Point Cloud Library (PCL) 1.12.0
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color_volume.h
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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37
38#pragma once
39
40#include <pcl/memory.h>
41#include <pcl/pcl_macros.h>
42#include <pcl/gpu/containers/device_array.h>
43#include <pcl/point_types.h>
44#include <pcl/point_cloud.h>
45#include <Eigen/Core>
46
47namespace pcl
48{
49 namespace gpu
50 {
51 class TsdfVolume;
52
53 /** \brief ColorVolume class
54 * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
55 */
56 class PCL_EXPORTS ColorVolume
57 {
58 public:
62
63 /** \brief Constructor
64 * \param[in] tsdf tsdf volume to get parameters from
65 * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
66 */
68
69 /** \brief Destructor */
71
72 /** \brief Resets color volume to uninitialized state */
73 void
75
76 /** \brief Returns running average length */
77 int
78 getMaxWeight() const;
79
80 /** \brief Returns container with color volume in GPU memory */
82 data() const;
83
84 /** \brief Computes colors from color volume
85 * \param[in] cloud Points for which colors are to be computed.
86 * \param[out] colors output array for colors
87 */
88 void
89 fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const;
90
91 private:
92 /** \brief Volume resolution */
93 Eigen::Vector3i resolution_;
94
95 /** \brief Volume size in meters */
96 Eigen::Vector3f volume_size_;
97
98 /** \brief Length of running average */
99 int max_weight_;
100
101 /** \brief color volume data */
102 DeviceArray2D<int> color_volume_;
103
104public:
106
107 };
108 }
109}
Iterator class for point clouds with or without given indices.
ColorVolume class.
int getMaxWeight() const
Returns running average length.
shared_ptr< ColorVolume > Ptr
DeviceArray2D< int > data() const
Returns container with color volume in GPU memory.
ColorVolume(const TsdfVolume &tsdf, int max_weight=-1)
Constructor.
void fetchColors(const DeviceArray< PointType > &cloud, DeviceArray< RGB > &colors) const
Computes colors from color volume.
void reset()
Resets color volume to uninitialized state.
~ColorVolume()
Destructor.
TsdfVolume class.
Definition tsdf_volume.h:56
Defines all the PCL implemented PointT point type structures.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates.