tsdf_volume.h

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#pragma once
 
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <Eigen/Core>
#include <vector>
 
namespace pcl
{
  namespace gpu
  {
    /** \brief TsdfVolume class
      * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
      */
    class PCL_EXPORTS TsdfVolume
    {
    public:
      using Ptr = shared_ptr<TsdfVolume>;
      using ConstPtr = shared_ptr<const TsdfVolume>;
 
      /** \brief Supported Point Types */
      using PointType = PointXYZ;
      using NormalType = Normal;
 
      /** \brief Default buffer size for fetching cloud. It limits max number of points that can be extracted */
      enum { DEFAULT_CLOUD_BUFFER_SIZE = 10 * 1000 * 1000 };
            
      /** \brief Constructor
        * \param[in] resolution volume resolution
        */
      TsdfVolume(const Eigen::Vector3i& resolution);           
            
      /** \brief Sets Tsdf volume size for each dimension
        * \param[in] size size of tsdf volume in meters
        */
      void
      setSize(const Eigen::Vector3f& size);
      
      /** \brief Sets Tsdf truncation distance. Must be greater than 2 * volume_voxel_size
        * \param[in] distance TSDF truncation distance 
        */
      void
      setTsdfTruncDist (float distance);
 
      /** \brief Returns tsdf volume container that point to data in GPU memory */
      DeviceArray2D<int> 
      data() const;
 
      /** \brief Returns volume size in meters */
      const Eigen::Vector3f&
      getSize() const;
            
      /** \brief Returns volume resolution */
      const Eigen::Vector3i&
      getResolution() const;
 
      /** \brief Returns volume voxel size in meters */
      const Eigen::Vector3f
      getVoxelSize() const;
      
      /** \brief Returns tsdf truncation distance in meters */
      float
      getTsdfTruncDist () const;
     
      /** \brief Resets tsdf volume data to uninitialized state */
      void 
      reset();
 
      /** \brief Generates cloud using CPU (downloads volumetric representation to CPU memory)
        * \param[out] cloud output array for cloud
        * \param[in] connected26 If false point cloud is extracted using 6 neighbor, otherwise 26.
        */
      void
      fetchCloudHost (PointCloud<PointType>& cloud, bool connected26 = false) const;
 
      /** \brief Generates cloud using GPU in connected6 mode only
        * \param[out] cloud_buffer buffer to store point cloud
        * \return DeviceArray with disabled reference counting that points to filled part of cloud_buffer.
        */
      DeviceArray<PointType>
      fetchCloud (DeviceArray<PointType>& cloud_buffer) const;
 
      /** \brief Computes normals as gradient of tsdf for given points
        * \param[in] cloud Points where normals are computed.
        * \param[out] normals array for normals
        */
      void
      fetchNormals (const DeviceArray<PointType>& cloud, DeviceArray<PointType>& normals) const;
 
      /** \brief Computes normals as gradient of tsdf for given points
        * \param[in] cloud Points where normals are computed.
        * \param[out] normals array for normals
        */
      void
      fetchNormals(const DeviceArray<PointType>& cloud, DeviceArray<NormalType>& normals) const;
 
      /** \brief Downloads tsdf volume from GPU memory.           
        * \param[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];
        */
      void
      downloadTsdf (std::vector<float>& tsdf) const;
 
      /** \brief Downloads TSDF volume and according voxel weights from GPU memory
        * \param[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];
        * \param[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.
        */
      void
      downloadTsdfAndWeighs(std::vector<float>& tsdf, std::vector<short>& weights) const;
 
    private:
      /** \brief tsdf volume size in meters */
      Eigen::Vector3f size_;
      
      /** \brief tsdf volume resolution */
      Eigen::Vector3i resolution_;      
 
      /** \brief tsdf volume data container */
      DeviceArray2D<int> volume_;
 
      /** \brief tsdf truncation distance */
      float tranc_dist_;
 
public:
  PCL_MAKE_ALIGNED_OPERATOR_NEW
 
    };
  }
}