TsdfVolume class. More...

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

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

Public Types
enum	{ DEFAULT_CLOUD_BUFFER_SIZE = 10 * 1000 * 1000 }
	Default buffer size for fetching cloud. More...

using	Ptr = shared_ptr< TsdfVolume >

using	ConstPtr = shared_ptr< const TsdfVolume >

using	PointType = PointXYZ
	Supported Point Types. More...

using	NormalType = Normal

Public Member Functions
	TsdfVolume (const Eigen::Vector3i &resolution)
	Constructor. More...

void	setSize (const Eigen::Vector3f &size)
	Sets Tsdf volume size for each dimension. More...

void	setTsdfTruncDist (float distance)
	Sets Tsdf truncation distance. More...

DeviceArray2D< int >	data () const
	Returns tsdf volume container that point to data in GPU memory. More...

const Eigen::Vector3f &	getSize () const
	Returns volume size in meters. More...

const Eigen::Vector3i &	getResolution () const
	Returns volume resolution. More...

const Eigen::Vector3f	getVoxelSize () const
	Returns volume voxel size in meters. More...

float	getTsdfTruncDist () const
	Returns tsdf truncation distance in meters. More...

void	reset ()
	Resets tsdf volume data to uninitialized state. More...

void	fetchCloudHost (PointCloud< PointType > &cloud, bool connected26=false) const
	Generates cloud using CPU (downloads volumetric representation to CPU memory) More...

void	fetchCloudHost (PointCloud< PointXYZI > &cloud, bool connected26=false) const
	Generates cloud using CPU (downloads volumetric representation to CPU memory) More...

DeviceArray< PointType >	fetchCloud (DeviceArray< PointType > &cloud_buffer) const
	Generates cloud using GPU in connected6 mode only. More...

void	pushSlice (const PointCloud< PointXYZI >::Ptr existing_data_cloud, const tsdf_buffer *buffer) const
	Push a point cloud of previously scanned tsdf slice to the TSDF volume. More...

std::size_t	fetchSliceAsCloud (DeviceArray< PointType > &cloud_buffer_xyz, DeviceArray< float > &cloud_buffer_intensity, const tsdf_buffer *buffer, int shiftX, int shiftY, int shiftZ) const
	Generates cloud using GPU in connected6 mode only. More...

void	fetchNormals (const DeviceArray< PointType > &cloud, DeviceArray< PointType > &normals) const
	Computes normals as gradient of tsdf for given points. More...

void	fetchNormals (const DeviceArray< PointType > &cloud, DeviceArray< NormalType > &normals) const
	Computes normals as gradient of tsdf for given points. More...

void	downloadTsdf (std::vector< float > &tsdf) const
	Downloads tsdf volume from GPU memory. More...

void	downloadTsdfLocal () const
	Downloads tsdf volume from GPU memory to local CPU buffer. More...

void	downloadTsdfAndWeights (std::vector< float > &tsdf, std::vector< short > &weights) const
	Downloads TSDF volume and according voxel weights from GPU memory. More...

void	downloadTsdfAndWeightsLocal () const
	Downloads TSDF volume and according voxel weights from GPU memory to local CPU buffers. More...

void	releaseVolume ()
	Releases tsdf buffer on GPU. More...

void	print_warn (const char *arg1, std::size_t size)

void	setHeader (const Eigen::Vector3i &resolution, const Eigen::Vector3f &volume_size)
	Set the header for data stored on host directly. More...

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

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

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

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

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

Detailed Description

TsdfVolume class.

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 62 of file tsdf_volume.h.

Member Typedef Documentation

◆ ConstPtr

using pcl::gpu::kinfuLS::TsdfVolume::ConstPtr = shared_ptr<const TsdfVolume>

Definition at line 66 of file tsdf_volume.h.

◆ NormalType

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

Definition at line 70 of file tsdf_volume.h.

◆ PointType

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

Supported Point Types.

Definition at line 69 of file tsdf_volume.h.

◆ Ptr

using pcl::gpu::kinfuLS::TsdfVolume::Ptr = shared_ptr<TsdfVolume>

Definition at line 65 of file tsdf_volume.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Default buffer size for fetching cloud.

It limits max number of points that can be extracted

Enumerator
DEFAULT_CLOUD_BUFFER_SIZE

Definition at line 109 of file tsdf_volume.h.

Constructor & Destructor Documentation

◆ TsdfVolume()

pcl::gpu::kinfuLS::TsdfVolume::TsdfVolume ( const Eigen::Vector3i & resolution )

Constructor.

Parameters

[in] resolution volume resolution

Member Function Documentation

◆ convertToTsdfCloud()

void pcl::gpu::kinfuLS::TsdfVolume::convertToTsdfCloud	(	pcl::PointCloud< pcl::PointXYZI >::Ptr &	cloud,
		const unsigned	step = `2`
	)		const

Converts volume stored on host to cloud of TSDF values.

Parameters

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

◆ data()

DeviceArray2D<int> pcl::gpu::kinfuLS::TsdfVolume::data ( ) const

Returns tsdf volume container that point to data in GPU memory.

◆ downloadTsdf()

void pcl::gpu::kinfuLS::TsdfVolume::downloadTsdf ( std::vector< float > & tsdf ) const

Downloads tsdf volume from GPU memory.

Parameters

[out] tsdf Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512*512*z + 512*y + x];

◆ downloadTsdfAndWeights()

void pcl::gpu::kinfuLS::TsdfVolume::downloadTsdfAndWeights	(	std::vector< float > &	tsdf,
		std::vector< short > &	weights
	)		const

Downloads TSDF volume and according voxel weights from GPU memory.

Parameters

[out]	tsdf	Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512512z + 512*y + x];
[out]	weights	Array with tsdf voxel weights. Same size and access index as for tsdf. A weight of 0 indicates the voxel was never used.

◆ downloadTsdfAndWeightsLocal()

void pcl::gpu::kinfuLS::TsdfVolume::downloadTsdfAndWeightsLocal ( ) const

Downloads TSDF volume and according voxel weights from GPU memory to local CPU buffers.

◆ downloadTsdfLocal()

void pcl::gpu::kinfuLS::TsdfVolume::downloadTsdfLocal ( ) const

Downloads tsdf volume from GPU memory to local CPU buffer.

◆ fetchCloud()

DeviceArray<PointType> pcl::gpu::kinfuLS::TsdfVolume::fetchCloud ( DeviceArray< PointType > & cloud_buffer ) const

Generates cloud using GPU in connected6 mode only.

Parameters

[out] cloud_buffer buffer to store point cloud

Returns: DeviceArray with disabled reference counting that points to filled part of cloud_buffer.

◆ fetchCloudHost() [1/2]

void pcl::gpu::kinfuLS::TsdfVolume::fetchCloudHost	(	PointCloud< PointType > &	cloud,
		bool	connected26 = `false`
	)		const

Generates cloud using CPU (downloads volumetric representation to CPU memory)

Parameters

[out]	cloud	output array for cloud
[in]	connected26	If false point cloud is extracted using 6 neighbor, otherwise 26.

◆ fetchCloudHost() [2/2]

void pcl::gpu::kinfuLS::TsdfVolume::fetchCloudHost	(	PointCloud< PointXYZI > &	cloud,
		bool	connected26 = `false`
	)		const

Generates cloud using CPU (downloads volumetric representation to CPU memory)

Parameters

[out]	cloud	output array for cloud
[in]	connected26	If false point cloud is extracted using 6 neighbor, otherwise 26.

◆ fetchNormals() [1/2]

void pcl::gpu::kinfuLS::TsdfVolume::fetchNormals	(	const DeviceArray< PointType > &	cloud,
		DeviceArray< NormalType > &	normals
	)		const

Computes normals as gradient of tsdf for given points.

Parameters

[in]	cloud	Points where normals are computed.
[out]	normals	array for normals

◆ fetchNormals() [2/2]

void pcl::gpu::kinfuLS::TsdfVolume::fetchNormals	(	const DeviceArray< PointType > &	cloud,
		DeviceArray< PointType > &	normals
	)		const

Computes normals as gradient of tsdf for given points.

Parameters

[in]	cloud	Points where normals are computed.
[out]	normals	array for normals

◆ fetchSliceAsCloud()

std::size_t pcl::gpu::kinfuLS::TsdfVolume::fetchSliceAsCloud	(	DeviceArray< PointType > &	cloud_buffer_xyz,
		DeviceArray< float > &	cloud_buffer_intensity,
		const tsdf_buffer *	buffer,
		int	shiftX,
		int	shiftY,
		int	shiftZ
	)		const

Generates cloud using GPU in connected6 mode only.

Parameters

[out]	cloud_buffer_xyz	buffer to store point cloud
	cloud_buffer_intensity
[in]	buffer	Pointer to the buffer struct that contains information about memory addresses of the tsdf volume memory block, which are used for the cyclic buffer.
[in]	shiftX	Offset in indices.
[in]	shiftY	Offset in indices.
[in]	shiftZ	Offset in indices.

