#include </__w/1/s/gpu/kinfu/tools/tsdf_volume.h>

Classes
struct	Header
	Structure storing voxel grid resolution, volume size (in mm) and element_size of stored data. More...

struct	Intr
	Camera intrinsics structure. More...

Public Types
using	Ptr = shared_ptr< TSDFVolume< VoxelT, WeightT > >

using	ConstPtr = shared_ptr< const TSDFVolume< VoxelT, WeightT > >

using	VoxelTVec = Eigen::VectorXf

Public Member Functions
	TSDFVolume ()
	Default constructor. More...

	TSDFVolume (const std::string &filename)
	Constructor loading data from file. More...

void	setHeader (const Eigen::Vector3i &resolution, const Eigen::Vector3f &volume_size)
	Set the header directly. More...

void	resize (Eigen::Vector3i &grid_resolution, const Eigen::Vector3f &volume_size=Eigen::Vector3f(DEFAULT_VOLUME_SIZE_X, DEFAULT_VOLUME_SIZE_Y, DEFAULT_VOLUME_SIZE_Z))
	Resizes the internal storage and updates the header accordingly. More...

void	resizeDefaultSize ()
	Resize internal storage and header to default sizes defined in tsdf_volume.h. More...

bool	load (const std::string &filename, bool binary=true)
	Loads volume from file. More...

bool	save (const std::string &filename="tsdf_volume.dat", bool binary=true) const
	Saves volume to file. More...

std::size_t	size () const
	Returns overall number of voxels in grid. More...

const Eigen::Vector3f &	volumeSize () const
	Returns the volume size in mm. More...

Eigen::Vector3f	voxelSize () const
	Returns the size of one voxel in mm. More...

const Eigen::Vector3i &	gridResolution () const
	Returns the voxel grid resolution. More...

const Header &	header () const
	Returns constant reference to header. More...

const std::vector< VoxelT > &	volume () const
	Returns constant reference to the volume std::vector. More...

std::vector< VoxelT > &	volumeWriteable () const
	Returns writebale(!) reference to volume. More...

const std::vector< WeightT > &	weights () const
	Returns constant reference to the weights std::vector. More...

std::vector< WeightT > &	weightsWriteable () const
	Returns writebale(!) reference to volume. More...

void	convertToTsdfCloud (pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const unsigned step=2) const
	Converts volume to cloud of TSDF values. More...

template<typename PointT >
void	getVoxelCoord (const PointT &point, Eigen::Vector3i &voxel_coord) const
	Converts the volume to a surface representation via a point cloud. More...

template<typename PointT >
void	getVoxelCoordAndOffset (const PointT &point, Eigen::Vector3i &voxel_coord, Eigen::Vector3f &offset) const
	Returns the 3D voxel coordinate and point offset wrt. More...

bool	extractNeighborhood (const Eigen::Vector3i &voxel_coord, int neighborhood_size, VoxelTVec &neighborhood) const
	extracts voxels in neighborhood of given voxel More...

bool	addNeighborhood (const Eigen::Vector3i &voxel_coord, int neighborhood_size, const VoxelTVec &neighborhood, WeightT voxel_weight)
	adds voxel values in local neighborhood More...

void	averageValues ()
	averages voxel values by the weight value More...

int	getLinearVoxelIndex (const Eigen::Array3i &indices) const
	Returns and index for linear access of the volume and weights. More...

Eigen::VectorXi	getLinearVoxelIndinces (const Eigen::Matrix< int, 3, Eigen::Dynamic > &indices_matrix) const
	Returns a vector of linear indices for voxel coordinates given in 3xn matrix. More...

Detailed Description

template<typename VoxelT, typename WeightT>
class pcl::TSDFVolume< VoxelT, WeightT >

Definition at line 58 of file tsdf_volume.h.

Member Typedef Documentation

◆ ConstPtr

template<typename VoxelT , typename WeightT >

using pcl::TSDFVolume< VoxelT, WeightT >::ConstPtr = shared_ptr<const TSDFVolume<VoxelT, WeightT> >

Definition at line 63 of file tsdf_volume.h.

