Point Cloud Library (PCL) 1.13.1
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color_volume.h
1/*
2 * Software License Agreement (BSD License)
3 *
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/gpu/containers/device_array.h>
43#include <pcl/point_types.h>
44#include <pcl/point_cloud.h>
45#include <Eigen/Core>
46
47
48namespace pcl
49{
50 namespace gpu
51 {
52 namespace kinfuLS
53 {
54 class TsdfVolume;
55
56 /**
57 * \brief ColorVolume class
58 * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
59 */
60 class PCL_EXPORTS ColorVolume
61 {
62 public:
64 using Ptr = shared_ptr<ColorVolume>;
65 using ConstPtr = shared_ptr<const ColorVolume>;
66
67 /**
68 * \brief Constructor
69 * \param[in] tsdf tsdf volume to get parameters from
70 * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
71 */
72 ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
73
74 /** \brief Resets color volume to uninitialized state */
75 void
77
78 /** \brief Returns running average length */
79 int
80 getMaxWeight() const;
81
82 /** \brief Returns container with color volume in GPU memory */
84 data() const;
85
86 /**
87 * \brief Computes colors from color volume
88 * \param[in] cloud Points for which colors are to be computed.
89 * \param[out] colors output array for colors
90 */
91 void
92 fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const;
93
94 private:
95 /** \brief Volume resolution */
96 Eigen::Vector3i resolution_;
97
98 /** \brief Volume size in meters */
99 Eigen::Vector3f volume_size_;
100
101 /** \brief Length of running average */
102 int max_weight_;
103
104 /** \brief color volume data */
105 DeviceArray2D<int> color_volume_;
106
107 public:
109 };
110 }
111 }
112}
DeviceArray2D class
DeviceArray class
void reset()
Resets color volume to uninitialized state.
shared_ptr< ColorVolume > Ptr
shared_ptr< const ColorVolume > ConstPtr
DeviceArray2D< int > data() const
Returns container with color volume in GPU memory.
void fetchColors(const DeviceArray< PointType > &cloud, DeviceArray< RGB > &colors) const
Computes colors from color volume.
ColorVolume(const TsdfVolume &tsdf, int max_weight=-1)
Constructor.
int getMaxWeight() const
Returns running average length.
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.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates.