CyclicalBuffer implements a cyclical TSDF buffer. The class offers a simple interface, by handling shifts and maintaining the world autonomously. More...

#include <cyclical_buffer.h>

Public Member Functions
void	addImgPose (ImgPose *imgPose)

bool	checkForShift (cv::Ptr< cuda::TsdfVolume > volume, const Affine3f &cam_pose, const double distance_camera_target, const bool perform_shift=true, const bool last_shift=false, const bool record_mode=false)
	Check if shifting needs to be performed, returns true if so. Shifting is considered needed if the target point is farther than distance_treshold_. The target point is located at distance_camera_point on the local Z axis of the camera. More...

void	computeAndSetNewCubeMetricOrigin (cv::Ptr< cuda::TsdfVolume > volume, const cv::Vec3f &target_point, Vec3i &offset)
	Computes and set the origin of the new cube (relative to the world), centered around a the target point. More...

	CyclicalBuffer (KinFuParams params)
	Constructor for a cubic CyclicalBuffer. More...

tsdf_buffer &	getBuffer ()
	get a pointer to the tsdf_buffer structure. More...

float	getDistanceThreshold ()
	Returns the distance threshold between cube's center and target point that triggers a shift. More...

MeshPtr	getMesh ()

Vec3f	getOrigin ()

int	getSliceCount ()

void	initBuffer (cv::Ptr< cuda::TsdfVolume > tsdf_volume)
	Initializes memory pointers of the cyclical buffer (start, end, current origin) More...

void	performShift (cv::Ptr< cuda::TsdfVolume > volume, const cv::Vec3f &target_point, const Affine3f &cam_pose, const bool last_shift=false, const bool record_mode=false)
	Perform shifting operations: Compute offsets. Extract current slice from TSDF buffer. Extract existing data from world. Clear shifted slice in TSDF buffer. Push existing data into TSDF buffer. Update rolling buffer Update world model. More...

void	resetBuffer (cv::Ptr< cuda::TsdfVolume > tsdf_volume)
	Reset buffer structure. More...

void	resetMesh ()

void	setDistanceThreshold (const double threshold)
	Sets the distance threshold between cube's center and target point that triggers a shift. More...

void	setVolumeSize (const double size)
	Set the physical size represented by the default TSDF volume. More...

void	setVolumeSize (const Vec3f size)
	Set the physical size represented by the default TSDF volume. More...

void	setVoxelSize (const Vec3f vsize)

	~CyclicalBuffer ()
	Constructor for a non-cubic CyclicalBuffer. More...

Private Member Functions
void	calcBounds (Vec3i &offset, Vec3i &minBounds, Vec3i &maxBounds)

int	calcIndex (float f) const

float	euclideanDistance (const Point &p1, const Point &p2)

void	getEulerYPR (float &yaw, float &pitch, float &roll, cv::Affine3< float >::Mat3 &mat, unsigned int solution_number=1)

void	shiftOrigin (cv::Ptr< cuda::TsdfVolume > tsdf_volume, Vec3i offset)
	updates cyclical buffer origins given offsets on X, Y and Z More...

Private Attributes
tsdf_buffer	buffer_
	structure that contains all TSDF buffer's addresses More...

DeviceArray< Point >	cloud_buffer_device_
	buffer used to extract XYZ values from GPU More...

cv::Mat	cloud_slice_

double	distance_threshold_
	distance threshold (cube's center to target point) to trigger shift More...

Vec3i	global_shift_

std::vector< ImgPose * >	imgPoses_

Affine3f	last_camPose_

bool	no_reconstruct_

bool	optimize_

LVRPipeline	pl_

int	slice_count_ = 0

Detailed Description

CyclicalBuffer implements a cyclical TSDF buffer. The class offers a simple interface, by handling shifts and maintaining the world autonomously.

Author: Raphael Favier, Francisco Heredia

Definition at line 64 of file cyclical_buffer.h.

