Classes
struct	Intr
	Camera intrinsics structure. More...

struct	Mat33
	3x3 Matrix for device code More...

struct	Eigen33

struct	Block

struct	Warp

struct	Emulation

struct	LightSource
	Light source collection. More...

struct	float8

struct	float12

Typedefs
using	ushort = unsigned short

using	MapArr = DeviceArray2D< float >

using	DepthMap = DeviceArray2D< ushort >

using	PointType = float4

Enumerations
enum	ScanKind { exclusive , inclusive }

Functions
__device__ __forceinline__ void	pack_tsdf (float tsdf, int weight, short2 &value)

__device__ __forceinline__ void	unpack_tsdf (short2 value, float &tsdf, int &weight)

__device__ __forceinline__ float	unpack_tsdf (short2 value)

__device__ __forceinline__ float3	operator* (const Mat33 &m, const float3 &vec)

template<ScanKind Kind, class T >
__device__ __forceinline__ T	scan_warp (volatile T *ptr, const unsigned int idx=threadIdx.x)

template<class T >
__device__ __host__ __forceinline__ void	swap (T &a, T &b)

__device__ __forceinline__ float	dot (const float3 &v1, const float3 &v2)

__device__ __forceinline__ float3 &	operator+= (float3 &vec, const float &v)

__device__ __forceinline__ float3	operator+ (const float3 &v1, const float3 &v2)

__device__ __forceinline__ float3 &	operator*= (float3 &vec, const float &v)

__device__ __forceinline__ float3	operator- (const float3 &v1, const float3 &v2)

__device__ __forceinline__ float3	operator* (const float3 &v1, const float &v)

__device__ __forceinline__ float	norm (const float3 &v)

__device__ __forceinline__ float3	normalized (const float3 &v)

__device__ __host__ __forceinline__ float3	cross (const float3 &v1, const float3 &v2)

__device__ __forceinline__ void	computeRoots2 (const float &b, const float &c, float3 &roots)

__device__ __forceinline__ void	computeRoots3 (float c0, float c1, float c2, float3 &roots)

void	bilateralFilter (const DepthMap &src, DepthMap &dst)
	Performs bilateral filtering of disparity map. More...

void	pyrDown (const DepthMap &src, DepthMap &dst)
	Computes depth pyramid. More...

void	createVMap (const Intr &intr, const DepthMap &depth, MapArr &vmap)
	Computes vertex map. More...

void	createNMap (const MapArr &vmap, MapArr &nmap)
	Computes normal map using cross product. More...

void	computeNormalsEigen (const MapArr &vmap, MapArr &nmap)
	Computes normal map using Eigen/PCA approach. More...

void	transformMaps (const MapArr &vmap_src, const MapArr &nmap_src, const Mat33 &Rmat, const float3 &tvec, MapArr &vmap_dst, MapArr &nmap_dst)
	Performs affine transform of vertex and normal maps. More...

void	truncateDepth (DepthMap &depth, float max_distance)
	Performs depth truncation. More...

void	findCoresp (const MapArr &vmap_g_curr, const MapArr &nmap_g_curr, const Mat33 &Rprev_inv, const float3 &tprev, const Intr &intr, const MapArr &vmap_g_prev, const MapArr &nmap_g_prev, float distThres, float angleThres, PtrStepSz< short2 > coresp)
	(now it's extra code) Computes corespondances map More...

void	estimateTransform (const MapArr &v_dst, const MapArr &n_dst, const MapArr &v_src, const PtrStepSz< short2 > &coresp, DeviceArray2D< float > &gbuf, DeviceArray< float > &mbuf, float matrixA_host, float vectorB_host)
	(now it's extra code) Computation Ax=b for ICP iteration More...

void	estimateCombined (const Mat33 &Rcurr, const float3 &tcurr, const MapArr &vmap_curr, const MapArr &nmap_curr, const Mat33 &Rprev_inv, const float3 &tprev, const Intr &intr, const MapArr &vmap_g_prev, const MapArr &nmap_g_prev, float distThres, float angleThres, DeviceArray2D< float > &gbuf, DeviceArray< float > &mbuf, float matrixA_host, float vectorB_host)
	Computation Ax=b for ICP iteration. More...

void	estimateCombined (const Mat33 &Rcurr, const float3 &tcurr, const MapArr &vmap_curr, const MapArr &nmap_curr, const Mat33 &Rprev_inv, const float3 &tprev, const Intr &intr, const MapArr &vmap_g_prev, const MapArr &nmap_g_prev, float distThres, float angleThres, DeviceArray2D< double > &gbuf, DeviceArray< double > &mbuf, double matrixA_host, double vectorB_host)
	Computation Ax=b for ICP iteration. More...

PCL_EXPORTS void	initVolume (PtrStep< short2 > array)
	Perform tsdf volume initialization. More...

void	integrateTsdfVolume (const PtrStepSz< ushort > &depth_raw, const Intr &intr, const float3 &volume_size, const Mat33 &Rcurr_inv, const float3 &tcurr, float tranc_dist, PtrStep< short2 > volume)
	Performs Tsfg volume uptation (extra obsolete now) More...

PCL_EXPORTS void	integrateTsdfVolume (const PtrStepSz< ushort > &depth, const Intr &intr, const float3 &volume_size, const Mat33 &Rcurr_inv, const float3 &tcurr, float tranc_dist, PtrStep< short2 > volume, const pcl::gpu::kinfuLS::tsdf_buffer *buffer, DeviceArray2D< float > &depthScaled)
	Function that integrates volume if volume element contains: 2 bytes for round(tsdf*SHORT_MAX) and 2 bytes for integer weight. More...

PCL_EXPORTS void	clearTSDFSlice (PtrStep< short2 > volume, pcl::gpu::kinfuLS::tsdf_buffer *buffer, int shiftX, int shiftY, int shiftZ)
	Function that clears the TSDF values. More...

void	initColorVolume (PtrStep< uchar4 > color_volume)
	Initialized color volume. More...

void	updateColorVolume (const Intr &intr, float tranc_dist, const Mat33 &R_inv, const float3 &t, const MapArr &vmap, const PtrStepSz< uchar3 > &colors, const float3 &volume_size, PtrStep< uchar4 > color_volume, int max_weight=1)
	Performs integration in color volume. More...

void	raycast (const Intr &intr, const Mat33 &Rcurr, const float3 &tcurr, float tranc_dist, const float3 &volume_size, const PtrStep< short2 > &volume, const pcl::gpu::kinfuLS::tsdf_buffer *buffer, MapArr &vmap, MapArr &nmap)
	Generation vertex and normal maps from volume for current camera pose. More...

void	generateImage (const MapArr &vmap, const MapArr &nmap, const LightSource &light, PtrStepSz< uchar3 > dst)
	Renders 3D image of the scene. More...

void	generateDepth (const Mat33 &R_inv, const float3 &t, const MapArr &vmap, DepthMap &dst)
	Renders depth image from give pose. More...

void	paint3DView (const PtrStep< uchar3 > &colors, PtrStepSz< uchar3 > dst, float colors_weight=0.5f)
	Paints 3D view with color map. More...

void	resizeVMap (const MapArr &input, MapArr &output)
	Performs resize of vertex map to next pyramid level by averaging each four points. More...

void	resizeNMap (const MapArr &input, MapArr &output)
	Performs resize of vertex map to next pyramid level by averaging each four normals. More...

void	pushCloudAsSliceGPU (const PtrStep< short2 > &volume, pcl::gpu::DeviceArray< PointType > cloud_gpu, const pcl::gpu::kinfuLS::tsdf_buffer *buffer)
	Loads the values of a tsdf point cloud to the tsdf volume in GPU. More...

PCL_EXPORTS std::size_t	extractCloud (const PtrStep< short2 > &volume, const float3 &volume_size, PtrSz< PointType > output)
	Perform point cloud extraction from tsdf volume. More...

PCL_EXPORTS std::size_t	extractSliceAsCloud (const PtrStep< short2 > &volume, const float3 &volume_size, const pcl::gpu::kinfuLS::tsdf_buffer *buffer, const int shiftX, const int shiftY, const int shiftZ, PtrSz< PointType > output_xyz, PtrSz< float > output_intensities)
	Perform point cloud extraction of a slice from tsdf volume. More...

template<typename NormalType >
void	extractNormals (const PtrStep< short2 > &volume, const float3 &volume_size, const PtrSz< PointType > &input, NormalType *output)
	Performs normals computation for given points using tsdf volume. More...

void	exctractColors (const PtrStep< uchar4 > &color_volume, const float3 &volume_size, const PtrSz< PointType > &points, uchar4 *colors)
	Performs colors extraction from color volume. More...

template<typename T >
void	convert (const MapArr &vmap, DeviceArray2D< T > &output)
	Conversion from SOA to AOS. More...

void	mergePointNormal (const DeviceArray< float4 > &cloud, const DeviceArray< float8 > &normals, const DeviceArray< float12 > &output)
	Merges pcl::PointXYZ and pcl::Normal to PointNormal. More...

bool	valid_host (float value)
	Check for qnan (unused now) More...

void	sync ()
	synchronizes CUDA execution More...

template<class D , class Matx >
D &	device_cast (Matx &matx)

void	bindTextures (const int edgeBuf, const int triBuf, const int *numVertsBuf)
	Binds marching cubes tables to texture references. More...

void	unbindTextures ()
	Unbinds. More...

int	getOccupiedVoxels (const PtrStep< short2 > &volume, DeviceArray2D< int > &occupied_voxels)
	Scans tsdf volume and retrieves occupied voxels. More...

int	computeOffsetsAndTotalVertexes (DeviceArray2D< int > &occupied_voxels)
	Computes total number of vertices for all voxels and offsets of vertices in final triangle array. More...

void	generateTriangles (const PtrStep< short2 > &volume, const DeviceArray2D< int > &occupied_voxels, const float3 &volume_size, DeviceArray< PointType > &output)
	Generates final triangle array. More...

