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tsdf_buffer.h
/*
* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
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#pragma once
#include <cuda_runtime.h>
//#include <boost/graph/buffer_concepts.hpp>
namespace pcl
{
namespace gpu
{
namespace kinfuLS
{
/** \brief Structure to handle buffer addresses */
struct tsdf_buffer
{
/** \brief */
/** \brief Address of the first element of the TSDF volume in memory*/
short2* tsdf_memory_start;
/** \brief Address of the last element of the TSDF volume in memory*/
short2* tsdf_memory_end;
/** \brief Memory address of the origin of the rolling buffer. MUST BE UPDATED AFTER EACH SHIFT.*/
short2* tsdf_rolling_buff_origin;
/** \brief Internal cube origin for rollign buffer.*/
int3 origin_GRID;
/** \brief Cube origin in world coordinates.*/
float3 origin_GRID_global;
/** \brief Current metric origin of the cube, in world coordinates.*/
float3 origin_metric;
/** \brief Size of the volume, in meters.*/
float3 volume_size; //3.0
/** \brief Number of voxels in the volume, per axis*/
int3 voxels_size; //512
/** \brief Default constructor*/
tsdf_buffer ()
{
tsdf_memory_start = nullptr; tsdf_memory_end = nullptr; tsdf_rolling_buff_origin = nullptr;
origin_GRID.x = 0; origin_GRID.y = 0; origin_GRID.z = 0;
origin_GRID_global.x = 0.f; origin_GRID_global.y = 0.f; origin_GRID_global.z = 0.f;
origin_metric.x = 0.f; origin_metric.y = 0.f; origin_metric.z = 0.f;
volume_size.x = 3.f; volume_size.y = 3.f; volume_size.z = 3.f;
voxels_size.x = 512; voxels_size.y = 512; voxels_size.z = 512;
}
};
}
}
}
pcl
Definition convolution.h:46
pcl::gpu::kinfuLS::tsdf_buffer
Structure to handle buffer addresses.
Definition tsdf_buffer.h:51
pcl::gpu::kinfuLS::tsdf_buffer::tsdf_memory_start
short2 * tsdf_memory_start
Address of the first element of the TSDF volume in memory.
Definition tsdf_buffer.h:54
pcl::gpu::kinfuLS::tsdf_buffer::tsdf_memory_end
short2 * tsdf_memory_end
Address of the last element of the TSDF volume in memory.
Definition tsdf_buffer.h:56
pcl::gpu::kinfuLS::tsdf_buffer::tsdf_buffer
tsdf_buffer()
Default constructor.
Definition tsdf_buffer.h:71
pcl::gpu::kinfuLS::tsdf_buffer::tsdf_rolling_buff_origin
short2 * tsdf_rolling_buff_origin
Memory address of the origin of the rolling buffer.
Definition tsdf_buffer.h:58
pcl::gpu::kinfuLS::tsdf_buffer::voxels_size
int3 voxels_size
Number of voxels in the volume, per axis.
Definition tsdf_buffer.h:68
pcl::gpu::kinfuLS::tsdf_buffer::volume_size
float3 volume_size
Size of the volume, in meters.
Definition tsdf_buffer.h:66
pcl::gpu::kinfuLS::tsdf_buffer::origin_GRID
int3 origin_GRID
Internal cube origin for rollign buffer.
Definition tsdf_buffer.h:60
pcl::gpu::kinfuLS::tsdf_buffer::origin_metric
float3 origin_metric
Current metric origin of the cube, in world coordinates.
Definition tsdf_buffer.h:64
pcl::gpu::kinfuLS::tsdf_buffer::origin_GRID_global
float3 origin_GRID_global
Cube origin in world coordinates.
Definition tsdf_buffer.h:62