition at line 163 of file CRandomFieldGridMap3D.h.
virtual bool mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor::getEdgeInformation |
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const CRandomFieldGridMap3D * |
parent, |
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size_t |
icx, |
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size_t |
icy, |
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size_t |
icz, |
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size_t |
jcx, |
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size_t |
jcy, |
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size_t |
jcz, |
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double & |
out_edge_information |
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) |
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pure virtual |
Implement the check of whether node i=(icx,icy,icz) is connected with node j=(jcx,jcy,jcy).
This visitor method will be called only for immediate neighbors.
- Returns
- true if connected (and the "information" value should be also updated in out_edge_information), false otherwise.
- Parameters
-
parent | The parent map on which we are running |
icx | (cx,cy,cz) for node "i" |
jcx | (cx,cy,cz) for node "j" |
out_edge_information | Must output here the inverse of the variance of the constraint edge. |
Referenced by mrpt::maps::CRandomFieldGridMap3D::internal_initialize().