KinfuTracker class encapsulates implementation of Microsoft Kinect Fusion algorithm. More...

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

Public Types
using	PixelRGB = pcl::gpu::kinfuLS::PixelRGB
	Pixel type for rendered image. More...

using	View = DeviceArray2D< PixelRGB >

using	DepthMap = DeviceArray2D< unsigned short >

using	PointType = pcl::PointXYZ

using	NormalType = pcl::Normal

Public Member Functions
void	performLastScan ()

bool	isFinished ()

	KinfuTracker (const Eigen::Vector3f &volumeSize, const float shiftingDistance, int rows=480, int cols=640)
	Constructor. More...

void	setDepthIntrinsics (float fx, float fy, float cx=-1, float cy=-1)
	Sets Depth camera intrinsics. More...

void	setInitialCameraPose (const Eigen::Affine3f &pose)
	Sets initial camera pose relative to volume coordinate space. More...

void	setDepthTruncationForICP (float max_icp_distance=0.f)
	Sets truncation threshold for depth image for ICP step only! This helps to filter measurements that are outside tsdf volume. More...

void	setIcpCorespFilteringParams (float distThreshold, float sineOfAngle)
	Sets ICP filtering parameters. More...

void	setCameraMovementThreshold (float threshold=0.001f)
	Sets integration threshold. More...

void	initColorIntegration (int max_weight=-1)
	Performs initialization for color integration. More...

int	cols ()
	Returns cols passed to ctor. More...

int	rows ()
	Returns rows passed to ctor. More...

bool	operator() (const DepthMap &depth)
	Processes next frame. More...

bool	operator() (const DepthMap &depth, const View &colors)
	Processes next frame (both depth and color integration). More...

Eigen::Affine3f	getCameraPose (int time=-1) const
	Returns camera pose at given time, default the last pose. More...

Eigen::Affine3f	getLastEstimatedPose () const

std::size_t	getNumberOfPoses () const
	Returns number of poses including initial. More...

const TsdfVolume &	volume () const
	Returns TSDF volume storage. More...

TsdfVolume &	volume ()
	Returns TSDF volume storage. More...

const ColorVolume &	colorVolume () const
	Returns color volume storage. More...

ColorVolume &	colorVolume ()
	Returns color volume storage. More...

void	getImage (View &view) const
	Renders 3D scene to display to human. More...

void	getLastFrameCloud (DeviceArray2D< PointType > &cloud) const
	Returns point cloud abserved from last camera pose. More...

void	getLastFrameNormals (DeviceArray2D< NormalType > &normals) const
	Returns point cloud abserved from last camera pose. More...

tsdf_buffer *	getCyclicalBufferStructure ()
	Returns pointer to the cyclical buffer structure. More...

void	extractAndSaveWorld ()
	Extract the world and save it. More...

bool	icpIsLost ()
	Returns true if ICP is currently lost. More...

void	reset ()
	Performs the tracker reset to initial state. More...

void	setDisableICP ()

bool	hasShifted () const
	Return whether the last update resulted in a shift. More...

Detailed Description

KinfuTracker class encapsulates implementation of Microsoft Kinect Fusion algorithm.

Author: Anatoly Baskeheev, Itseez Ltd, (mynam.nosp@m.e.my.nosp@m.surna.nosp@m.me@m.nosp@m.ycomp.nosp@m.any..nosp@m.com)

Definition at line 71 of file kinfu.h.

Member Typedef Documentation

◆ DepthMap

using pcl::gpu::kinfuLS::KinfuTracker::DepthMap = DeviceArray2D<unsigned short>

Definition at line 79 of file kinfu.h.

◆ NormalType

using pcl::gpu::kinfuLS::KinfuTracker::NormalType = pcl::Normal

Definition at line 82 of file kinfu.h.

◆ PixelRGB

using pcl::gpu::kinfuLS::KinfuTracker::PixelRGB = pcl::gpu::kinfuLS::PixelRGB

Pixel type for rendered image.

Definition at line 76 of file kinfu.h.

◆ PointType

using pcl::gpu::kinfuLS::KinfuTracker::PointType = pcl::PointXYZ

Definition at line 81 of file kinfu.h.