Returns: DeviceArray with disabled reference counting that points to filled part of cloud_buffer.

◆ getResolution()

const Eigen::Vector3i& pcl::gpu::kinfuLS::TsdfVolume::getResolution ( ) const

Returns volume resolution.

◆ getSize()

const Eigen::Vector3f& pcl::gpu::kinfuLS::TsdfVolume::getSize ( ) const

Returns volume size in meters.

◆ getTsdfTruncDist()

float pcl::gpu::kinfuLS::TsdfVolume::getTsdfTruncDist ( ) const

Returns tsdf truncation distance in meters.

◆ getVoxelSize()

const Eigen::Vector3f pcl::gpu::kinfuLS::TsdfVolume::getVoxelSize ( ) const

Returns volume voxel size in meters.

◆ gridResolution()

const Eigen::Vector3i& pcl::gpu::kinfuLS::TsdfVolume::gridResolution ( ) const

inline

Returns the voxel grid resolution.

Definition at line 257 of file tsdf_volume.h.

◆ load()

bool pcl::gpu::kinfuLS::TsdfVolume::load	(	const std::string &	filename,
		bool	binary = `true`
	)

Loads local volume from file.

◆ print_warn()

void pcl::gpu::kinfuLS::TsdfVolume::print_warn	(	const char *	arg1,
		std::size_t	size
	)

◆ pushSlice()

void pcl::gpu::kinfuLS::TsdfVolume::pushSlice	(	const PointCloud< PointXYZI >::Ptr	existing_data_cloud,
		const tsdf_buffer *	buffer
	)		const

Push a point cloud of previously scanned tsdf slice to the TSDF volume.

Parameters

[in]	existing_data_cloud	point cloud pointer to the existing data. This data will be pushed to the TSDf volume. The points with indices outside the range [0 ... VOLUME_X - 1][0 ... VOLUME_Y - 1][0 ... VOLUME_Z - 1] will not be added.
	buffer

◆ releaseVolume()

void pcl::gpu::kinfuLS::TsdfVolume::releaseVolume ( )

inline

Releases tsdf buffer on GPU.

Definition at line 229 of file tsdf_volume.h.

◆ reset()

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

Resets tsdf volume data to uninitialized state.

◆ save()

bool pcl::gpu::kinfuLS::TsdfVolume::save	(	const std::string &	filename = `"tsdf_volume.dat"`,
		bool	binary = `true`
	)		const

Saves local volume buffer to file.

◆ setHeader()

void pcl::gpu::kinfuLS::TsdfVolume::setHeader	(	const Eigen::Vector3i &	resolution,
		const Eigen::Vector3f &	volume_size
	)

inline

Set the header for data stored on host directly.

Useful if directly writing into volume and weights

Definition at line 235 of file tsdf_volume.h.

References pcl::console::print_warn().

◆ setSize()

void pcl::gpu::kinfuLS::TsdfVolume::setSize ( const Eigen::Vector3f & size )

Sets Tsdf volume size for each dimension.

Parameters

[in] size size of tsdf volume in meters

◆ setTsdfTruncDist()

void pcl::gpu::kinfuLS::TsdfVolume::setTsdfTruncDist ( float distance )

Sets Tsdf truncation distance.

Must be greater than 2 * volume_voxel_size

Parameters

[in] distance TSDF truncation distance

◆ size()

std::size_t pcl::gpu::kinfuLS::TsdfVolume::size ( ) const

inline

Returns overall number of voxels in grid stored on host.

Definition at line 243 of file tsdf_volume.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/tsdf_volume.h

Classes

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ NormalType

◆ PointType

◆ Ptr

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ TsdfVolume()

Member Function Documentation

◆ convertToTsdfCloud()

◆ data()

◆ downloadTsdf()

◆ downloadTsdfAndWeights()

◆ downloadTsdfAndWeightsLocal()

◆ downloadTsdfLocal()

◆ fetchCloud()

◆ fetchCloudHost() [1/2]

◆ fetchCloudHost() [2/2]

◆ fetchNormals() [1/2]

◆ fetchNormals() [2/2]

◆ fetchSliceAsCloud()

◆ getResolution()

◆ getSize()

◆ getTsdfTruncDist()

◆ getVoxelSize()

◆ gridResolution()

◆ load()

◆ print_warn()

◆ pushSlice()

◆ releaseVolume()

◆ reset()

◆ save()

◆ setHeader()

◆ setSize()

◆ setTsdfTruncDist()

◆ size()