Variables
constexpr int	DIVISOR = std::numeric_limits<short>::max()

constexpr float	HEIGHT = 480.0f

constexpr float	WIDTH = 640.0f

constexpr int	VOLUME_X = 512

constexpr int	VOLUME_Y = 512

constexpr int	VOLUME_Z = 512

constexpr float	FOCAL_LENGTH = 575.816f

constexpr float	VOLUME_SIZE = 3.0f

constexpr float	DISTANCE_THRESHOLD = 1.5f

constexpr int	SNAPSHOT_RATE = 45

Typedef Documentation

◆ DepthMap

using pcl::device::kinfuLS::DepthMap = typedef DeviceArray2D<ushort>

Definition at line 58 of file device.h.

◆ MapArr

using pcl::device::kinfuLS::MapArr = typedef DeviceArray2D<float>

Definition at line 57 of file device.h.

◆ PointType

using pcl::device::kinfuLS::PointType = typedef float4

Definition at line 59 of file device.h.

◆ ushort

using pcl::device::kinfuLS::ushort = typedef unsigned short

Definition at line 56 of file device.h.

Enumeration Type Documentation

◆ ScanKind

enum pcl::device::kinfuLS::ScanKind

Enumerator
exclusive
inclusive

Definition at line 87 of file device.hpp.

Function Documentation

◆ bilateralFilter()

void pcl::device::kinfuLS::bilateralFilter	(	const DepthMap &	src,
		DepthMap &	dst
	)

Performs bilateral filtering of disparity map.

Parameters

[in]	src	source map
[out]	dst	output map

◆ bindTextures()

void pcl::device::kinfuLS::bindTextures	(	const int *	edgeBuf,
		const int *	triBuf,
		const int *	numVertsBuf
	)

Binds marching cubes tables to texture references.

◆ clearTSDFSlice()

PCL_EXPORTS void pcl::device::kinfuLS::clearTSDFSlice	(	PtrStep< short2 >	volume,
		pcl::gpu::kinfuLS::tsdf_buffer *	buffer,
		int	shiftX,
		int	shiftY,
		int	shiftZ
	)

Function that clears the TSDF values.

The clearing takes place from the origin (in indices) to an offset in X,Y,Z values accordingly

Parameters

[in]	volume	Pointer to TSDF volume in GPU
[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.
[in]	shiftX	Offset in indices that will be cleared from the TSDF volume. The clearing start from buffer.OriginX and stops in OriginX + shiftX
[in]	shiftY	Offset in indices that will be cleared from the TSDF volume. The clearing start from buffer.OriginY and stops in OriginY + shiftY
[in]	shiftZ	Offset in indices that will be cleared from the TSDF volume. The clearing start from buffer.OriginZ and stops in OriginZ + shiftZ

◆ computeNormalsEigen()

void pcl::device::kinfuLS::computeNormalsEigen	(	const MapArr &	vmap,
		MapArr &	nmap
	)

Computes normal map using Eigen/PCA approach.

Parameters

[in]	vmap	vertex map
[out]	nmap	normal map

◆ computeOffsetsAndTotalVertexes()

int pcl::device::kinfuLS::computeOffsetsAndTotalVertexes ( DeviceArray2D< int > & occupied_voxels )

Computes total number of vertices for all voxels and offsets of vertices in final triangle array.

Parameters

[out] occupied_voxels buffer with occupied voxels. The function fulfills 3nd only with offsets

Returns: total number of vertices

◆ computeRoots2()

__device__ __forceinline__ void pcl::device::kinfuLS::computeRoots2	(	const float &	b,
		const float &	c,
		float3 &	roots
	)

Definition at line 114 of file utils.hpp.

Referenced by computeRoots3().

◆ computeRoots3()

__device__ __forceinline__ void pcl::device::kinfuLS::computeRoots3	(	float	c0,
		float	c1,
		float	c2,
		float3 &	roots
	)

Definition at line 128 of file utils.hpp.

References computeRoots2(), and swap().

Referenced by pcl::device::kinfuLS::Eigen33::compute().

◆ convert()

template<typename T >

void pcl::device::kinfuLS::convert	(	const MapArr &	vmap,
		DeviceArray2D< T > &	output
	)

Conversion from SOA to AOS.

Parameters

[in]	vmap	SOA map
[out]	output	Array of 3D points. Can be float4 or float8.

◆ createNMap()

void pcl::device::kinfuLS::createNMap	(	const MapArr &	vmap,
		MapArr &	nmap
	)

Computes normal map using cross product.