◆ View

using pcl::gpu::kinfuLS::KinfuTracker::View = DeviceArray2D<PixelRGB>

Definition at line 78 of file kinfu.h.

Constructor & Destructor Documentation

◆ KinfuTracker()

pcl::gpu::kinfuLS::KinfuTracker::KinfuTracker	(	const Eigen::Vector3f &	volumeSize,
		const float	shiftingDistance,
		int	rows = `480`,
		int	cols = `640`
	)

Constructor.

Parameters

[in]	volumeSize	physical size of the volume represented by the tdsf volume. In meters.
[in]	shiftingDistance	when the camera target point is farther than shiftingDistance from the center of the volume, shiting occurs. In meters.

Note: The target point is located at (0, 0, 0.6*volumeSize) in camera coordinates.

Parameters

[in]	rows	height of depth image
[in]	cols	width of depth image

Member Function Documentation

◆ colorVolume() [1/2]

ColorVolume& pcl::gpu::kinfuLS::KinfuTracker::colorVolume ( )

Returns color volume storage.

◆ colorVolume() [2/2]

const ColorVolume& pcl::gpu::kinfuLS::KinfuTracker::colorVolume ( ) const

Returns color volume storage.

◆ cols()

int pcl::gpu::kinfuLS::KinfuTracker::cols ( )

Returns cols passed to ctor.

◆ extractAndSaveWorld()

void pcl::gpu::kinfuLS::KinfuTracker::extractAndSaveWorld ( )

Extract the world and save it.

◆ getCameraPose()

Eigen::Affine3f pcl::gpu::kinfuLS::KinfuTracker::getCameraPose ( int time = -1 ) const

Returns camera pose at given time, default the last pose.

Parameters

[in] time Index of frame for which camera pose is returned.

Returns: camera pose

◆ getCyclicalBufferStructure()

tsdf_buffer* pcl::gpu::kinfuLS::KinfuTracker::getCyclicalBufferStructure ( )

inline

Returns pointer to the cyclical buffer structure.

Definition at line 210 of file kinfu.h.

◆ getImage()

void pcl::gpu::kinfuLS::KinfuTracker::getImage ( View & view ) const

Renders 3D scene to display to human.

Parameters

[out] view output array with image

◆ getLastEstimatedPose()

Eigen::Affine3f pcl::gpu::kinfuLS::KinfuTracker::getLastEstimatedPose ( ) const

◆ getLastFrameCloud()

void pcl::gpu::kinfuLS::KinfuTracker::getLastFrameCloud ( DeviceArray2D< PointType > & cloud ) const

Returns point cloud abserved from last camera pose.

Parameters

[out] cloud output array for points

◆ getLastFrameNormals()

void pcl::gpu::kinfuLS::KinfuTracker::getLastFrameNormals ( DeviceArray2D< NormalType > & normals ) const

Returns point cloud abserved from last camera pose.

Parameters

[out] normals output array for normals

◆ getNumberOfPoses()

std::size_t pcl::gpu::kinfuLS::KinfuTracker::getNumberOfPoses ( ) const

Returns number of poses including initial.

◆ hasShifted()

bool pcl::gpu::kinfuLS::KinfuTracker::hasShifted ( ) const

inline

Return whether the last update resulted in a shift.

Definition at line 240 of file kinfu.h.

◆ icpIsLost()

bool pcl::gpu::kinfuLS::KinfuTracker::icpIsLost ( )

inline

Returns true if ICP is currently lost.

Definition at line 222 of file kinfu.h.

◆ initColorIntegration()

void pcl::gpu::kinfuLS::KinfuTracker::initColorIntegration ( int max_weight = -1 )

Performs initialization for color integration.

Must be called before calling color integration.

Parameters

[in] max_weight max weighe for color integration. -1 means default weight.

◆ isFinished()

bool pcl::gpu::kinfuLS::KinfuTracker::isFinished ( )

inline

Definition at line 88 of file kinfu.h.

◆ operator()() [1/2]

bool pcl::gpu::kinfuLS::KinfuTracker::operator() ( const DepthMap & depth )

Processes next frame.

Parameters

[in] depth next frame with values in millimeters

Returns: true if can render 3D view.