Constructor & Destructor Documentation

◆ CyclicalBuffer()

kfusion::cuda::CyclicalBuffer::CyclicalBuffer ( KinFuParams params )

inline

Constructor for a cubic CyclicalBuffer.

Parameters

[in]	distance_threshold	distance between cube center and target point at which we decide to shift.
[in]	cube_size	physical size (in meters) of the volume (here, a cube) represented by the TSDF buffer.
[in]	nb_voxels_per_axis	number of voxels per axis of the volume represented by the TSDF buffer.

Definition at line 73 of file cyclical_buffer.h.

◆ ~CyclicalBuffer()

kfusion::cuda::CyclicalBuffer::~CyclicalBuffer ( )

inline

Constructor for a non-cubic CyclicalBuffer.

Parameters

[in]	distance_threshold	distance between cube center and target point at which we decide to shift.
[in]	volume_size_x	physical size (in meters) of the volume, X axis.
[in]	volume_size_y	physical size (in meters) of the volume, Y axis.
[in]	volume_size_z	physical size (in meters) of the volume, Z axis.
[in]	nb_voxels_x	number of voxels for X axis of the volume represented by the TSDF buffer.
[in]	nb_voxels_y	number of voxels for Y axis of the volume represented by the TSDF buffer.
[in]	nb_voxels_z	number of voxels for Z axis of the volume represented by the TSDF buffer.

Definition at line 112 of file cyclical_buffer.h.

Member Function Documentation

◆ addImgPose()

void kfusion::cuda::CyclicalBuffer::addImgPose ( ImgPose * imgPose )

inline

Definition at line 232 of file cyclical_buffer.h.

◆ calcBounds()

void kfusion::cuda::CyclicalBuffer::calcBounds	(	Vec3i &	offset,
		Vec3i &	minBounds,
		Vec3i &	maxBounds
	)

private

Definition at line 171 of file cyclical_buffer.cpp.

◆ calcIndex()

int kfusion::cuda::CyclicalBuffer::calcIndex ( float f ) const

inlineprivate

Definition at line 258 of file cyclical_buffer.h.

◆ checkForShift()

bool kfusion::cuda::CyclicalBuffer::checkForShift	(	cv::Ptr< cuda::TsdfVolume >	volume,
		const Affine3f &	cam_pose,
		const double	distance_camera_target,
		const bool	perform_shift = `true`,
		const bool	last_shift = `false`,
		const bool	record_mode = `false`
	)

Check if shifting needs to be performed, returns true if so. Shifting is considered needed if the target point is farther than distance_treshold_. The target point is located at distance_camera_point on the local Z axis of the camera.

Parameters

[in]	volume	pointer to the TSDFVolume living in GPU
[in]	cam_pose	global pose of the camera in the world
[in]	distance_camera_target	distance from the camera's origin to the target point
[in]	perform_shift	if set to false, shifting is not performed. The function will return true if shifting is needed.
[in]	last_shift	if set to true, the whole cube will be shifted. This is used to push the whole cube to the world model.
[in]	force_shift	if set to true, shifting is forced.

Returns: true is the cube needs to be or has been shifted.

Definition at line 43 of file cyclical_buffer.cpp.

◆ computeAndSetNewCubeMetricOrigin()

void kfusion::cuda::CyclicalBuffer::computeAndSetNewCubeMetricOrigin	(	cv::Ptr< cuda::TsdfVolume >	volume,
		const cv::Vec3f &	target_point,
		Vec3i &	offset
	)

Computes and set the origin of the new cube (relative to the world), centered around a the target point.

Parameters

[in]	target_point	the target point around which the new cube will be centered.
[out]	shiftX	shift on X axis (in indices).
[out]	shiftY	shift on Y axis (in indices).
[out]	shiftZ	shift on Z axis (in indices).

Definition at line 150 of file cyclical_buffer.cpp.

