CyclicalBuffer implements a cyclical TSDF buffer. More...

#include </__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/cyclical_buffer.h>

Public Member Functions
	CyclicalBuffer (const double distance_threshold, const double cube_size=3.f, const int nb_voxels_per_axis=512)
	Constructor for a cubic CyclicalBuffer. More...

	CyclicalBuffer (const double distance_threshold, const double volume_size_x, const double volume_size_y, const double volume_size_z, const int nb_voxels_x, const int nb_voxels_y, const int nb_voxels_z)
	Constructor for a non-cubic CyclicalBuffer. More...

bool	checkForShift (const TsdfVolume::Ptr volume, const Eigen::Affine3f &cam_pose, const double distance_camera_target, const bool perform_shift=true, const bool last_shift=false, const bool force_shift=false)
	Check if shifting needs to be performed, returns true if so. More...

void	performShift (const TsdfVolume::Ptr volume, const pcl::PointXYZ &target_point, const bool last_shift=false)
	Perform shifting operations: Compute offsets. More...

void	setDistanceThreshold (const double threshold)
	Sets the distance threshold between cube's center and target point that triggers a shift. More...

float	getDistanceThreshold ()
	Returns the distance threshold between cube's center and target point that triggers a shift. More...

tsdf_buffer *	getBuffer ()
	get a pointer to the tsdf_buffer structure. More...

void	setVolumeSize (const double size_x, const double size_y, const double size_z)
	Set the physical size represented by the default TSDF volume. More...

void	setVolumeSize (const double size)
	Set the physical size represented by the default TSDF volume. More...

void	computeAndSetNewCubeMetricOrigin (const pcl::PointXYZ &target_point, int &shiftX, int &shiftY, int &shiftZ)
	Computes and set the origin of the new cube (relative to the world), centered around a the target point. More...

void	initBuffer (TsdfVolume::Ptr tsdf_volume)
	Initializes memory pointers of the cyclical buffer (start, end, current origin) More...

void	resetBuffer (TsdfVolume::Ptr tsdf_volume)
	Reset buffer structure. More...

pcl::kinfuLS::WorldModel< pcl::PointXYZI > *	getWorldModel ()
	Return a pointer to the world model. More...

Detailed Description

CyclicalBuffer implements a cyclical TSDF buffer.

The class offers a simple interface, by handling shifts and maintaining the world autonomously.

Author: Raphael Favier, Francisco Heredia

Definition at line 63 of file cyclical_buffer.h.

Constructor & Destructor Documentation

◆ CyclicalBuffer() [1/2]

pcl::gpu::kinfuLS::CyclicalBuffer::CyclicalBuffer	(	const double	distance_threshold,
		const double	cube_size = `3.f`,
		const int	nb_voxels_per_axis = `512`
	)

inline

Constructor for a cubic CyclicalBuffer.

Parameters

[in]	distance_threshold	distance between cube center and target point at which we decide to shift.
[in]	cube_size	physical size (in meters) of the volume (here, a cube) represented by the TSDF buffer.
[in]	nb_voxels_per_axis	number of voxels per axis of the volume represented by the TSDF buffer.

Definition at line 73 of file cyclical_buffer.h.

◆ CyclicalBuffer() [2/2]

pcl::gpu::kinfuLS::CyclicalBuffer::CyclicalBuffer	(	const double	distance_threshold,
		const double	volume_size_x,
		const double	volume_size_y,
		const double	volume_size_z,
		const int	nb_voxels_x,
		const int	nb_voxels_y,
		const int	nb_voxels_z
	)

inline

Constructor for a non-cubic CyclicalBuffer.

Parameters

[in]	distance_threshold	distance between cube center and target point at which we decide to shift.
[in]	volume_size_x	physical size (in meters) of the volume, X axis.
[in]	volume_size_y	physical size (in meters) of the volume, Y axis.
[in]	volume_size_z	physical size (in meters) of the volume, Z axis.
[in]	nb_voxels_x	number of voxels for X axis of the volume represented by the TSDF buffer.
[in]	nb_voxels_y	number of voxels for Y axis of the volume represented by the TSDF buffer.
[in]	nb_voxels_z	number of voxels for Z axis of the volume represented by the TSDF buffer.

Definition at line 94 of file cyclical_buffer.h.

Member Function Documentation

◆ checkForShift()

bool pcl::gpu::kinfuLS::CyclicalBuffer::checkForShift	(	const TsdfVolume::Ptr	volume,
		const Eigen::Affine3f &	cam_pose,
		const double	distance_camera_target,
		const bool	perform_shift = `true`,
		const bool	last_shift = `false`,
		const bool	force_shift = `false`
	)

Check if shifting needs to be performed, returns true if so.

Shifting is considered needed if the target point is farther than distance_threshold_. The target point is located at distance_camera_point on the local Z axis of the camera.

