Point Cloud Library (PCL)  1.10.0
color_volume.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_macros.h>
41 #include <pcl/gpu/containers/device_array.h>
42 #include <pcl/point_types.h>
43 #include <pcl/point_cloud.h>
44 #include <Eigen/Core>
45 
46 namespace pcl
47 {
48  namespace gpu
49  {
50  class TsdfVolume;
51 
52  /** \brief ColorVolume class
53  * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
54  */
56  {
57  public:
61 
62  /** \brief Constructor
63  * \param[in] tsdf tsdf volume to get parameters from
64  * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
65  */
66  ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
67 
68  /** \brief Destructor */
69  ~ColorVolume();
70 
71  /** \brief Resets color volume to uninitialized state */
72  void
73  reset();
74 
75  /** \brief Returns running average length */
76  int
77  getMaxWeight() const;
78 
79  /** \brief Returns container with color volume in GPU memory */
81  data() const;
82 
83  /** \brief Computes colors from color volume
84  * \param[in] cloud Points for which colors are to be computed.
85  * \param[out] colors output array for colors
86  */
87  void
88  fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const;
89 
90  private:
91  /** \brief Volume resolution */
92  Eigen::Vector3i resolution_;
93 
94  /** \brief Volume size in meters */
95  Eigen::Vector3f volume_size_;
96 
97  /** \brief Length of running average */
98  int max_weight_;
99 
100  /** \brief color volume data */
101  DeviceArray2D<int> color_volume_;
102 
103 public:
105 
106  };
107  }
108 }
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
point_types.h
pcl::gpu::DeviceArray2D< int >
pcl::gpu::TsdfVolume
TsdfVolume class.
Definition: tsdf_volume.h:54
pcl::gpu::ColorVolume::ConstPtr
shared_ptr< const ColorVolume > ConstPtr
Definition: color_volume.h:60
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition: point_types.hpp:291
pcl::gpu::DeviceArray< PointType >
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:371
pcl::gpu::ColorVolume::Ptr
shared_ptr< ColorVolume > Ptr
Definition: color_volume.h:59
pcl::gpu::ColorVolume
ColorVolume class.
Definition: color_volume.h:55
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:253
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90