Point Cloud Library (PCL)  1.11.1-dev
tsdf_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 #include <vector>
47 
48 #include <pcl/gpu/kinfu_large_scale/tsdf_buffer.h>
49 
50 #include <pcl/gpu/kinfu_large_scale/point_intensity.h>
51 
52 
53 namespace pcl
54 {
55  namespace gpu
56  {
57  namespace kinfuLS
58  {
59  /** \brief TsdfVolume class
60  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
61  */
63  {
64  public:
65  using Ptr = shared_ptr<TsdfVolume>;
66  using ConstPtr = shared_ptr<const TsdfVolume>;
67 
68  /** \brief Supported Point Types */
70  using NormalType = Normal;
71 
72  /** \brief Structure storing voxel grid resolution, volume size (in mm) and element_size of data stored on host*/
73  struct Header
74  {
75  Eigen::Vector3i resolution;
76  Eigen::Vector3f volume_size;
77  int volume_element_size, weights_element_size;
78 
79  Header ()
80  : resolution (0,0,0),
81  volume_size (0,0,0),
82  volume_element_size (sizeof(float)),
83  weights_element_size (sizeof(short))
84  {};
85 
86  Header (const Eigen::Vector3i &res, const Eigen::Vector3f &size)
87  : resolution (res),
88  volume_size (size),
89  volume_element_size (sizeof(float)),
90  weights_element_size (sizeof(short))
91  {};
92 
93  /** \brief Get the size of data stored on host*/
94  inline std::size_t
95  getVolumeSize () const { return resolution[0] * resolution[1] * resolution[2]; };
96 
97  friend inline std::ostream&
98  operator << (std::ostream& os, const Header& h)
99  {
100  os << "(resolution = " << h.resolution.transpose() << ", volume size = " << h.volume_size.transpose() << ")";
101  return (os);
102  }
103 
104  public:
106  };
107 
108  /** \brief Default buffer size for fetching cloud. It limits max number of points that can be extracted */
109  enum { DEFAULT_CLOUD_BUFFER_SIZE = 10 * 1000 * 1000 };
110 
111  /** \brief Constructor
112  * \param[in] resolution volume resolution
113  */
114  TsdfVolume (const Eigen::Vector3i& resolution);
115 
116  /** \brief Sets Tsdf volume size for each dimension
117  * \param[in] size size of tsdf volume in meters
118  */
119  void
120  setSize (const Eigen::Vector3f& size);
121 
122  /** \brief Sets Tsdf truncation distance. Must be greater than 2 * volume_voxel_size
123  * \param[in] distance TSDF truncation distance
124  */
125  void
126  setTsdfTruncDist (float distance);
127 
128  /** \brief Returns tsdf volume container that point to data in GPU memory */
130  data () const;
131 
132  /** \brief Returns volume size in meters */
133  const Eigen::Vector3f&
134  getSize () const;
135 
136  /** \brief Returns volume resolution */
137  const Eigen::Vector3i&
138  getResolution() const;
139 
140  /** \brief Returns volume voxel size in meters */
141  const Eigen::Vector3f
142  getVoxelSize () const;
143 
144  /** \brief Returns tsdf truncation distance in meters */
145  float
146  getTsdfTruncDist () const;
147 
148  /** \brief Resets tsdf volume data to uninitialized state */
149  void
150  reset ();
151 
152  /** \brief Generates cloud using CPU (downloads volumetric representation to CPU memory)
153  * \param[out] cloud output array for cloud
154  * \param[in] connected26 If false point cloud is extracted using 6 neighbor, otherwise 26.
155  */
156  void
157  fetchCloudHost (PointCloud<PointType>& cloud, bool connected26 = false) const;
158 
159  /** \brief Generates cloud using CPU (downloads volumetric representation to CPU memory)
160  * \param[out] cloud output array for cloud
161  * \param[in] connected26 If false point cloud is extracted using 6 neighbor, otherwise 26.
162  */
163  void
164  fetchCloudHost (PointCloud<PointXYZI>& cloud, bool connected26 = false) const;
165 
166  /** \brief Generates cloud using GPU in connected6 mode only
167  * \param[out] cloud_buffer buffer to store point cloud
168  * \return DeviceArray with disabled reference counting that points to filled part of cloud_buffer.