◆ euclideanDistance()

float kfusion::cuda::CyclicalBuffer::euclideanDistance	(	const Point &	p1,
		const Point &	p2
	)

private

◆ getBuffer()

tsdf_buffer& kfusion::cuda::CyclicalBuffer::getBuffer ( )

inline

get a pointer to the tsdf_buffer structure.

Returns: a pointer to the tsdf_buffer used by cyclical buffer object.

Definition at line 162 of file cyclical_buffer.h.

◆ getDistanceThreshold()

float kfusion::cuda::CyclicalBuffer::getDistanceThreshold ( )

inline

Returns the distance threshold between cube's center and target point that triggers a shift.

Definition at line 157 of file cyclical_buffer.h.

◆ getEulerYPR()

void kfusion::cuda::CyclicalBuffer::getEulerYPR	(	float &	yaw,
		float &	pitch,
		float &	roll,
		cv::Affine3< float >::Mat3 &	mat,
		unsigned int	solution_number = `1`
	)

private

◆ getMesh()

MeshPtr kfusion::cuda::CyclicalBuffer::getMesh ( )

inline

Definition at line 234 of file cyclical_buffer.h.

◆ getOrigin()

Vec3f kfusion::cuda::CyclicalBuffer::getOrigin ( )

inline

Definition at line 183 of file cyclical_buffer.h.

◆ getSliceCount()

int kfusion::cuda::CyclicalBuffer::getSliceCount ( )

inline

Definition at line 236 of file cyclical_buffer.h.

◆ initBuffer()

void kfusion::cuda::CyclicalBuffer::initBuffer ( cv::Ptr< cuda::TsdfVolume > tsdf_volume )

inline

Initializes memory pointers of the cyclical buffer (start, end, current origin)

Parameters

[in] tsdf_volume pointer to the TSDF volume managed by this cyclical buffer

Definition at line 209 of file cyclical_buffer.h.

◆ performShift()

void kfusion::cuda::CyclicalBuffer::performShift	(	cv::Ptr< cuda::TsdfVolume >	volume,
		const cv::Vec3f &	target_point,
		const Affine3f &	cam_pose,
		const bool	last_shift = `false`,
		const bool	record_mode = `false`
	)

Perform shifting operations: Compute offsets. Extract current slice from TSDF buffer. Extract existing data from world. Clear shifted slice in TSDF buffer. Push existing data into TSDF buffer. Update rolling buffer Update world model.

Parameters

[in]	volume	pointer to the TSDFVolume living in GPU
[in]	target_point	target point around which the new cube will be centered
[in]	last_shift	if set to true, the whole cube will be shifted. This is used to push the whole cube to the world model.

Definition at line 71 of file cyclical_buffer.cpp.

◆ resetBuffer()

void kfusion::cuda::CyclicalBuffer::resetBuffer ( cv::Ptr< cuda::TsdfVolume > tsdf_volume )

inline

Reset buffer structure.

Parameters

[in] tsdf_volume pointer to the TSDF volume managed by this cyclical buffer

Definition at line 220 of file cyclical_buffer.h.

◆ resetMesh()

void kfusion::cuda::CyclicalBuffer::resetMesh ( )

inline

Definition at line 231 of file cyclical_buffer.h.

◆ setDistanceThreshold()

void kfusion::cuda::CyclicalBuffer::setDistanceThreshold ( const double threshold )

inline

Sets the distance threshold between cube's center and target point that triggers a shift.

Parameters

[in] threshold the distance in meters at which to trigger shift.

Definition at line 151 of file cyclical_buffer.h.

◆ setVolumeSize() [1/2]

void kfusion::cuda::CyclicalBuffer::setVolumeSize ( const double size )

inline

Set the physical size represented by the default TSDF volume.

Parameters

[in] size size of the volume on all axis, in meters.

Definition at line 191 of file cyclical_buffer.h.

◆ setVolumeSize() [2/2]

void kfusion::cuda::CyclicalBuffer::setVolumeSize ( const Vec3f size )

inline

Set the physical size represented by the default TSDF volume.

Parameters

[in]	size_x	size of the volume on X axis, in meters.
[in]	size_y	size of the volume on Y axis, in meters.
[in]	size_z	size of the volume on Z axis, in meters.

Definition at line 169 of file cyclical_buffer.h.

◆ setVoxelSize()

void kfusion::cuda::CyclicalBuffer::setVoxelSize ( const Vec3f vsize )

inline

Definition at line 176 of file cyclical_buffer.h.

◆ shiftOrigin()

void kfusion::cuda::CyclicalBuffer::shiftOrigin	(	cv::Ptr< cuda::TsdfVolume >	tsdf_volume,
		Vec3i	offset
	)

inlineprivate

updates cyclical buffer origins given offsets on X, Y and Z

Parameters

[in]	tsdf_volume	pointer to the TSDF volume managed by this cyclical buffer
[in]	offset_x	offset in indices on axis X
[in]	offset_y	offset in indices on axis Y
[in]	offset_z	offset in indices on axis Z

Definition at line 275 of file cyclical_buffer.h.

Member Data Documentation

◆ buffer_

tsdf_buffer kfusion::cuda::CyclicalBuffer::buffer_

private

structure that contains all TSDF buffer's addresses

Definition at line 254 of file cyclical_buffer.h.

◆ cloud_buffer_device_

DeviceArray<Point> kfusion::cuda::CyclicalBuffer::cloud_buffer_device_

private

buffer used to extract XYZ values from GPU

Definition at line 242 of file cyclical_buffer.h.

◆ cloud_slice_

cv::Mat kfusion::cuda::CyclicalBuffer::cloud_slice_

private

Definition at line 247 of file cyclical_buffer.h.

◆ distance_threshold_

double kfusion::cuda::CyclicalBuffer::distance_threshold_

private

distance threshold (cube's center to target point) to trigger shift

Definition at line 245 of file cyclical_buffer.h.

◆ global_shift_

Vec3i kfusion::cuda::CyclicalBuffer::global_shift_

private

Definition at line 246 of file cyclical_buffer.h.

◆ imgPoses_

std::vector<ImgPose*> kfusion::cuda::CyclicalBuffer::imgPoses_

private

Definition at line 248 of file cyclical_buffer.h.

◆ last_camPose_

Affine3f kfusion::cuda::CyclicalBuffer::last_camPose_

private

Definition at line 250 of file cyclical_buffer.h.

◆ no_reconstruct_

bool kfusion::cuda::CyclicalBuffer::no_reconstruct_

private

Definition at line 251 of file cyclical_buffer.h.

◆ optimize_

bool kfusion::cuda::CyclicalBuffer::optimize_

private

Definition at line 251 of file cyclical_buffer.h.

◆ pl_

LVRPipeline kfusion::cuda::CyclicalBuffer::pl_

private

Definition at line 257 of file cyclical_buffer.h.

◆ slice_count_

int kfusion::cuda::CyclicalBuffer::slice_count_ = 0

private

Definition at line 249 of file cyclical_buffer.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CyclicalBuffer()

◆ ~CyclicalBuffer()

Member Function Documentation

◆ addImgPose()

◆ calcBounds()

◆ calcIndex()

◆ checkForShift()

◆ computeAndSetNewCubeMetricOrigin()

◆ euclideanDistance()

◆ getBuffer()

◆ getDistanceThreshold()

◆ getEulerYPR()

◆ getMesh()

◆ getOrigin()

◆ getSliceCount()

◆ initBuffer()

◆ performShift()

◆ resetBuffer()

◆ resetMesh()

◆ setDistanceThreshold()

◆ setVolumeSize() [1/2]

◆ setVolumeSize() [2/2]

◆ setVoxelSize()

◆ shiftOrigin()

Member Data Documentation

◆ buffer_

◆ cloud_buffer_device_

◆ cloud_slice_

◆ distance_threshold_

◆ global_shift_

◆ imgPoses_

◆ last_camPose_

◆ no_reconstruct_

◆ optimize_

◆ pl_

◆ slice_count_