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refactor interfaces for getting/setting the updated bits #361

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refactor interfaces for getting/setting the updated bits #361

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9 changes: 4 additions & 5 deletions voxblox/include/voxblox/core/block.h
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Original file line number Diff line number Diff line change
Expand Up @@ -167,15 +167,14 @@ class Block {
void setOrigin(const Point& new_origin) { origin_ = new_origin; }
FloatingPoint block_size() const { return block_size_; }

bool updated(Update::Status status) const { return updated_[status]; }
bool has_data() const { return has_data_; }

const std::bitset<Update::kCount>& updated() const { return updated_; }
std::bitset<Update::kCount>& updated() { return updated_; }
bool& has_data() { return has_data_; }

void set_updated(const std::bitset<Update::kCount>& updated) {
updated_ = updated;
void setUpdated(Update::Status status, bool value) {
updated_[status] = value;
}
void setUpdatedAll() { updated_.set(); }
void set_has_data(bool has_data) { has_data_ = has_data; }

// Serialization.
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2 changes: 1 addition & 1 deletion voxblox/include/voxblox/core/block_inl.h
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Expand Up @@ -117,7 +117,7 @@ void Block<VoxelType>::mergeBlock(const Block<VoxelType>& other_block) {
return;
} else {
has_data() = true;
updated().set();
setUpdatedAll();

for (IndexElement voxel_idx = 0;
voxel_idx < static_cast<IndexElement>(num_voxels()); ++voxel_idx) {
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2 changes: 1 addition & 1 deletion voxblox/include/voxblox/core/layer.h
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Expand Up @@ -196,7 +196,7 @@ class Layer {
blocks->clear();
for (const std::pair<const BlockIndex, typename BlockType::Ptr>& kv :
block_map_) {
if (kv.second->updated()[bit]) {
if (kv.second->updated(bit)) {
blocks->emplace_back(kv.first);
}
}
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2 changes: 1 addition & 1 deletion voxblox/include/voxblox/core/layer_inl.h
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Expand Up @@ -224,7 +224,7 @@ bool Layer<VoxelType>::addBlockFromProto(const BlockProto& block_proto,
return false;
}
// Mark that this block has been updated.
block_map_[block_index]->updated().set();
block_map_[block_index]->setUpdatedAll();
} else {
LOG(ERROR)
<< "The blocks from this protobuf are not compatible with this layer!";
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4 changes: 2 additions & 2 deletions voxblox/include/voxblox/integrator/occupancy_integrator.h
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Expand Up @@ -147,7 +147,7 @@ class OccupancyIntegrator {

if (!block || block_idx != last_block_idx) {
block = layer_->allocateBlockPtrByIndex(block_idx);
block->updated().set();
block->setUpdatedAll();
last_block_idx = block_idx;
}

Expand All @@ -165,7 +165,7 @@ class OccupancyIntegrator {

if (!block || block_idx != last_block_idx) {
block = layer_->allocateBlockPtrByIndex(block_idx);
block->updated().set();
block->setUpdatedAll();
last_block_idx = block_idx;
}

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2 changes: 1 addition & 1 deletion voxblox/include/voxblox/mesh/mesh_integrator.h
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Expand Up @@ -178,7 +178,7 @@ class MeshIntegrator {
if (clear_updated_flag) {
typename Block<VoxelType>::Ptr block =
sdf_layer_mutable_->getBlockPtrByIndex(block_idx);
block->updated().reset(Update::kMesh);
block->setUpdated(Update::kMesh, false);
}
}
}
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5 changes: 2 additions & 3 deletions voxblox/src/integrator/esdf_integrator.cc
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Expand Up @@ -114,8 +114,7 @@ void EsdfIntegrator::updateFromTsdfLayer(bool clear_updated_flag) {
for (const BlockIndex& block_index : tsdf_blocks) {
if (tsdf_layer_->hasBlock(block_index)) {
tsdf_layer_->getBlockByIndex(block_index)
.updated()
.reset(Update::kEsdf);
.setUpdated(Update::kEsdf, false);
}
}
}
Expand Down Expand Up @@ -144,7 +143,7 @@ void EsdfIntegrator::updateFromTsdfBlocks(const BlockIndexList& tsdf_blocks,
// Block indices are the same across all layers.
Block<EsdfVoxel>::Ptr esdf_block =
esdf_layer_->allocateBlockPtrByIndex(block_index);
esdf_block->set_updated(true);
esdf_block->setUpdated(Update::kEsdf, true);

const size_t num_voxels_per_block = tsdf_block->num_voxels();
for (size_t lin_index = 0u; lin_index < num_voxels_per_block; ++lin_index) {
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2 changes: 1 addition & 1 deletion voxblox/src/integrator/tsdf_integrator.cc
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Expand Up @@ -125,7 +125,7 @@ TsdfVoxel* TsdfIntegratorBase::allocateStorageAndGetVoxelPtr(
}
}

(*last_block)->updated().set();
(*last_block)->setUpdatedAll();

const VoxelIndex local_voxel_idx =
getLocalFromGlobalVoxelIndex(global_voxel_idx, voxels_per_side_);
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