Parameters

[in]	vmap	vertex map
[out]	nmap	normal map

◆ createVMap()

void pcl::device::kinfuLS::createVMap	(	const Intr &	intr,
		const DepthMap &	depth,
		MapArr &	vmap
	)

Computes vertex map.

Parameters

[in]	intr	depth camera intrinsics
[in]	depth	depth
[out]	vmap	vertex map

◆ cross()

__device__ __host__ __forceinline__ float3 pcl::device::kinfuLS::cross	(	const float3 &	v1,
		const float3 &	v2
	)

Definition at line 109 of file utils.hpp.

Referenced by pcl::device::kinfuLS::Eigen33::compute().

◆ device_cast()

template<class D , class Matx >

D& pcl::device::kinfuLS::device_cast ( Matx & matx )

Definition at line 415 of file internal.h.

◆ dot()

__device__ __forceinline__ float pcl::device::kinfuLS::dot	(	const float3 &	v1,
		const float3 &	v2
	)

Definition at line 61 of file utils.hpp.

Referenced by pcl::device::kinfuLS::Eigen33::compute(), norm(), normalized(), and operator*().

◆ estimateCombined() [1/2]

void pcl::device::kinfuLS::estimateCombined	(	const Mat33 &	Rcurr,
		const float3 &	tcurr,
		const MapArr &	vmap_curr,
		const MapArr &	nmap_curr,
		const Mat33 &	Rprev_inv,
		const float3 &	tprev,
		const Intr &	intr,
		const MapArr &	vmap_g_prev,
		const MapArr &	nmap_g_prev,
		float	distThres,
		float	angleThres,
		DeviceArray2D< double > &	gbuf,
		DeviceArray< double > &	mbuf,
		double *	matrixA_host,
		double *	vectorB_host
	)

Computation Ax=b for ICP iteration.

Parameters

[in]	Rcurr	Rotation of current camera pose guess
[in]	tcurr	translation of current camera pose guess
[in]	vmap_curr	current vertex map in camera coo space
[in]	nmap_curr	current vertex map in camera coo space
[in]	Rprev_inv	inverse camera rotation at previous pose
[in]	tprev	camera translation at previous pose
[in]	intr	camera intrinsics
[in]	vmap_g_prev	previous vertex map in global coo space
[in]	nmap_g_prev	previous vertex map in global coo space
[in]	distThres	distance filtering threshold
[in]	angleThres	angle filtering threshold. Represents sine of angle between normals
[out]	gbuf	temp buffer for GPU reduction
[out]	mbuf	output GPU buffer for matrix computed
[out]	matrixA_host	A
[out]	vectorB_host	b

◆ estimateCombined() [2/2]

void pcl::device::kinfuLS::estimateCombined	(	const Mat33 &	Rcurr,
		const float3 &	tcurr,
		const MapArr &	vmap_curr,
		const MapArr &	nmap_curr,
		const Mat33 &	Rprev_inv,
		const float3 &	tprev,
		const Intr &	intr,
		const MapArr &	vmap_g_prev,
		const MapArr &	nmap_g_prev,
		float	distThres,
		float	angleThres,
		DeviceArray2D< float > &	gbuf,
		DeviceArray< float > &	mbuf,
		float *	matrixA_host,
		float *	vectorB_host
	)

Computation Ax=b for ICP iteration.

Parameters

[in]	Rcurr	Rotation of current camera pose guess
[in]	tcurr	translation of current camera pose guess
[in]	vmap_curr	current vertex map in camera coo space
[in]	nmap_curr	current vertex map in camera coo space
[in]	Rprev_inv	inverse camera rotation at previous pose
[in]	tprev	camera translation at previous pose
[in]	intr	camera intrinsics
[in]	vmap_g_prev	previous vertex map in global coo space
[in]	nmap_g_prev	previous vertex map in global coo space
[in]	distThres	distance filtering threshold
[in]	angleThres	angle filtering threshold. Represents sine of angle between normals
[out]	gbuf	temp buffer for GPU reduction
[out]	mbuf	output GPU buffer for matrix computed
[out]	matrixA_host	A
[out]	vectorB_host	b

◆ estimateTransform()

void pcl::device::kinfuLS::estimateTransform	(	const MapArr &	v_dst,
		const MapArr &	n_dst,
		const MapArr &	v_src,
		const PtrStepSz< short2 > &	coresp,
		DeviceArray2D< float > &	gbuf,
		DeviceArray< float > &	mbuf,
		float *	matrixA_host,
		float *	vectorB_host
	)

(now it's extra code) Computation Ax=b for ICP iteration

Parameters

[in]	v_dst	destination vertex map (previous frame cloud)
[in]	n_dst	destination normal map (previous frame normals)
[in]	v_src	source normal map (current frame cloud)
[in]	coresp	Corespondances
[out]	gbuf	temp buffer for GPU reduction
[out]	mbuf	output GPU buffer for matrix computed
[out]	matrixA_host	A
[out]	vectorB_host	b

◆ exctractColors()

void pcl::device::kinfuLS::exctractColors	(	const PtrStep< uchar4 > &	color_volume,
		const float3 &	volume_size,
		const PtrSz< PointType > &	points,
		uchar4 *	colors
	)

Performs colors extraction from color volume.