169  */
171  fetchCloud (DeviceArray<PointType>& cloud_buffer) const;
172 
173  /** \brief Push a point cloud of previously scanned tsdf slice to the TSDF volume
174  * \param[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.
175  * \param buffer
176  */
177  void
178  pushSlice (const PointCloud<PointXYZI>::Ptr existing_data_cloud, const tsdf_buffer* buffer) const;
179 
180  /** \brief Generates cloud using GPU in connected6 mode only
181  * \param[out] cloud_buffer_xyz buffer to store point cloud
182  * \param cloud_buffer_intensity
183  * \param[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.
184  * \param[in] shiftX Offset in indices.
185  * \param[in] shiftY Offset in indices.
186  * \param[in] shiftZ Offset in indices.
187  * \return DeviceArray with disabled reference counting that points to filled part of cloud_buffer.
188  */
189  std::size_t
190  fetchSliceAsCloud (DeviceArray<PointType>& cloud_buffer_xyz, DeviceArray<float>& cloud_buffer_intensity, const tsdf_buffer* buffer, int shiftX, int shiftY, int shiftZ ) const;
191 
192  /** \brief Computes normals as gradient of tsdf for given points
193  * \param[in] cloud Points where normals are computed.
194  * \param[out] normals array for normals
195  */
196 
197  void
198  fetchNormals (const DeviceArray<PointType>& cloud, DeviceArray<PointType>& normals) const;
199 
200  /** \brief Computes normals as gradient of tsdf for given points
201  * \param[in] cloud Points where normals are computed.
202  * \param[out] normals array for normals
203  */
204  void
205  fetchNormals(const DeviceArray<PointType>& cloud, DeviceArray<NormalType>& normals) const;
206 
207  /** \brief Downloads tsdf volume from GPU memory.
208  * \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];
209  */
210  void
211  downloadTsdf (std::vector<float>& tsdf) const;
212 
213  /** \brief Downloads tsdf volume from GPU memory to local CPU buffer*/
214  void
215  downloadTsdfLocal () const;
216 
217  /** \brief Downloads TSDF volume and according voxel weights from GPU memory
218  * \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];
219  * \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.
220  */
221  void
222  downloadTsdfAndWeights (std::vector<float>& tsdf, std::vector<short>& weights) const;
223 
224  /** \brief Downloads TSDF volume and according voxel weights from GPU memory to local CPU buffers*/
225  void
226  downloadTsdfAndWeightsLocal () const;
227 
228  /** \brief Releases tsdf buffer on GPU */
229  void releaseVolume () {volume_.release();}
230 
231  void print_warn(const char* arg1, std::size_t size);
232 
233  /** \brief Set the header for data stored on host directly. Useful if directly writing into volume and weights */
234  inline void
235  setHeader (const Eigen::Vector3i& resolution, const Eigen::Vector3f& volume_size) {
236  header_ = Header (resolution, volume_size);
237  if (volume_host_->size() != this->size())
238  pcl::console::print_warn ("[TSDFVolume::setHeader] Header volume size (%d) doesn't fit underlying data size (%d)", volume_host_->size(), size());
239  }
240 
241  /** \brief Returns overall number of voxels in grid stored on host */
242  inline std::size_t
243  size () const {
244  return header_.getVolumeSize ();
245  }
246 
247  /** \brief Converts volume stored on host to cloud of TSDF values
248  * \param[out] cloud - the output point cloud
249  * \param[in] step - the decimation step to use
250  */
251  void
252  convertToTsdfCloud (pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud,
253  const unsigned step = 2) const;
254 
255  /** \brief Returns the voxel grid resolution */
256  inline const Eigen::Vector3i &
257  gridResolution () const { return header_.resolution; };
258 
259  /** \brief Saves local volume buffer to file */
260  bool
261  save (const std::string &filename = "tsdf_volume.dat", bool binary = true) const;
262 
263  /** \brief Loads local volume from file */
264  bool
265  load (const std::string &filename, bool binary = true);
266 
267  private:
268  /** \brief tsdf volume size in meters */
269  Eigen::Vector3f size_;
270 
271  /** \brief tsdf volume resolution */
272  Eigen::Vector3i resolution_;
273 
274  /** \brief tsdf volume data container */
275  DeviceArray2D<int> volume_;
276 
277  /** \brief tsdf truncation distance */
278  float tranc_dist_;
279 
280  // The following member are resulting from the merge of TSDFVolume with TsdfVolume class.