Parameters

[in]	volume	pointer to the TSDFVolume living in GPU
[in]	cam_pose	global pose of the camera in the world
[in]	distance_camera_target	distance from the camera's origin to the target point
[in]	perform_shift	if set to false, shifting is not performed. The function will return true if shifting is needed.
[in]	last_shift	if set to true, the whole cube will be shifted. This is used to push the whole cube to the world model.
[in]	force_shift	if set to true, shifting is forced.

Returns: true is the cube needs to be or has been shifted.

◆ computeAndSetNewCubeMetricOrigin()

void pcl::gpu::kinfuLS::CyclicalBuffer::computeAndSetNewCubeMetricOrigin	(	const pcl::PointXYZ &	target_point,
		int &	shiftX,
		int &	shiftY,
		int &	shiftZ
	)

Computes and set the origin of the new cube (relative to the world), centered around a the target point.

Parameters

[in]	target_point	the target point around which the new cube will be centered.
[out]	shiftX	shift on X axis (in indices).
[out]	shiftY	shift on Y axis (in indices).
[out]	shiftZ	shift on Z axis (in indices).

◆ getBuffer()

tsdf_buffer* pcl::gpu::kinfuLS::CyclicalBuffer::getBuffer ( )

inline

get a pointer to the tsdf_buffer structure.

Returns: a pointer to the tsdf_buffer used by cyclical buffer object.

Definition at line 147 of file cyclical_buffer.h.

◆ getDistanceThreshold()

float pcl::gpu::kinfuLS::CyclicalBuffer::getDistanceThreshold ( )

inline

Returns the distance threshold between cube's center and target point that triggers a shift.

Definition at line 142 of file cyclical_buffer.h.

◆ getWorldModel()

pcl::kinfuLS::WorldModel<pcl::PointXYZI>* pcl::gpu::kinfuLS::CyclicalBuffer::getWorldModel ( )

inline

Return a pointer to the world model.

Definition at line 205 of file cyclical_buffer.h.

◆ initBuffer()

void pcl::gpu::kinfuLS::CyclicalBuffer::initBuffer ( TsdfVolume::Ptr tsdf_volume )

inline

Initializes memory pointers of the cyclical buffer (start, end, current origin)

Parameters

[in] tsdf_volume pointer to the TSDF volume managed by this cyclical buffer

Definition at line 182 of file cyclical_buffer.h.

References pcl::gpu::DevPtr< T >::data, and pcl::gpu::PtrStep< T >::ptr().

◆ performShift()

void pcl::gpu::kinfuLS::CyclicalBuffer::performShift	(	const TsdfVolume::Ptr	volume,
		const pcl::PointXYZ &	target_point,
		const bool	last_shift = `false`
	)

Perform shifting operations: Compute offsets.

Extract current slice from TSDF buffer. Extract existing data from world. Clear shifted slice in TSDF buffer. Push existing data into TSDF buffer. Update rolling buffer Update world model.

Parameters

[in]	volume	pointer to the TSDFVolume living in GPU
[in]	target_point	target point around which the new cube will be centered
[in]	last_shift	if set to true, the whole cube will be shifted. This is used to push the whole cube to the world model.

◆ resetBuffer()

void pcl::gpu::kinfuLS::CyclicalBuffer::resetBuffer ( TsdfVolume::Ptr tsdf_volume )

inline

Reset buffer structure.

Parameters

[in] tsdf_volume pointer to the TSDF volume managed by this cyclical buffer

Definition at line 194 of file cyclical_buffer.h.

◆ setDistanceThreshold()

void pcl::gpu::kinfuLS::CyclicalBuffer::setDistanceThreshold ( const double threshold )

inline

Sets the distance threshold between cube's center and target point that triggers a shift.

Parameters

[in] threshold the distance in meters at which to trigger shift.

Definition at line 135 of file cyclical_buffer.h.

◆ setVolumeSize() [1/2]

void pcl::gpu::kinfuLS::CyclicalBuffer::setVolumeSize ( const double size )

inline

Set the physical size represented by the default TSDF volume.

Parameters

[in] size size of the volume on all axis, in meters.

Definition at line 164 of file cyclical_buffer.h.

◆ setVolumeSize() [2/2]

void pcl::gpu::kinfuLS::CyclicalBuffer::setVolumeSize	(	const double	size_x,
		const double	size_y,
		const double	size_z
	)

inline

Set the physical size represented by the default TSDF volume.

Parameters

[in]	size_x	size of the volume on X axis, in meters.
[in]	size_y	size of the volume on Y axis, in meters.
[in]	size_z	size of the volume on Z axis, in meters.

Definition at line 154 of file cyclical_buffer.h.

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

/__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/cyclical_buffer.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CyclicalBuffer() [1/2]

◆ CyclicalBuffer() [2/2]

Member Function Documentation

◆ checkForShift()

◆ computeAndSetNewCubeMetricOrigin()

◆ getBuffer()

◆ getDistanceThreshold()

◆ getWorldModel()

◆ initBuffer()

◆ performShift()

◆ resetBuffer()

◆ setDistanceThreshold()

◆ setVolumeSize() [1/2]

◆ setVolumeSize() [2/2]