Point Cloud Library (PCL)  1.12.1-dev
raycaster.h
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37 
38 #pragma once
39 
40 #include <pcl/memory.h>
41 #include <pcl/pcl_macros.h>
42 #include <pcl/point_types.h>
43 #include <pcl/gpu/containers/device_array.h>
44 #include <pcl/gpu/kinfu/pixel_rgb.h>
45 #include <Eigen/Geometry>
46 
47 namespace pcl
48 {
49  namespace gpu
50  {
51  class TsdfVolume;
52 
53  /** \brief Class that performs raycasting for TSDF volume
54  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
55  */
57  {
58  public:
59  using Ptr = shared_ptr<RayCaster>;
60  using ConstPtr = shared_ptr<const RayCaster>;
64 
65  /** \brief Image with height */
66  const int cols, rows;
67 
68  /** \brief Constructor
69  * \param[in] rows image rows
70  * \param[in] cols image cols
71  * \param[in] fx focal x
72  * \param[in] fy focal y
73  * \param[in] cx principal point x
74  * \param[in] cy principal point y
75  */
76  RayCaster(int rows = 480, int cols = 640, float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
77 
78  /** \brief Sets camera intrinsics */
79  void
80  setIntrinsics(float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
81 
82  /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal files.
83  * \param[in] volume tsdf volume container
84  * \param[in] camera_pose camera pose
85  */
86  void
87  run(const TsdfVolume& volume, const Eigen::Affine3f& camera_pose);
88 
89  /** \brief Generates scene view using data raycasted by run method. So call it before.
90  * \param[out] view output array for RGB image
91  */
92  void
93  generateSceneView(View& view) const;
94 
95  /** \brief Generates scene view using data raycasted by run method. So call it before.
96  * \param[out] view output array for RGB image
97  * \param[in] light_source_pose pose of light source
98  */
99  void
100  generateSceneView(View& view, const Eigen::Vector3f& light_source_pose) const;
101 
102  /** \brief Generates depth image using data raycasted by run method. So call it before.
103  * \param[out] depth output array for depth image
104  */
105  void
106  generateDepthImage(Depth& depth) const;
107 
108  /** \brief Returns raycasterd vertex map. */
109  MapArr
110  getVertexMap() const;
111 
112  /** \brief Returns raycasterd normal map. */
113  MapArr
114  getNormalMap() const;
115 
116  private:
117  /** \brief Camera intrinsics. */
118  float fx_, fy_, cx_, cy_;
119 
120  /* Vertext/normal map internal representation example for rows=2 and cols=4
121  * X X X X
122  * X X X X
123  * Y Y Y Y
124  * Y Y Y Y
125  * Z Z Z Z
126  * Z Z Z Z
127  */
128 
129  /** \brief vertex map of 3D points*/
130  MapArr vertex_map_;
131 
132  /** \brief normal map of 3D points*/
133  MapArr normal_map_;
134 
135  /** \brief camera pose from which raycasting was done */
136  Eigen::Affine3f camera_pose_;
137 
138  /** \brief Last passed volume size */
139  Eigen::Vector3f volume_size_;
140 
141 public:
143  };
144 
145  /** \brief Converts from map representation to organized not-dence point cloud. */
146  template<typename PointType>
148  }
149 }
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.
void convertMapToOranizedCloud(const RayCaster::MapArr &map, DeviceArray2D< PointType > &cloud)
Converts from map representation to organized not-dence point cloud.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
Class that performs raycasting for TSDF volume.
Definition: raycaster.h:57
MapArr getVertexMap() const
Returns raycasterd vertex map.
void generateDepthImage(Depth &depth) const
Generates depth image using data raycasted by run method.
const int cols
Image with height.
Definition: raycaster.h:66
void run(const TsdfVolume &volume, const Eigen::Affine3f &camera_pose)
Runs raycasting algorithm from given camera pose.
MapArr getNormalMap() const
Returns raycasterd normal map.
void generateSceneView(View &view, const Eigen::Vector3f &light_source_pose) const
Generates scene view using data raycasted by run method.
void setIntrinsics(float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)
Sets camera intrinsics.
shared_ptr< const RayCaster > ConstPtr
Definition: raycaster.h:60
void generateSceneView(View &view) const
Generates scene view using data raycasted by run method.
RayCaster(int rows=480, int cols=640, float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)
Constructor.
shared_ptr< RayCaster > Ptr
Definition: raycaster.h:59