Point Cloud Library (PCL)  1.9.1
color_volume.h
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37 
38 #ifndef PCL_KINFU_COLOR_VOLUME_H_
39 #define PCL_KINFU_COLOR_VOLUME_H_
40 
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  /** \brief ColorVolume class
57  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
58  */
59  class PCL_EXPORTS ColorVolume
60  {
61  public:
63  typedef boost::shared_ptr<ColorVolume> Ptr;
64 
65  /** \brief Constructor
66  * \param[in] tsdf tsdf volume to get parameters from
67  * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
68  */
69  ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
70 
71  /** \brief Destructor */
72  ~ColorVolume();
73 
74  /** \brief Resets color volume to uninitialized state */
75  void
76  reset();
77 
78  /** \brief Returns running average length */
79  int
80  getMaxWeight() const;
81 
82  /** \brief Returns container with color volume in GPU memory */
84  data() const;
85 
86  /** \brief Computes colors from color volume
87  * \param[in] cloud Points for which colors are to be computed.
88  * \param[out] colors output array for colors
89  */
90  void
91  fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const;
92 
93  private:
94  /** \brief Volume resolution */
95  Eigen::Vector3i resolution_;
96 
97  /** \brief Volume size in meters */
98  Eigen::Vector3f volume_size_;
99 
100  /** \brief Length of running average */
101  int max_weight_;
102 
103  /** \brief color volume data */
104  DeviceArray2D<int> color_volume_;
105 
106  public:
107  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
108  };
109  }
110  }
111 }
112 
113 #endif /* PCL_KINFU_COLOR_VOLUME_H_ */
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
boost::shared_ptr< ColorVolume > Ptr
Definition: color_volume.h:63
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates.