pcl::gpu::kinfuLS::RayCaster Struct Reference

Class that performs raycasting for TSDF volume. More...

#include </__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/raycaster.h>

Public Types
using	Ptr = shared_ptr< RayCaster >
using	ConstPtr = shared_ptr< const RayCaster >
using	MapArr = pcl::gpu::DeviceArray2D< float >
using	View = pcl::gpu::DeviceArray2D< PixelRGB >
using	Depth = pcl::gpu::DeviceArray2D< unsigned short >

Public Member Functions
	RayCaster (int rows=480, int cols=640, float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)
	Constructor. More...
void	setIntrinsics (float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)
	Sets camera intrinsics. More...
void	run (const TsdfVolume &volume, const Eigen::Affine3f &camera_pose, tsdf_buffer *buffer)
	Runs raycasting algorithm from given camera pose. More...
void	generateSceneView (View &view) const
	Generates scene view using data raycasted by run method. More...
void	generateSceneView (View &view, const Eigen::Vector3f &light_source_pose) const
	Generates scene view using data raycasted by run method. More...
void	generateDepthImage (Depth &depth) const
	Generates depth image using data raycasted by run method. More...
MapArr	getVertexMap () const
	Returns raycasterd vertex map. More...
MapArr	getNormalMap () const
	Returns raycasterd normal map. More...

Public Attributes
const int	cols
	Image with height. More...
const int	rows

Detailed Description

Class that performs raycasting for TSDF volume.

Author

Anatoly Baskeheev, Itseez Ltd, (mynam.nosp@m.e.my.nosp@m.surna.nosp@m.me@m.nosp@m.ycomp.nosp@m.any..nosp@m.com)

Definition at line 61 of file raycaster.h.

Member Typedef Documentation

ConstPtr

using pcl::gpu::kinfuLS::RayCaster::ConstPtr = shared_ptr<const RayCaster>

Definition at line 65 of file raycaster.h.

Depth

using pcl::gpu::kinfuLS::RayCaster::Depth = pcl::gpu::DeviceArray2D<unsigned short>

Definition at line 68 of file raycaster.h.

MapArr

using pcl::gpu::kinfuLS::RayCaster::MapArr = pcl::gpu::DeviceArray2D<float>

Definition at line 66 of file raycaster.h.

Ptr

using pcl::gpu::kinfuLS::RayCaster::Ptr = shared_ptr<RayCaster>

Definition at line 64 of file raycaster.h.

View

using pcl::gpu::kinfuLS::RayCaster::View = pcl::gpu::DeviceArray2D<PixelRGB>

Definition at line 67 of file raycaster.h.

Constructor & Destructor Documentation

RayCaster()

pcl::gpu::kinfuLS::RayCaster::RayCaster	(	int	rows = 480,
		int	cols = 640,
		float	fx = 525.f,
		float	fy = 525.f,
		float	cx = -1,
		float	cy = -1
	)

Constructor.

Parameters

[in]	rows	image rows
[in]	cols	image cols
[in]	fx	focal x
[in]	fy	focal y
[in]	cx	principal point x
[in]	cy	principal point y

Member Function Documentation

generateDepthImage()

void pcl::gpu::kinfuLS::RayCaster::generateDepthImage

(

Depth &

depth

)

const

Generates depth image using data raycasted by run method.

So call it before.

Parameters

[out]

depth

output array for depth image

generateSceneView() [1/2]

void pcl::gpu::kinfuLS::RayCaster::generateSceneView

(

View &

view

)

const

Generates scene view using data raycasted by run method.

So call it before.

Parameters

[out]

view

output array for RGB image

generateSceneView() [2/2]

void pcl::gpu::kinfuLS::RayCaster::generateSceneView	(	View &	view,
		const Eigen::Vector3f &	light_source_pose
	)		const

Generates scene view using data raycasted by run method.

So call it before.

Parameters

[out]	view	output array for RGB image
[in]	light_source_pose	pose of light source

getNormalMap()

MapArr pcl::gpu::kinfuLS::RayCaster::getNormalMap

(

)

const

Returns raycasterd normal map.

getVertexMap()

MapArr pcl::gpu::kinfuLS::RayCaster::getVertexMap

(

)

const

Returns raycasterd vertex map.

run()

void pcl::gpu::kinfuLS::RayCaster::run	(	const TsdfVolume &	volume,
		const Eigen::Affine3f &	camera_pose,
		tsdf_buffer *	buffer
	)

Runs raycasting algorithm from given camera pose.

It writes results to internal files.

Parameters

[in]	volume	tsdf volume container
[in]	camera_pose	camera pose
	buffer

setIntrinsics()

void pcl::gpu::kinfuLS::RayCaster::setIntrinsics	(	float	fx = 525.f,
		float	fy = 525.f,
		float	cx = -1,
		float	cy = -1
	)

Sets camera intrinsics.

Member Data Documentation

cols

const int pcl::gpu::kinfuLS::RayCaster::cols

Image with height.

Definition at line 71 of file raycaster.h.

rows

const int pcl::gpu::kinfuLS::RayCaster::rows

Definition at line 71 of file raycaster.h.

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The documentation for this struct was generated from the following file:

• /__w/1/s/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/raycaster.h