Add API function to SVO to allow camera rays to be used to update according to a sensor model. Use the alpha channel of the octree to store the net # hits, which can be used to reproduce log odds from only 8 bits.
The function needs to be device so it can be called by a kernel that parallelizes over the rays of an RGB-D image.
Add API function to SVO to allow camera rays to be used to update according to a sensor model. Use the alpha channel of the octree to store the net # hits, which can be used to reproduce log odds from only 8 bits.
The function needs to be device so it can be called by a kernel that parallelizes over the rays of an RGB-D image.