◆ Ptr

template<typename VoxelT , typename WeightT >

using pcl::TSDFVolume< VoxelT, WeightT >::Ptr = shared_ptr<TSDFVolume<VoxelT, WeightT> >

Definition at line 62 of file tsdf_volume.h.

◆ VoxelTVec

template<typename VoxelT , typename WeightT >

using pcl::TSDFVolume< VoxelT, WeightT >::VoxelTVec = Eigen::VectorXf

Definition at line 66 of file tsdf_volume.h.

Constructor & Destructor Documentation

◆ TSDFVolume() [1/2]

template<typename VoxelT , typename WeightT >

pcl::TSDFVolume< VoxelT, WeightT >::TSDFVolume ( )

inline

Default constructor.

Definition at line 135 of file tsdf_volume.h.

◆ TSDFVolume() [2/2]

template<typename VoxelT , typename WeightT >

pcl::TSDFVolume< VoxelT, WeightT >::TSDFVolume ( const std::string & filename )

inline

Constructor loading data from file.

Definition at line 141 of file tsdf_volume.h.

References pcl::TSDFVolume< VoxelT, WeightT >::load(), and pcl::TSDFVolume< VoxelT, WeightT >::size().

Member Function Documentation

◆ addNeighborhood()

template<typename VoxelT , typename WeightT >

bool pcl::TSDFVolume< VoxelT, WeightT >::addNeighborhood	(	const Eigen::Vector3i &	voxel_coord,
		int	neighborhood_size,
		const VoxelTVec &	neighborhood,
		WeightT	voxel_weight
	)

adds voxel values in local neighborhood

Definition at line 280 of file tsdf_volume.hpp.

References pcl::console::print_info().

◆ averageValues()

template<typename VoxelT , typename WeightT >

void pcl::TSDFVolume< VoxelT, WeightT >::averageValues

averages voxel values by the weight value

Definition at line 331 of file tsdf_volume.hpp.

◆ convertToTsdfCloud()

template<typename VoxelT , typename WeightT >

void pcl::TSDFVolume< VoxelT, WeightT >::convertToTsdfCloud	(	pcl::PointCloud< pcl::PointXYZI >::Ptr &	cloud,
		const unsigned	step = `2`
	)		const

Converts volume to cloud of TSDF values.

Parameters

[out]	cloud	- the output point cloud
[in]	step	- the decimation step to use

Definition at line 158 of file tsdf_volume.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::_PointXYZI::intensity, pcl::PointCloud< PointT >::push_back(), and pcl::PointCloud< PointT >::reserve().

◆ extractNeighborhood()

template<typename VoxelT , typename WeightT >

bool pcl::TSDFVolume< VoxelT, WeightT >::extractNeighborhood	(	const Eigen::Vector3i &	voxel_coord,
		int	neighborhood_size,
		VoxelTVec &	neighborhood
	)		const

extracts voxels in neighborhood of given voxel

Definition at line 226 of file tsdf_volume.hpp.

References pcl::console::print_info().

◆ getLinearVoxelIndex()

template<typename VoxelT , typename WeightT >

int pcl::TSDFVolume< VoxelT, WeightT >::getLinearVoxelIndex ( const Eigen::Array3i & indices ) const

inline

Returns and index for linear access of the volume and weights.

Definition at line 266 of file tsdf_volume.h.

References pcl::TSDFVolume< VoxelT, WeightT >::Header::resolution.

◆ getLinearVoxelIndinces()

template<typename VoxelT , typename WeightT >

Eigen::VectorXi pcl::TSDFVolume< VoxelT, WeightT >::getLinearVoxelIndinces ( const Eigen::Matrix< int, 3, Eigen::Dynamic > & indices_matrix ) const

inline

Returns a vector of linear indices for voxel coordinates given in 3xn matrix.