Parameters

[in]	color_volume	color volume
[in]	volume_size	volume size
[in]	points	points for which color are computed
[out]	colors	output array with colors.

◆ extractCloud()

PCL_EXPORTS std::size_t pcl::device::kinfuLS::extractCloud	(	const PtrStep< short2 > &	volume,
		const float3 &	volume_size,
		PtrSz< PointType >	output
	)

Perform point cloud extraction from tsdf volume.

Parameters

[in]	volume	tsdf volume
[in]	volume_size	size of the volume
[out]	output	buffer large enough to store point cloud

Returns: number of point stored to passed buffer

◆ extractNormals()

template<typename NormalType >

void pcl::device::kinfuLS::extractNormals	(	const PtrStep< short2 > &	volume,
		const float3 &	volume_size,
		const PtrSz< PointType > &	input,
		NormalType *	output
	)

Performs normals computation for given points using tsdf volume.

Parameters

[in]	volume	tsdf volume
[in]	volume_size	volume size
[in]	input	points where normals are computed
[out]	output	normals. Could be float4 or float8. If for a point normal can't be computed, such normal is marked as nan.

◆ extractSliceAsCloud()

PCL_EXPORTS std::size_t pcl::device::kinfuLS::extractSliceAsCloud	(	const PtrStep< short2 > &	volume,
		const float3 &	volume_size,
		const pcl::gpu::kinfuLS::tsdf_buffer *	buffer,
		const int	shiftX,
		const int	shiftY,
		const int	shiftZ,
		PtrSz< PointType >	output_xyz,
		PtrSz< float >	output_intensities
	)

Perform point cloud extraction of a slice from tsdf volume.

Parameters

[in]	volume	tsdf volume on GPU
[in]	volume_size	size of the volume
[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.
[in]	shiftX	Offset in indices that will be cleared from the TSDF volume. The clearing start from buffer.OriginX and stops in OriginX + shiftX
[in]	shiftY	Offset in indices that will be cleared from the TSDF volume. The clearing start from buffer.OriginY and stops in OriginY + shiftY
[in]	shiftZ	Offset in indices that will be cleared from the TSDF volume. The clearing start from buffer.OriginZ and stops in OriginZ + shiftZ
[out]	output_xyz	buffer large enough to store point cloud xyz values
[out]	output_intensities	buffer large enough to store point cloud intensity values

Returns: number of point stored to passed buffer

◆ findCoresp()

void pcl::device::kinfuLS::findCoresp	(	const MapArr &	vmap_g_curr,
		const MapArr &	nmap_g_curr,
		const Mat33 &	Rprev_inv,
		const float3 &	tprev,
		const Intr &	intr,
		const MapArr &	vmap_g_prev,
		const MapArr &	nmap_g_prev,
		float	distThres,
		float	angleThres,
		PtrStepSz< short2 >	coresp
	)

(now it's extra code) Computes corespondances map

Parameters

[in]	vmap_g_curr	current vertex map in global coo space
[in]	nmap_g_curr	current normals map in global coo space
[in]	Rprev_inv	inverse camera rotation at previous pose
[in]	tprev	camera translation at previous pose
[in]	intr	camera intrinsics
[in]	vmap_g_prev	previous vertex map in global coo space
[in]	nmap_g_prev	previous vertex map in global coo space
[in]	distThres	distance filtering threshold
[in]	angleThres	angle filtering threshold. Represents sine of angle between normals
[out]	coresp

◆ generateDepth()

void pcl::device::kinfuLS::generateDepth	(	const Mat33 &	R_inv,
		const float3 &	t,
		const MapArr &	vmap,
		DepthMap &	dst
	)

Renders depth image from give pose.

Parameters

[in]	R_inv	inverse camera rotation
[in]	t	camera translation
[in]	vmap	vertex map
[out]	dst	buffer where depth is generated

◆ generateImage()

void pcl::device::kinfuLS::generateImage	(	const MapArr &	vmap,
		const MapArr &	nmap,
		const LightSource &	light,
		PtrStepSz< uchar3 >	dst
	)

Renders 3D image of the scene.

Parameters

[in]	vmap	vertex map
[in]	nmap	normals map
[in]	light	pose of light source
[out]	dst	buffer where image is generated

◆ generateTriangles()

void pcl::device::kinfuLS::generateTriangles	(	const PtrStep< short2 > &	volume,
		const DeviceArray2D< int > &	occupied_voxels,
		const float3 &	volume_size,
		DeviceArray< PointType > &	output
	)

Generates final triangle array.

