Point Cloud Library (PCL) 1.13.1
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raycaster.h
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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37
38#pragma once
39
40#include <pcl/memory.h>
41#include <pcl/pcl_macros.h>
42#include <pcl/point_types.h>
43#include <pcl/gpu/containers/device_array.h>
44#include <pcl/gpu/kinfu_large_scale/pixel_rgb.h>
45//#include <boost/graph/buffer_concepts.hpp>
46#include <Eigen/Geometry>
47
48#include <pcl/gpu/kinfu_large_scale/tsdf_buffer.h>
49
50namespace pcl
51{
52 namespace gpu
53 {
54 namespace kinfuLS
55 {
56 class TsdfVolume;
57
58 /** \brief Class that performs raycasting for TSDF volume
59 * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
60 */
61 struct PCL_EXPORTS RayCaster
62 {
63 public:
64 using Ptr = shared_ptr<RayCaster>;
65 using ConstPtr = shared_ptr<const RayCaster>;
69
70 /** \brief Image with height */
71 const int cols, rows;
72
73 /** \brief Constructor
74 * \param[in] rows image rows
75 * \param[in] cols image cols
76 * \param[in] fx focal x
77 * \param[in] fy focal y
78 * \param[in] cx principal point x
79 * \param[in] cy principal point y
80 */
81 RayCaster(int rows = 480, int cols = 640, float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
82
83 /** \brief Sets camera intrinsics */
84 void
85 setIntrinsics(float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
86
87 /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal files.
88 * \param[in] volume tsdf volume container
89 * \param[in] camera_pose camera pose
90 * \param buffer
91 */
92 void
93 run(const TsdfVolume& volume, const Eigen::Affine3f& camera_pose, tsdf_buffer* buffer);
94
95 /** \brief Generates scene view using data raycasted by run method. So call it before.
96 * \param[out] view output array for RGB image
97 */
98 void
99 generateSceneView(View& view) const;
100
101 /** \brief Generates scene view using data raycasted by run method. So call it before.
102 * \param[out] view output array for RGB image
103 * \param[in] light_source_pose pose of light source
104 */
105 void
106 generateSceneView(View& view, const Eigen::Vector3f& light_source_pose) const;
107
108 /** \brief Generates depth image using data raycasted by run method. So call it before.
109 * \param[out] depth output array for depth image
110 */
111 void
113
114 /** \brief Returns raycasterd vertex map. */
115 MapArr
117
118 /** \brief Returns raycasterd normal map. */
119 MapArr
121
122 private:
123 /** \brief Camera intrinsics. */
124 float fx_, fy_, cx_, cy_;
125
126 /* Vertext/normal map internal representation example for rows=2 and cols=4
127 * X X X X
128 * X X X X
129 * Y Y Y Y
130 * Y Y Y Y
131 * Z Z Z Z
132 * Z Z Z Z
133 */
134
135 /** \brief vertex map of 3D points*/
136 MapArr vertex_map_;
137
138 /** \brief normal map of 3D points*/
139 MapArr normal_map_;
140
141 /** \brief camera pose from which raycasting was done */
142 Eigen::Affine3f camera_pose_;
143
144 /** \brief Last passed volume size */
145 Eigen::Vector3f volume_size_;
146
147public:
149
150 };
151
152 /** \brief Converts from map representation to organized not-dence point cloud. */
153 template<typename PointType>
155 }
156 }
157}
Defines all the PCL implemented PointT point type structures.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
void convertMapToOranizedCloud(const RayCaster::MapArr &map, pcl::gpu::DeviceArray2D< PointType > &cloud)
Converts from map representation to organized not-dence point cloud.
Defines all the PCL and non-PCL macros used.
Class that performs raycasting for TSDF volume.
Definition raycaster.h:62
MapArr getNormalMap() const
Returns raycasterd normal map.
RayCaster(int rows=480, int cols=640, float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)
Constructor.
void run(const TsdfVolume &volume, const Eigen::Affine3f &camera_pose, tsdf_buffer *buffer)
Runs raycasting algorithm from given camera pose.
void setIntrinsics(float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)
Sets camera intrinsics.
void generateSceneView(View &view) const
Generates scene view using data raycasted by run method.
shared_ptr< const RayCaster > ConstPtr
Definition raycaster.h:65
void generateDepthImage(Depth &depth) const
Generates depth image using data raycasted by run method.
MapArr getVertexMap() const
Returns raycasterd vertex map.
const int cols
Image with height.
Definition raycaster.h:71
shared_ptr< RayCaster > Ptr
Definition raycaster.h:64
void generateSceneView(View &view, const Eigen::Vector3f &light_source_pose) const
Generates scene view using data raycasted by run method.
Structure to handle buffer addresses.
Definition tsdf_buffer.h:51