device.h
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#ifndef PCL_KINFU_DEVICE_H_
#define PCL_KINFU_DEVICE_H_
#include <pcl/gpu/containers/device_array.h>
#include <iostream> // used by operator << in Struct Intr
#include <pcl/gpu/kinfu_large_scale/tsdf_buffer.h>
//using namespace pcl::gpu;
namespace pcl
{
namespace device
{
namespace kinfuLS
{
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Types
typedef unsigned short ushort;
typedef DeviceArray2D<float> MapArr;
typedef DeviceArray2D<ushort> DepthMap;
typedef float4 PointType;
//TSDF fixed point divisor (if old format is enabled)
const int DIVISOR = 32767; // SHRT_MAX;
//RGB images resolution
const float HEIGHT = 480.0f;
const float WIDTH = 640.0f;
//Should be multiple of 32
enum { VOLUME_X = 512, VOLUME_Y = 512, VOLUME_Z = 512 };
//Temporary constant (until we make it automatic) that holds the Kinect's focal length
const float FOCAL_LENGTH = 575.816f;
const float VOLUME_SIZE = 3.0f; // physical size represented by the TSDF volume. In meters
const 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
const 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];
};
}
}
}
#endif /* PCL_KINFU_DEVICE_H_ */
pcl::device::kinfuLS::Intr::operator()
Intr operator()(int level_index) const
Definition: device.h:87
pcl::device::kinfuLS::VOLUME_Y
Definition: device.h:68
pcl::device::kinfuLS::Intr
Camera intrinsics structure.
Definition: device.h:81
pcl::device::kinfuLS::SNAPSHOT_RATE
const int SNAPSHOT_RATE
Definition: device.h:76
pcl::device::kinfuLS::ushort
unsigned short ushort
Definition: device.h:55
pcl
Definition: convolution.h:45
pcl::gpu::DeviceArray2D
DeviceArray2D class
Definition: device_array.h:154
pcl::device::kinfuLS::PointType
float4 PointType
Definition: device.h:58
pcl::device::kinfuLS::Mat33
3x3 Matrix for device code
Definition: device.h:103
pcl::device::kinfuLS::Intr::Intr
Intr(float fx_, float fy_, float cx_, float cy_)
Definition: device.h:85
pcl::device::kinfuLS::Intr::Intr
Intr()
Definition: device.h:84
pcl::device::kinfuLS::MapArr
DeviceArray2D< float > MapArr
Definition: device.h:56
pcl::device::kinfuLS::Intr::operator<<
friend std::ostream & operator<<(std::ostream &os, const Intr &intr)
Definition: device.h:94
pcl::device::kinfuLS::Intr::fx
float fx
Definition: device.h:83
pcl::device::kinfuLS::DIVISOR
const int DIVISOR
Definition: device.h:61
pcl::device::kinfuLS::DepthMap
DeviceArray2D< ushort > DepthMap
Definition: device.h:57
pcl::device::kinfuLS::Intr::cx
float cx
Definition: device.h:83
pcl::device::kinfuLS::WIDTH
const float WIDTH
Definition: device.h:65
pcl::device::kinfuLS::DISTANCE_THRESHOLD
const float DISTANCE_THRESHOLD
Definition: device.h:75
pcl::device::kinfuLS::Intr::cy
float cy
Definition: device.h:83
pcl::device::kinfuLS::VOLUME_Z
Definition: device.h:68
pcl::device::kinfuLS::HEIGHT
const float HEIGHT
Definition: device.h:64
pcl::device::kinfuLS::FOCAL_LENGTH
const float FOCAL_LENGTH
Definition: device.h:72
pcl::device::kinfuLS::Intr::fy
float fy
Definition: device.h:83
pcl::device::kinfuLS::VOLUME_SIZE
const float VOLUME_SIZE
Definition: device.h:74
pcl::device::kinfuLS::VOLUME_X
Definition: device.h:68