46 bbox_ = BoundingBox<cVertex>(0.0, 0.0, 0.0, 300.0, 300.0, 300.0);
47 bbox_.expand(300.0, 300.0, 300.0);
55 auto slice_work = boost::any_cast<pair<TSDFSlice, bool> >(
getInQueue()->Take());
56 cv::Mat& tsdf_values = slice_work.first.tsdf_values_;
57 Vec3i offset = slice_work.first.offset_;
58 Vec3i back_offset = slice_work.first.back_offset_;
62 string grid_notice = (
"#### A: Grid Creation " + to_string(
grid_count_) +
" ####");
65 act_grid =
new TGrid(
voxel_size_,
bbox_, tsdf_ptr, tsdf_values.cols, offset[0], offset[1], offset[2], back_offset[0], back_offset[1], back_offset[2],
NULL,
true);
67 act_grid =
new TGrid(
voxel_size_,
bbox_, tsdf_ptr, tsdf_values.cols, offset[0], offset[1], offset[2], back_offset[0], back_offset[1], back_offset[2],
last_grid_queue_.front(),
true);
77 getOutQueue()->Add(pair<pair<TGrid*, bool>, vector<ImgPose*> >(pair<TGrid*, bool>(act_grid,
last_shift), slice_work.first.imgposes_));