◆ operator()() [2/2]

bool pcl::gpu::kinfuLS::KinfuTracker::operator()	(	const DepthMap &	depth,
		const View &	colors
	)

Processes next frame (both depth and color integration).

Please call initColorIntegration before invpoking this.

Parameters

[in]	depth	next depth frame with values in millimeters
[in]	colors	next RGB frame

Returns: true if can render 3D view.

◆ performLastScan()

void pcl::gpu::kinfuLS::KinfuTracker::performLastScan ( )

inline

Definition at line 85 of file kinfu.h.

◆ reset()

void pcl::gpu::kinfuLS::KinfuTracker::reset ( )

Performs the tracker reset to initial state.

It's used if camera tracking fails.

◆ rows()

int pcl::gpu::kinfuLS::KinfuTracker::rows ( )

Returns rows passed to ctor.

◆ setCameraMovementThreshold()

void pcl::gpu::kinfuLS::KinfuTracker::setCameraMovementThreshold ( float threshold = 0.001f )

Sets integration threshold.

TSDF volume is integrated iff a camera movement metric exceeds the threshold value. The metric represents the following: M = (rodrigues(Rotation).norm() + alpha*translation.norm())/2, where alpha = 1.f (hardcoded constant)

Parameters

[in] threshold a value to compare with the metric. Suitable values are ~0.001

◆ setDepthIntrinsics()

void pcl::gpu::kinfuLS::KinfuTracker::setDepthIntrinsics	(	float	fx,
		float	fy,
		float	cx = `-1`,
		float	cy = `-1`
	)

Sets Depth camera intrinsics.

Parameters

[in]	fx	focal length x
[in]	fy	focal length y
[in]	cx	principal point x
[in]	cy	principal point y

◆ setDepthTruncationForICP()

void pcl::gpu::kinfuLS::KinfuTracker::setDepthTruncationForICP ( float max_icp_distance = 0.f )

Sets truncation threshold for depth image for ICP step only! This helps to filter measurements that are outside tsdf volume.

Pass zero to disable the truncation.

Parameters

[in] max_icp_distance Maximal distance, higher values are reset to zero (means no measurement).

◆ setDisableICP()

void pcl::gpu::kinfuLS::KinfuTracker::setDisableICP ( )

inline

Definition at line 232 of file kinfu.h.

◆ setIcpCorespFilteringParams()

void pcl::gpu::kinfuLS::KinfuTracker::setIcpCorespFilteringParams	(	float	distThreshold,
		float	sineOfAngle
	)

Sets ICP filtering parameters.

Parameters

[in]	distThreshold	distance.
[in]	sineOfAngle	sine of angle between normals.

◆ setInitialCameraPose()

void pcl::gpu::kinfuLS::KinfuTracker::setInitialCameraPose ( const Eigen::Affine3f & pose )

Sets initial camera pose relative to volume coordinate space.

Parameters

[in] pose Initial camera pose

◆ volume() [1/2]

TsdfVolume& pcl::gpu::kinfuLS::KinfuTracker::volume ( )

Returns TSDF volume storage.

◆ volume() [2/2]

const TsdfVolume& pcl::gpu::kinfuLS::KinfuTracker::volume ( ) const

Returns TSDF volume storage.

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

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

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ DepthMap

◆ NormalType

◆ PixelRGB

◆ PointType

◆ View

Constructor & Destructor Documentation

◆ KinfuTracker()

Member Function Documentation

◆ colorVolume() [1/2]

◆ colorVolume() [2/2]

◆ cols()

◆ extractAndSaveWorld()

◆ getCameraPose()

◆ getCyclicalBufferStructure()

◆ getImage()

◆ getLastEstimatedPose()

◆ getLastFrameCloud()

◆ getLastFrameNormals()

◆ getNumberOfPoses()

◆ hasShifted()

◆ icpIsLost()

◆ initColorIntegration()

◆ isFinished()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ performLastScan()

◆ reset()

◆ rows()

◆ setCameraMovementThreshold()

◆ setDepthIntrinsics()

◆ setDepthTruncationForICP()

◆ setDisableICP()

◆ setIcpCorespFilteringParams()

◆ setInitialCameraPose()

◆ volume() [1/2]

◆ volume() [2/2]