Parameters

[in]	volume	tsdf volume
[in]	occupied_voxels	occupied voxel ids (first row), number of vertices(second row), offsets(third row).
[in]	volume_size	volume size in meters
[out]	output	triangle array

◆ getOccupiedVoxels()

int pcl::device::kinfuLS::getOccupiedVoxels	(	const PtrStep< short2 > &	volume,
		DeviceArray2D< int > &	occupied_voxels
	)

Scans tsdf volume and retrieves occupied voxels.

Parameters

[in]	volume	tsdf volume
[out]	occupied_voxels	buffer for occupied voxels. The function fulfills first row with voxel ids and second row with number of vertices.

Returns: number of voxels in the buffer

◆ initColorVolume()

void pcl::device::kinfuLS::initColorVolume ( PtrStep< uchar4 > color_volume )

Initialized color volume.

Parameters

[out] color_volume color volume for initialization

◆ initVolume()

PCL_EXPORTS void pcl::device::kinfuLS::initVolume ( PtrStep< short2 > array )

Perform tsdf volume initialization.

Parameters

[out] array volume to be initialized

◆ integrateTsdfVolume() [1/2]

PCL_EXPORTS void pcl::device::kinfuLS::integrateTsdfVolume	(	const PtrStepSz< ushort > &	depth,
		const Intr &	intr,
		const float3 &	volume_size,
		const Mat33 &	Rcurr_inv,
		const float3 &	tcurr,
		float	tranc_dist,
		PtrStep< short2 >	volume,
		const pcl::gpu::kinfuLS::tsdf_buffer *	buffer,
		DeviceArray2D< float > &	depthScaled
	)

Function that integrates volume if volume element contains: 2 bytes for round(tsdf*SHORT_MAX) and 2 bytes for integer weight.

Parameters

[in]	depth	Kinect depth image
[in]	intr	camera intrinsics
[in]	volume_size	size of volume in mm
[in]	Rcurr_inv	inverse rotation for current camera pose
[in]	tcurr	translation for current camera pose
[in]	tranc_dist	tsdf truncation distance
[in]	volume	tsdf volume to be updated
[in]	buffer	cyclical buffer structure
[out]	depthScaled	Buffer for scaled depth along ray

◆ integrateTsdfVolume() [2/2]

void pcl::device::kinfuLS::integrateTsdfVolume	(	const PtrStepSz< ushort > &	depth_raw,
		const Intr &	intr,
		const float3 &	volume_size,
		const Mat33 &	Rcurr_inv,
		const float3 &	tcurr,
		float	tranc_dist,
		PtrStep< short2 >	volume
	)

Performs Tsfg volume uptation (extra obsolete now)

Parameters

[in]	depth_raw	Kinect depth image
[in]	intr	camera intrinsics
[in]	volume_size	size of volume in mm
[in]	Rcurr_inv	inverse rotation for current camera pose
[in]	tcurr	translation for current camera pose
[in]	tranc_dist	tsdf truncation distance
[in]	volume	tsdf volume to be updated

◆ mergePointNormal()

void pcl::device::kinfuLS::mergePointNormal	(	const DeviceArray< float4 > &	cloud,
		const DeviceArray< float8 > &	normals,
		const DeviceArray< float12 > &	output
	)

Merges pcl::PointXYZ and pcl::Normal to PointNormal.

Parameters

[in]	cloud	points cloud
[in]	normals	normals cloud
[out]	output	array of PointNomals.

◆ norm()

__device__ __forceinline__ float pcl::device::kinfuLS::norm ( const float3 & v )

Definition at line 97 of file utils.hpp.

References dot().

◆ normalized()

__device__ __forceinline__ float3 pcl::device::kinfuLS::normalized ( const float3 & v )

Definition at line 103 of file utils.hpp.

References dot().

Referenced by pcl::device::kinfuLS::Eigen33::compute().

◆ operator*() [1/2]

__device__ __forceinline__ float3 pcl::device::kinfuLS::operator*	(	const float3 &	v1,
		const float &	v
	)

Definition at line 91 of file utils.hpp.

◆ operator*() [2/2]

__device__ __forceinline__ float3 pcl::device::kinfuLS::operator*	(	const Mat33 &	m,
		const float3 &	vec
	)

Definition at line 78 of file device.hpp.

References pcl::device::kinfuLS::Mat33::data, and dot().

◆ operator*=()

__device__ __forceinline__ float3& pcl::device::kinfuLS::operator*=	(	float3 &	vec,
		const float &	v
	)

Definition at line 79 of file utils.hpp.

◆ operator+()

__device__ __forceinline__ float3 pcl::device::kinfuLS::operator+	(	const float3 &	v1,
		const float3 &	v2
	)

Definition at line 73 of file utils.hpp.

◆ operator+=()

__device__ __forceinline__ float3& pcl::device::kinfuLS::operator+=	(	float3 &	vec,
		const float &	v
	)

Definition at line 67 of file utils.hpp.

