43 #include <pcl/gpu/containers/device_array.h> 44 #include <pcl/gpu/kinfu_large_scale/pixel_rgb.h> 46 #include <Eigen/Geometry> 48 #include <pcl/gpu/kinfu_large_scale/tsdf_buffer.h> 64 using Ptr = shared_ptr<RayCaster>;
81 RayCaster(
int rows = 480,
int cols = 640,
float fx = 525.f,
float fy = 525.f,
float cx = -1,
float cy = -1);
87 setIntrinsics(
float fx = 525.f,
float fy = 525.f,
float cx = -1,
float cy = -1);
101 generateSceneView(
View& view)
const;
108 generateSceneView(
View& view,
const Eigen::Vector3f& light_source_pose)
const;
114 generateDepthImage(
Depth& depth)
const;
118 getVertexMap()
const;
122 getNormalMap()
const;
126 float fx_, fy_, cx_, cy_;
144 Eigen::Affine3f camera_pose_;
147 Eigen::Vector3f volume_size_;
155 template<
typename Po
intType>
Defines functions, macros and traits for allocating and using memory.
Structure to handle buffer addresses.
shared_ptr< RayCaster > Ptr
shared_ptr< const RayCaster > ConstPtr
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
void convertMapToOranizedCloud(const RayCaster::MapArr &map, pcl::gpu::DeviceArray2D< PointType > &cloud)
Converts from map representation to organized not-dence point cloud.
Defines all the PCL implemented PointT point type structures.
Class that performs raycasting for TSDF volume.
Defines all the PCL and non-PCL macros used.