281  using VolumePtr = shared_ptr<std::vector<float> >;
282  using WeightsPtr = shared_ptr<std::vector<short> >;
283 
284  Header header_;
285  VolumePtr volume_host_;
286  WeightsPtr weights_host_;
287 
288  public:
290  };
291  }
292  }
293 }
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
point_types.h
pcl::Normal
A point structure representing normal coordinates and the surface curvature estimate.
Definition: point_types.hpp:812
pcl::gpu::kinfuLS::TsdfVolume::Header::volume_size
Eigen::Vector3f volume_size
Definition: tsdf_volume.h:76
pcl::geometry::distance
float distance(const PointT &p1, const PointT &p2)
Definition: geometry.h:60
pcl::gpu::kinfuLS::TsdfVolume::Header::getVolumeSize
std::size_t getVolumeSize() const
Get the size of data stored on host.
Definition: tsdf_volume.h:95
pcl::gpu::kinfuLS::TsdfVolume::Header::Header
Header()
Definition: tsdf_volume.h:79
pcl::gpu::kinfuLS::TsdfVolume::Ptr
shared_ptr< TsdfVolume > Ptr
Definition: tsdf_volume.h:65
pcl::gpu::kinfuLS::operator<<
std::ostream & operator<<(std::ostream &os, const float3 &v1)
Definition: float3_operations.h:121
pcl::gpu::DeviceArray2D< int >
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::gpu::kinfuLS::TsdfVolume::Header::resolution
Eigen::Vector3i resolution
Definition: tsdf_volume.h:75
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition: point_types.hpp:300
pcl::gpu::DeviceArray< PointType >
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
pcl::gpu::kinfuLS::TsdfVolume::ConstPtr
shared_ptr< const TsdfVolume > ConstPtr
Definition: tsdf_volume.h:66
pcl::gpu::kinfuLS::TsdfVolume::setHeader
void setHeader(const Eigen::Vector3i &resolution, const Eigen::Vector3f &volume_size)
Set the header for data stored on host directly.
Definition: tsdf_volume.h:235
pcl::gpu::kinfuLS::TsdfVolume::size
std::size_t size() const
Returns overall number of voxels in grid stored on host.
Definition: tsdf_volume.h:243
pcl::gpu::kinfuLS::TsdfVolume::Header::Header
Header(const Eigen::Vector3i &res, const Eigen::Vector3f &size)
Definition: tsdf_volume.h:86
pcl::gpu::kinfuLS::TsdfVolume
TsdfVolume class.
Definition: tsdf_volume.h:62
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl::gpu::kinfuLS::TsdfVolume::releaseVolume
void releaseVolume()
Releases tsdf buffer on GPU.
Definition: tsdf_volume.h:229
pcl::gpu::kinfuLS::TsdfVolume::Header::weights_element_size
int weights_element_size
Definition: tsdf_volume.h:77
pcl::io::save
PCL_EXPORTS int save(const std::string &file_name, const pcl::PCLPointCloud2 &blob, unsigned precision=5)
Save point cloud data to a binary file when available else to ASCII.
pcl::gpu::kinfuLS::TsdfVolume::gridResolution
const Eigen::Vector3i & gridResolution() const
Returns the voxel grid resolution.
Definition: tsdf_volume.h:257
pcl::gpu::kinfuLS::TsdfVolume::Header
Structure storing voxel grid resolution, volume size (in mm) and element_size of data stored on host.
Definition: tsdf_volume.h:73
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::gpu::kinfuLS::tsdf_buffer
Structure to handle buffer addresses.
Definition: tsdf_buffer.h:50
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:337
pcl::console::print_warn
PCL_EXPORTS void print_warn(const char *format,...)
Print a warning message on stream with colors.
pcl::io::load
PCL_EXPORTS int load(const std::string &file_name, pcl::PCLPointCloud2 &blob)
Load a file into a PointCloud2 according to extension.