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device.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
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* with the distribution.
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* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#pragma once
#include <iostream> // used by operator << in Struct Intr
#include <limits>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/kinfu_large_scale/tsdf_buffer.h>
//using namespace pcl::gpu;
namespace pcl
{
namespace device
{
namespace kinfuLS
{
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Types
using ushort = unsigned short;
using MapArr = DeviceArray2D<float>;
using DepthMap = DeviceArray2D<ushort>;
using PointType = float4;
//TSDF fixed point divisor (if old format is enabled)
constexpr int DIVISOR = std::numeric_limits<short>::max();
//RGB images resolution
constexpr float HEIGHT = 480.0f;
constexpr float WIDTH = 640.0f;
//Should be multiple of 32
constexpr int VOLUME_X = 512;
constexpr int VOLUME_Y = 512;
constexpr int VOLUME_Z = 512;
//Temporary constant (until we make it automatic) that holds the Kinect's focal length
constexpr float FOCAL_LENGTH = 575.816f;
constexpr float VOLUME_SIZE = 3.0f; // physical size represented by the TSDF volume. In meters
constexpr float DISTANCE_THRESHOLD = 1.5f; // when the camera target point is farther than DISTANCE_THRESHOLD from the current cube's center, shifting occurs. In meters
constexpr int SNAPSHOT_RATE = 45; // every 45 frames an RGB snapshot will be saved. -et parameter is needed when calling Kinfu Large Scale in command line.
/** \brief Camera intrinsics structure
*/
struct Intr
{
float fx, fy, cx, cy;
Intr () {}
Intr (float fx_, float fy_, float cx_, float cy_) : fx (fx_), fy (fy_), cx (cx_), cy (cy_) {}
Intr operator () (int level_index) const
{
int div = 1 << level_index;
return (Intr (fx / div, fy / div, cx / div, cy / div));
}
friend inline std::ostream&
operator << (std::ostream& os, const Intr& intr)
{
os << "([f = " << intr.fx << ", " << intr.fy << "] [cp = " << intr.cx << ", " << intr.cy << "])";
return (os);
}
};
/** \brief 3x3 Matrix for device code
*/
struct Mat33
{
float3 data[3];
};
}
}
}
pcl::gpu::DeviceArray2D
DeviceArray2D class
Definition device_array.h:188
pcl::device::kinfuLS
Definition device.h:53
pcl::device::kinfuLS::PointType
float4 PointType
Definition device.h:59
pcl::device::kinfuLS::VOLUME_Z
constexpr int VOLUME_Z
Definition device.h:71
pcl::device::kinfuLS::DIVISOR
constexpr int DIVISOR
Definition device.h:62
pcl::device::kinfuLS::DISTANCE_THRESHOLD
constexpr float DISTANCE_THRESHOLD
Definition device.h:77
pcl::device::kinfuLS::MapArr
DeviceArray2D< float > MapArr
Definition device.h:57
pcl::device::kinfuLS::ushort
unsigned short ushort
Definition device.h:56
pcl::device::kinfuLS::VOLUME_Y
constexpr int VOLUME_Y
Definition device.h:70
pcl::device::kinfuLS::FOCAL_LENGTH
constexpr float FOCAL_LENGTH
Definition device.h:74
pcl::device::kinfuLS::SNAPSHOT_RATE
constexpr int SNAPSHOT_RATE
Definition device.h:78
pcl::device::kinfuLS::VOLUME_X
constexpr int VOLUME_X
Definition device.h:69
pcl::device::kinfuLS::HEIGHT
constexpr float HEIGHT
Definition device.h:65
pcl::device::kinfuLS::DepthMap
DeviceArray2D< ushort > DepthMap
Definition device.h:58
pcl::device::kinfuLS::VOLUME_SIZE
constexpr float VOLUME_SIZE
Definition device.h:76
pcl::device::kinfuLS::WIDTH
constexpr float WIDTH
Definition device.h:66
pcl::device
Definition device_array.h:315
pcl
Definition convolution.h:46
pcl::device::kinfuLS::Intr::Intr
Intr()
Definition device.h:86
pcl::device::kinfuLS::Intr::operator<<
friend std::ostream & operator<<(std::ostream &os, const Intr &intr)
Definition device.h:96
pcl::device::kinfuLS::Intr::cy
float cy
Definition device.h:85
pcl::device::kinfuLS::Intr::fx
float fx
Definition device.h:85
pcl::device::kinfuLS::Intr::cx
float cx
Definition device.h:85
pcl::device::kinfuLS::Intr::fy
float fy
Definition device.h:85
pcl::device::kinfuLS::Intr::operator()
Intr operator()(int level_index) const
Definition device.h:89
pcl::device::kinfuLS::Intr::Intr
Intr(float fx_, float fy_, float cx_, float cy_)
Definition device.h:87
pcl::device::kinfuLS::Mat33
3x3 Matrix for device code
Definition device.h:106
pcl::device::kinfuLS::Mat33::data
float3 data[3]
Definition device.h:107