◆ operator-()

__device__ __forceinline__ float3 pcl::device::kinfuLS::operator-	(	const float3 &	v1,
		const float3 &	v2
	)

Definition at line 85 of file utils.hpp.

◆ pack_tsdf()

__device__ __forceinline__ void pcl::device::kinfuLS::pack_tsdf	(	float	tsdf,
		int	weight,
		short2 &	value
	)

Definition at line 56 of file device.hpp.

References DIVISOR.

◆ paint3DView()

void pcl::device::kinfuLS::paint3DView	(	const PtrStep< uchar3 > &	colors,
		PtrStepSz< uchar3 >	dst,
		float	colors_weight = `0.5f`
	)

Paints 3D view with color map.

Parameters

[in]	colors	rgb color frame from OpenNI
[out]	dst	output 3D view
[in]	colors_weight	weight for colors

◆ pushCloudAsSliceGPU()

void pcl::device::kinfuLS::pushCloudAsSliceGPU	(	const PtrStep< short2 > &	volume,
		pcl::gpu::DeviceArray< PointType >	cloud_gpu,
		const pcl::gpu::kinfuLS::tsdf_buffer *	buffer
	)

Loads the values of a tsdf point cloud to the tsdf volume in GPU.

Parameters

[in]	volume	tsdf volume
[in]	cloud_gpu	contains the data to be pushed to the tsdf volume
[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.

◆ pyrDown()

void pcl::device::kinfuLS::pyrDown	(	const DepthMap &	src,
		DepthMap &	dst
	)

Computes depth pyramid.

Parameters

[in]	src	source
[out]	dst	destination

◆ raycast()

void pcl::device::kinfuLS::raycast	(	const Intr &	intr,
		const Mat33 &	Rcurr,
		const float3 &	tcurr,
		float	tranc_dist,
		const float3 &	volume_size,
		const PtrStep< short2 > &	volume,
		const pcl::gpu::kinfuLS::tsdf_buffer *	buffer,
		MapArr &	vmap,
		MapArr &	nmap
	)

Generation vertex and normal maps from volume for current camera pose.

Parameters

[in]	intr	camera intrinsices
[in]	Rcurr	current rotation
[in]	tcurr	current translation
[in]	tranc_dist	volume truncation distance
[in]	volume_size	volume size in mm
[in]	volume	tsdf volume
[in]	buffer	cyclical buffer structure
[out]	vmap	output vertex map
[out]	nmap	output normals map

◆ resizeNMap()

void pcl::device::kinfuLS::resizeNMap	(	const MapArr &	input,
		MapArr &	output
	)

Performs resize of vertex map to next pyramid level by averaging each four normals.

Parameters

[in]	input	normal map
[out]	output	vertex map

◆ resizeVMap()

void pcl::device::kinfuLS::resizeVMap	(	const MapArr &	input,
		MapArr &	output
	)

Performs resize of vertex map to next pyramid level by averaging each four points.

Parameters

[in]	input	vertext map
[out]	output	resized vertex map

◆ scan_warp()

template<ScanKind Kind, class T >

__device__ __forceinline__ T pcl::device::kinfuLS::scan_warp	(	volatile T *	ptr,
		const unsigned int	idx = `threadIdx.x`
	)

Definition at line 91 of file device.hpp.

References inclusive.

◆ swap()

template<class T >

__device__ __host__ __forceinline__ void pcl::device::kinfuLS::swap	(	T &	a,
		T &	b
	)

Definition at line 55 of file utils.hpp.

Referenced by computeRoots3().

◆ sync()

void pcl::device::kinfuLS::sync ( )

inline

synchronizes CUDA execution

Definition at line 411 of file internal.h.

◆ transformMaps()

void pcl::device::kinfuLS::transformMaps	(	const MapArr &	vmap_src,
		const MapArr &	nmap_src,
		const Mat33 &	Rmat,
		const float3 &	tvec,
		MapArr &	vmap_dst,
		MapArr &	nmap_dst
	)

Performs affine transform of vertex and normal maps.

Parameters

[in]	vmap_src	source vertex map
[in]	nmap_src	source vertex map
[in]	Rmat	Rotation mat
[in]	tvec	translation
[out]	vmap_dst	destination vertex map
[out]	nmap_dst	destination vertex map

◆ truncateDepth()

void pcl::device::kinfuLS::truncateDepth	(	DepthMap &	depth,
		float	max_distance
	)

Performs depth truncation.

Parameters

[out]	depth	depth map to truncation
[in]	max_distance	truncation threshold, values that are higher than the threshold are reset to zero (means not measurement)

◆ unbindTextures()

void pcl::device::kinfuLS::unbindTextures ( )

Unbinds.

◆ unpack_tsdf() [1/2]

__device__ __forceinline__ float pcl::device::kinfuLS::unpack_tsdf ( short2 value )

Definition at line 71 of file device.hpp.

References DIVISOR.

