Point Cloud Library (PCL)  1.12.1-dev
color_volume.h
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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 namespace pcl
48 {
49  namespace gpu
50  {
51  class TsdfVolume;
52 
53  /** \brief ColorVolume class
54  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
55  */
57  {
58  public:
60  using Ptr = shared_ptr<ColorVolume>;
61  using ConstPtr = shared_ptr<const ColorVolume>;
62 
63  /** \brief Constructor
64  * \param[in] tsdf tsdf volume to get parameters from
65  * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
66  */
67  ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
68 
69  /** \brief Destructor */
71 
72  /** \brief Resets color volume to uninitialized state */
73  void
74  reset();
75 
76  /** \brief Returns running average length */
77  int
78  getMaxWeight() const;
79 
80  /** \brief Returns container with color volume in GPU memory */
82  data() const;
83 
84  /** \brief Computes colors from color volume
85  * \param[in] cloud Points for which colors are to be computed.
86  * \param[out] colors output array for colors
87  */
88  void
89  fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const;
90 
91  private:
92  /** \brief Volume resolution */
93  Eigen::Vector3i resolution_;
94 
95  /** \brief Volume size in meters */
96  Eigen::Vector3f volume_size_;
97 
98  /** \brief Length of running average */
99  int max_weight_;
100 
101  /** \brief color volume data */
102  DeviceArray2D<int> color_volume_;
103 
104 public:
106 
107  };
108  }
109 }
ColorVolume class.
Definition: color_volume.h:57
DeviceArray2D< int > data() const
Returns container with color volume in GPU memory.
int getMaxWeight() const
Returns running average length.
shared_ptr< ColorVolume > Ptr
Definition: color_volume.h:60
ColorVolume(const TsdfVolume &tsdf, int max_weight=-1)
Constructor.
void fetchColors(const DeviceArray< PointType > &cloud, DeviceArray< RGB > &colors) const
Computes colors from color volume.
shared_ptr< const ColorVolume > ConstPtr
Definition: color_volume.h:61
void reset()
Resets color volume to uninitialized state.
~ColorVolume()
Destructor.
TsdfVolume class.
Definition: tsdf_volume.h:56
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.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
A point structure representing Euclidean xyz coordinates.