Definition at line 272 of file tsdf_volume.h.

References pcl::TSDFVolume< VoxelT, WeightT >::Header::resolution.

◆ getVoxelCoord()

template<typename VoxelT , typename WeightT >

template<typename PointT >

void pcl::TSDFVolume< VoxelT, WeightT >::getVoxelCoord	(	const PointT &	point,
		Eigen::Vector3i &	voxel_coord
	)		const

Converts the volume to a surface representation via a point cloud.

Create Volume from Point Cloud

Returns the 3D voxel coordinate

Definition at line 193 of file tsdf_volume.hpp.

◆ getVoxelCoordAndOffset()

template<typename VoxelT , typename WeightT >

template<typename PointT >

void pcl::TSDFVolume< VoxelT, WeightT >::getVoxelCoordAndOffset	(	const PointT &	point,
		Eigen::Vector3i &	coord,
		Eigen::Vector3f &	offset
	)		const

Returns the 3D voxel coordinate and point offset wrt.

to the voxel center (in mm)

Definition at line 208 of file tsdf_volume.hpp.

◆ gridResolution()

template<typename VoxelT , typename WeightT >

const Eigen::Vector3i& pcl::TSDFVolume< VoxelT, WeightT >::gridResolution ( ) const

inline

Returns the voxel grid resolution.

Definition at line 203 of file tsdf_volume.h.

References pcl::TSDFVolume< VoxelT, WeightT >::Header::resolution.

◆ header()

template<typename VoxelT , typename WeightT >

const Header& pcl::TSDFVolume< VoxelT, WeightT >::header ( ) const

inline

Returns constant reference to header.

Definition at line 207 of file tsdf_volume.h.

◆ load()

template<typename VoxelT , typename WeightT >

bool pcl::TSDFVolume< VoxelT, WeightT >::load	(	const std::string &	filename,
		bool	binary = `true`
	)

Loads volume from file.

Definition at line 46 of file tsdf_volume.hpp.

References pcl::console::print_error(), pcl::console::print_info(), and pcl::console::print_value().

Referenced by pcl::TSDFVolume< VoxelT, WeightT >::TSDFVolume().

◆ resize()

template<typename VoxelT , typename WeightT >

void pcl::TSDFVolume< VoxelT, WeightT >::resize	(	Eigen::Vector3i &	grid_resolution,
		const Eigen::Vector3f &	volume_size = `Eigen::Vector3f (DEFAULT_VOLUME_SIZE_X, DEFAULT_VOLUME_SIZE_Y, DEFAULT_VOLUME_SIZE_Z)`
	)

inline

Resizes the internal storage and updates the header accordingly.

Definition at line 161 of file tsdf_volume.h.

References pcl::TSDFVolume< VoxelT, WeightT >::setHeader().

Referenced by pcl::TSDFVolume< VoxelT, WeightT >::resizeDefaultSize().

◆ resizeDefaultSize()

template<typename VoxelT , typename WeightT >

void pcl::TSDFVolume< VoxelT, WeightT >::resizeDefaultSize ( )

inline

Resize internal storage and header to default sizes defined in tsdf_volume.h.

Definition at line 170 of file tsdf_volume.h.

References pcl::TSDFVolume< VoxelT, WeightT >::resize().

◆ save()

template<typename VoxelT , typename WeightT >

bool pcl::TSDFVolume< VoxelT, WeightT >::save	(	const std::string &	filename = `"tsdf_volume.dat"`,
		bool	binary = `true`
	)		const

Saves volume to file.

Definition at line 104 of file tsdf_volume.hpp.

References pcl::console::print_error(), pcl::console::print_info(), and pcl::console::print_value().

◆ setHeader()

template<typename VoxelT , typename WeightT >

void pcl::TSDFVolume< VoxelT, WeightT >::setHeader	(	const Eigen::Vector3i &	resolution,
		const Eigen::Vector3f &	volume_size
	)

inline

Set the header directly.

