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 
48 namespace pcl
49 {
50  namespace gpu
51  {
52  namespace kinfuLS
53  {
54  class TsdfVolume;
55 
56  /**
57  * \brief ColorVolume class
58  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
59  */
61  {
62  public:
64  using Ptr = shared_ptr<ColorVolume>;
65  using ConstPtr = shared_ptr<const ColorVolume>;
66 
67  /**
68  * \brief Constructor
69  * \param[in] tsdf tsdf volume to get parameters from
70  * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
71  */
72  ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
73 
74  /** \brief Destructor */
76 
77  /** \brief Resets color volume to uninitialized state */
78  void
79  reset();
80 
81  /** \brief Returns running average length */
82  int
83  getMaxWeight() const;
84 
85  /** \brief Returns container with color volume in GPU memory */
87  data() const;
88 
89  /**
90  * \brief Computes colors from color volume
91  * \param[in] cloud Points for which colors are to be computed.
92  * \param[out] colors output array for colors
93  */
94  void
95  fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const;
96 
97  private:
98  /** \brief Volume resolution */
99  Eigen::Vector3i resolution_;
100 
101  /** \brief Volume size in meters */
102  Eigen::Vector3f volume_size_;
103 
104  /** \brief Length of running average */
105  int max_weight_;
106 
107  /** \brief color volume data */
108  DeviceArray2D<int> color_volume_;
109 
110  public:
112  };
113  }
114  }
115 }
DeviceArray2D< int > data() const
Returns container with color volume in GPU memory.
void reset()
Resets color volume to uninitialized state.
shared_ptr< ColorVolume > Ptr
Definition: color_volume.h:64
shared_ptr< const ColorVolume > ConstPtr
Definition: color_volume.h:65
void fetchColors(const DeviceArray< PointType > &cloud, DeviceArray< RGB > &colors) const
Computes colors from color volume.
ColorVolume(const TsdfVolume &tsdf, int max_weight=-1)
Constructor.
int getMaxWeight() const
Returns running average length.
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.