Point Cloud Library (PCL) 1.12.0
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Class that performs raycasting for TSDF volume. More...
#include </builddir/build/BUILD/pcl-1.12.0/gpu/kinfu/include/pcl/gpu/kinfu/raycaster.h>
Public Types | |
using | Ptr = shared_ptr<RayCaster> |
using | ConstPtr = shared_ptr<const RayCaster> |
using | MapArr = DeviceArray2D<float> |
using | View = DeviceArray2D<PixelRGB> |
using | Depth = DeviceArray2D<unsigned short> |
Public Member Functions | |
RayCaster (int rows=480, int cols=640, float fx=525.f, float fy=525.f, float cx=-1, float cy=-1) | |
Constructor. | |
~RayCaster () | |
void | setIntrinsics (float fx=525.f, float fy=525.f, float cx=-1, float cy=-1) |
Sets camera intrinsics. | |
void | run (const TsdfVolume &volume, const Eigen::Affine3f &camera_pose) |
Runs raycasting algorithm from given camera pose. | |
void | generateSceneView (View &view) const |
Generates scene view using data raycasted by run method. | |
void | generateSceneView (View &view, const Eigen::Vector3f &light_source_pose) const |
Generates scene view using data raycasted by run method. | |
void | generateDepthImage (Depth &depth) const |
Generates depth image using data raycasted by run method. | |
MapArr | getVertexMap () const |
Returns raycasterd vertex map. | |
MapArr | getNormalMap () const |
Returns raycasterd normal map. | |
Public Attributes | |
const int | cols |
Image with height. | |
const int | rows |
Class that performs raycasting for TSDF volume.
Definition at line 56 of file raycaster.h.
using pcl::gpu::RayCaster::ConstPtr = shared_ptr<const RayCaster> |
Definition at line 60 of file raycaster.h.
Definition at line 63 of file raycaster.h.
Definition at line 61 of file raycaster.h.
using pcl::gpu::RayCaster::Ptr = shared_ptr<RayCaster> |
Definition at line 59 of file raycaster.h.
Definition at line 62 of file raycaster.h.
pcl::gpu::RayCaster::RayCaster | ( | int | rows = 480, |
int | cols = 640, | ||
float | fx = 525.f, | ||
float | fy = 525.f, | ||
float | cx = -1, | ||
float | cy = -1 ) |
Constructor.
[in] | rows | image rows |
[in] | cols | image cols |
[in] | fx | focal x |
[in] | fy | focal y |
[in] | cx | principal point x |
[in] | cy | principal point y |
pcl::gpu::RayCaster::~RayCaster | ( | ) |
Generates depth image using data raycasted by run method.
So call it before.
[out] | depth | output array for depth image |
Generates scene view using data raycasted by run method.
So call it before.
[out] | view | output array for RGB image |
void pcl::gpu::RayCaster::generateSceneView | ( | View & | view, |
const Eigen::Vector3f & | light_source_pose ) const |
Generates scene view using data raycasted by run method.
So call it before.
[out] | view | output array for RGB image |
[in] | light_source_pose | pose of light source |
MapArr pcl::gpu::RayCaster::getNormalMap | ( | ) | const |
Returns raycasterd normal map.
MapArr pcl::gpu::RayCaster::getVertexMap | ( | ) | const |
Returns raycasterd vertex map.
void pcl::gpu::RayCaster::run | ( | const TsdfVolume & | volume, |
const Eigen::Affine3f & | camera_pose ) |
Runs raycasting algorithm from given camera pose.
It writes results to internal files.
[in] | volume | tsdf volume container |
[in] | camera_pose | camera pose |
void pcl::gpu::RayCaster::setIntrinsics | ( | float | fx = 525.f, |
float | fy = 525.f, | ||
float | cx = -1, | ||
float | cy = -1 ) |
Sets camera intrinsics.
Image with height.
Definition at line 66 of file raycaster.h.
Definition at line 66 of file raycaster.h.