Useful if directly writing into volume and weights

Definition at line 153 of file tsdf_volume.h.

References pcl::console::print_warn(), and pcl::TSDFVolume< VoxelT, WeightT >::size().

Referenced by pcl::TSDFVolume< VoxelT, WeightT >::resize().

◆ size()

template<typename VoxelT , typename WeightT >

std::size_t pcl::TSDFVolume< VoxelT, WeightT >::size ( ) const

inline

Returns overall number of voxels in grid.

Definition at line 188 of file tsdf_volume.h.

References pcl::TSDFVolume< VoxelT, WeightT >::Header::getVolumeSize().

Referenced by pcl::TSDFVolume< VoxelT, WeightT >::setHeader(), and pcl::TSDFVolume< VoxelT, WeightT >::TSDFVolume().

◆ volume()

template<typename VoxelT , typename WeightT >

const std::vector<VoxelT>& pcl::TSDFVolume< VoxelT, WeightT >::volume ( ) const

inline

Returns constant reference to the volume std::vector.

Definition at line 211 of file tsdf_volume.h.

◆ volumeSize()

template<typename VoxelT , typename WeightT >

const Eigen::Vector3f& pcl::TSDFVolume< VoxelT, WeightT >::volumeSize ( ) const

inline

Returns the volume size in mm.

Definition at line 192 of file tsdf_volume.h.

References pcl::TSDFVolume< VoxelT, WeightT >::Header::volume_size.

◆ volumeWriteable()

template<typename VoxelT , typename WeightT >

std::vector<VoxelT>& pcl::TSDFVolume< VoxelT, WeightT >::volumeWriteable ( ) const

inline

Returns writebale(!) reference to volume.

Definition at line 215 of file tsdf_volume.h.

◆ voxelSize()

template<typename VoxelT , typename WeightT >

Eigen::Vector3f pcl::TSDFVolume< VoxelT, WeightT >::voxelSize ( ) const

inline

Returns the size of one voxel in mm.

Definition at line 196 of file tsdf_volume.h.

References pcl::TSDFVolume< VoxelT, WeightT >::Header::resolution, and pcl::TSDFVolume< VoxelT, WeightT >::Header::volume_size.

◆ weights()

template<typename VoxelT , typename WeightT >

const std::vector<WeightT>& pcl::TSDFVolume< VoxelT, WeightT >::weights ( ) const

inline

Returns constant reference to the weights std::vector.

Definition at line 219 of file tsdf_volume.h.

◆ weightsWriteable()

template<typename VoxelT , typename WeightT >

std::vector<WeightT>& pcl::TSDFVolume< VoxelT, WeightT >::weightsWriteable ( ) const

inline

Returns writebale(!) reference to volume.

Definition at line 223 of file tsdf_volume.h.

The documentation for this class was generated from the following files:

/__w/1/s/gpu/kinfu/tools/tsdf_volume.h
/__w/1/s/gpu/kinfu/tools/tsdf_volume.hpp

Classes

Public Types

Public Member Functions

Detailed Description

template<typename VoxelT, typename WeightT> class pcl::TSDFVolume< VoxelT, WeightT >

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ VoxelTVec

Constructor & Destructor Documentation

◆ TSDFVolume() [1/2]

◆ TSDFVolume() [2/2]

Member Function Documentation

◆ addNeighborhood()

◆ averageValues()

◆ convertToTsdfCloud()

◆ extractNeighborhood()

◆ getLinearVoxelIndex()

◆ getLinearVoxelIndinces()

◆ getVoxelCoord()

◆ getVoxelCoordAndOffset()

◆ gridResolution()

◆ header()

◆ load()

◆ resize()

◆ resizeDefaultSize()

◆ save()

◆ setHeader()

◆ size()

◆ volume()

◆ volumeSize()

◆ volumeWriteable()

◆ voxelSize()

◆ weights()

◆ weightsWriteable()

template<typename VoxelT, typename WeightT>
class pcl::TSDFVolume< VoxelT, WeightT >