◆ unpack_tsdf() [2/2]

__device__ __forceinline__ void pcl::device::kinfuLS::unpack_tsdf	(	short2	value,
		float &	tsdf,
		int &	weight
	)

Definition at line 64 of file device.hpp.

References DIVISOR.

◆ updateColorVolume()

void pcl::device::kinfuLS::updateColorVolume	(	const Intr &	intr,
		float	tranc_dist,
		const Mat33 &	R_inv,
		const float3 &	t,
		const MapArr &	vmap,
		const PtrStepSz< uchar3 > &	colors,
		const float3 &	volume_size,
		PtrStep< uchar4 >	color_volume,
		int	max_weight = `1`
	)

Performs integration in color volume.

Parameters

[in]	intr	Depth camera intrionsics structure
[in]	tranc_dist	tsdf truncation distance
[in]	R_inv	Inverse camera rotation
[in]	t	camera translation
[in]	vmap	Raycasted vertex map
[in]	colors	RGB colors for current frame
[in]	volume_size	volume size in meters
[in]	color_volume	color volume to be integrated
[in]	max_weight	max weight for running color average. Zero means not average, one means average with prev value, etc.

◆ valid_host()

bool pcl::device::kinfuLS::valid_host ( float value )

inline

Check for qnan (unused now)

Parameters

[in] value

Definition at line 403 of file internal.h.

Variable Documentation

◆ DISTANCE_THRESHOLD

constexpr float pcl::device::kinfuLS::DISTANCE_THRESHOLD = 1.5f

constexpr

Definition at line 77 of file device.h.

◆ DIVISOR

constexpr int pcl::device::kinfuLS::DIVISOR = std::numeric_limits<short>::max()

constexpr

Definition at line 62 of file device.h.

Referenced by pack_tsdf(), and unpack_tsdf().

◆ FOCAL_LENGTH

constexpr float pcl::device::kinfuLS::FOCAL_LENGTH = 575.816f

constexpr

Definition at line 74 of file device.h.

◆ HEIGHT

constexpr float pcl::device::kinfuLS::HEIGHT = 480.0f

constexpr

Definition at line 65 of file device.h.

◆ SNAPSHOT_RATE

constexpr int pcl::device::kinfuLS::SNAPSHOT_RATE = 45

constexpr

Definition at line 78 of file device.h.

◆ VOLUME_SIZE

constexpr float pcl::device::kinfuLS::VOLUME_SIZE = 3.0f

constexpr

Definition at line 76 of file device.h.

◆ VOLUME_X

constexpr int pcl::device::kinfuLS::VOLUME_X = 512

constexpr

Definition at line 69 of file device.h.

◆ VOLUME_Y

constexpr int pcl::device::kinfuLS::VOLUME_Y = 512

constexpr

Definition at line 70 of file device.h.

◆ VOLUME_Z

constexpr int pcl::device::kinfuLS::VOLUME_Z = 512

constexpr

Definition at line 71 of file device.h.

◆ WIDTH

constexpr float pcl::device::kinfuLS::WIDTH = 640.0f

constexpr

Definition at line 66 of file device.h.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ DepthMap

◆ MapArr

◆ PointType

◆ ushort

Enumeration Type Documentation

◆ ScanKind

Function Documentation

◆ bilateralFilter()

◆ bindTextures()

◆ clearTSDFSlice()

◆ computeNormalsEigen()

◆ computeOffsetsAndTotalVertexes()

◆ computeRoots2()

◆ computeRoots3()

◆ convert()

◆ createNMap()

◆ createVMap()

◆ cross()

◆ device_cast()

◆ dot()

◆ estimateCombined() [1/2]

◆ estimateCombined() [2/2]

◆ estimateTransform()

◆ exctractColors()

◆ extractCloud()

◆ extractNormals()

◆ extractSliceAsCloud()

◆ findCoresp()

◆ generateDepth()

◆ generateImage()

◆ generateTriangles()

◆ getOccupiedVoxels()

◆ initColorVolume()

◆ initVolume()

◆ integrateTsdfVolume() [1/2]

◆ integrateTsdfVolume() [2/2]

◆ mergePointNormal()

◆ norm()

◆ normalized()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ pack_tsdf()

◆ paint3DView()

◆ pushCloudAsSliceGPU()

◆ pyrDown()

◆ raycast()

◆ resizeNMap()

◆ resizeVMap()

◆ scan_warp()

◆ swap()

◆ sync()

◆ transformMaps()

◆ truncateDepth()

◆ unbindTextures()

◆ unpack_tsdf() [1/2]

◆ unpack_tsdf() [2/2]

◆ updateColorVolume()

◆ valid_host()

Variable Documentation

◆ DISTANCE_THRESHOLD

◆ DIVISOR

◆ FOCAL_LENGTH

◆ HEIGHT

◆ SNAPSHOT_RATE

◆ VOLUME_SIZE

◆ VOLUME_X

◆ VOLUME_Y

◆ VOLUME_Z

◆ WIDTH