color_volume.h
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#pragma once
#include <pcl/pcl_macros.h>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <Eigen/Core>
namespace pcl
{
namespace gpu
{
class TsdfVolume;
/** \brief ColorVolume class
* \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
class PCL_EXPORTS ColorVolume
{
public:
using PointType = PointXYZ;
using Ptr = shared_ptr<ColorVolume>;
using ConstPtr = shared_ptr<const ColorVolume>;
/** \brief Constructor
* \param[in] tsdf tsdf volume to get parameters from
* \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
*/
ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
/** \brief Destructor */
~ColorVolume();
/** \brief Resets color volume to uninitialized state */
void
reset();
/** \brief Returns running average length */
int
getMaxWeight() const;
/** \brief Returns container with color volume in GPU memory */
DeviceArray2D<int>
data() const;
/** \brief Computes colors from color volume
* \param[in] cloud Points for which colors are to be computed.
* \param[out] colors output array for colors
*/
void
fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const;
private:
/** \brief Volume resolution */
Eigen::Vector3i resolution_;
/** \brief Volume size in meters */
Eigen::Vector3f volume_size_;
/** \brief Length of running average */
int max_weight_;
/** \brief color volume data */
DeviceArray2D<int> color_volume_;
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};
}
}
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
point_types.h
pcl::gpu::DeviceArray2D< int >
pcl::gpu::TsdfVolume
TsdfVolume class.
Definition: tsdf_volume.h:54
pcl::gpu::ColorVolume::ConstPtr
shared_ptr< const ColorVolume > ConstPtr
Definition: color_volume.h:60
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition: point_types.hpp:291
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: pcl_macros.h:371
pcl::gpu::ColorVolume::Ptr
shared_ptr< ColorVolume > Ptr
Definition: color_volume.h:59
pcl::gpu::ColorVolume
ColorVolume class.
Definition: color_volume.h:55
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:253
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90