Point Cloud Library (PCL)  1.9.1
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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 namespace pcl
48 {
49  namespace gpu
50  {
51  class TsdfVolume;
52 
53  /** \brief ColorVolume class
54  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
55  */
56  class PCL_EXPORTS ColorVolume
57  {
58  public:
60  typedef boost::shared_ptr<ColorVolume> Ptr;
61 
62  /** \brief Constructor
63  * \param[in] tsdf tsdf volume to get parameters from
64  * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
65  */
66  ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
67 
68  /** \brief Destructor */
69  ~ColorVolume();
70 
71  /** \brief Resets color volume to uninitialized state */
72  void
73  reset();
74 
75  /** \brief Returns running average length */
76  int
77  getMaxWeight() const;
78 
79  /** \brief Returns container with color volume in GPU memory */
81  data() const;
82 
83  /** \brief Computes colors from color volume
84  * \param[in] cloud Points for which colors are to be computed.
85  * \param[out] colors output array for colors
86  */
87  void
88  fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const;
89 
90  private:
91  /** \brief Volume resolution */
92  Eigen::Vector3i resolution_;
93 
94  /** \brief Volume size in meters */
95  Eigen::Vector3f volume_size_;
96 
97  /** \brief Length of running average */
98  int max_weight_;
99 
100  /** \brief color volume data */
101  DeviceArray2D<int> color_volume_;
102 
103 public:
104  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
105 
106  };
107  }
108 }
109 
110 #endif /* PCL_KINFU_COLOR_VOLUME_H_ */
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
TsdfVolume class.
Definition: tsdf_volume.h:55
A point structure representing Euclidean xyz coordinates.
boost::shared_ptr< ColorVolume > Ptr
Definition: color_volume.h:60
ColorVolume class.
Definition: color_volume.h:56