kfusion::device::ComputeIcpHelper Struct Reference

#include <internal.hpp>

Classes
struct	PageLockHelper

Public Member Functions
	ComputeIcpHelper (float dist_thres, float angle_thres)
	ComputeIcpHelper. More...
__kf_device__ int	find_coresp (int x, int y, float3 &n, float3 &d, float3 &s) const
void	operator() (const Depth &dprev, const Normals &nprev, DeviceArray2D< float > &buffer, float *data, cudaStream_t stream)
void	operator() (const Points &vprev, const Normals &nprev, DeviceArray2D< float > &buffer, float *data, cudaStream_t stream)
__kf_device__ void	partial_reduce (const float row[7], PtrStep< float > &partial_buffer) const
__kf_device__ float2	proj (const float3 &p) const
__kf_device__ float3	reproj (float x, float y, float z) const
void	setLevelIntr (int level_index, float fx, float fy, float cx, float cy)

Static Public Member Functions
static void	allocate_buffer (DeviceArray2D< float > &buffer, int partials_count=-1)

Public Attributes
Aff3f	aff
float2	c
float	cols
PtrStep< ushort >	dcurr
float	dist2_thres
float2	f
float2	finv
float	min_cosine
PtrStep< Normal >	ncurr
float	rows
PtrStep< Point >	vcurr

Detailed Description

Definition at line 71 of file internal.hpp.

Constructor & Destructor Documentation

ComputeIcpHelper()

kfusion::device::ComputeIcpHelper::ComputeIcpHelper	(	float	dist_thres,
		float	angle_thres
	)

ComputeIcpHelper.

Definition at line 11 of file projective_icp.cpp.

Member Function Documentation

allocate_buffer()

static void kfusion::device::ComputeIcpHelper::allocate_buffer ( DeviceArray2D< float > &  buffer, int  partials_count = -1  )

static

find_coresp()

__kf_device__ int kfusion::device::ComputeIcpHelper::find_coresp	(	int	x,
		int	y,
		float3 &	n,
		float3 &	d,
		float3 &	s
	)		const

operator()() [1/2]

void kfusion::device::ComputeIcpHelper::operator()	(	const Depth &	dprev,
		const Normals &	nprev,
		DeviceArray2D< float > &	buffer,
		float *	data,
		cudaStream_t	stream
	)

operator()() [2/2]

void kfusion::device::ComputeIcpHelper::operator()	(	const Points &	vprev,
		const Normals &	nprev,
		DeviceArray2D< float > &	buffer,
		float *	data,
		cudaStream_t	stream
	)

partial_reduce()

__kf_device__ void kfusion::device::ComputeIcpHelper::partial_reduce	(	const float	row[7],
		PtrStep< float > &	partial_buffer
	)		const

proj()

__kf_device__ float2 kfusion::device::ComputeIcpHelper::proj

(

const float3 &

p

)

const

reproj()

__kf_device__ float3 kfusion::device::ComputeIcpHelper::reproj	(	float	x,
		float	y,
		float	z
	)		const

setLevelIntr()

void kfusion::device::ComputeIcpHelper::setLevelIntr	(	int	level_index,
		float	fx,
		float	fy,
		float	cx,
		float	cy
	)

Definition at line 17 of file projective_icp.cpp.

Member Data Documentation

aff

Aff3f kfusion::device::ComputeIcpHelper::aff

Definition at line 84 of file internal.hpp.

c

float2 kfusion::device::ComputeIcpHelper::c

Definition at line 87 of file internal.hpp.

cols

float kfusion::device::ComputeIcpHelper::cols

Definition at line 86 of file internal.hpp.

dcurr

PtrStep<ushort> kfusion::device::ComputeIcpHelper::dcurr

Definition at line 89 of file internal.hpp.

dist2_thres

float kfusion::device::ComputeIcpHelper::dist2_thres

Definition at line 82 of file internal.hpp.

f

float2 kfusion::device::ComputeIcpHelper::f

Definition at line 87 of file internal.hpp.

finv

float2 kfusion::device::ComputeIcpHelper::finv

Definition at line 87 of file internal.hpp.

min_cosine

float kfusion::device::ComputeIcpHelper::min_cosine

Definition at line 81 of file internal.hpp.

ncurr

PtrStep<Normal> kfusion::device::ComputeIcpHelper::ncurr

Definition at line 90 of file internal.hpp.

rows

float kfusion::device::ComputeIcpHelper::rows

Definition at line 86 of file internal.hpp.

vcurr

PtrStep<Point> kfusion::device::ComputeIcpHelper::vcurr

Definition at line 91 of file internal.hpp.

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

• internal.hpp
• projective_icp.cpp