internal.hpp File Reference

#include <kfusion/cuda/device_array.hpp>
#include <kfusion/tsdf_buffer.h>
#include "safe_call.hpp"

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Classes
struct	kfusion::device::Aff3f
struct	kfusion::device::ComputeIcpHelper
struct	kfusion::device::float12
struct	kfusion::device::float8
struct	kfusion::device::Mat3f
struct	kfusion::device::ComputeIcpHelper::PageLockHelper
struct	kfusion::device::Projector
struct	kfusion::device::Reprojector
struct	kfusion::device::TsdfVolume

Namespaces
	kfusion
	Utility.
	kfusion::device

Typedefs
typedef DeviceArray2D< ushort >	kfusion::device::Depth
typedef PtrStepSz< ushort >	kfusion::device::Dists
typedef DeviceArray2D< uchar4 >	kfusion::device::Image
typedef float4	kfusion::device::Normal
typedef DeviceArray2D< Normal >	kfusion::device::Normals
typedef float4	kfusion::device::Point
typedef DeviceArray2D< Point >	kfusion::device::Points
typedef unsigned char	kfusion::device::uchar
typedef unsigned short	kfusion::device::ushort
typedef float3	kfusion::device::Vec3f
typedef int3	kfusion::device::Vec3i

Functions
void	kfusion::device::bilateralFilter (const Depth &src, Depth &dst, int kernel_size, float sigma_spatial, float sigma_depth)
void	kfusion::device::clear_volume (TsdfVolume volume)
void	kfusion::device::clearTSDFSlice (const TsdfVolume &volume, const kfusion::tsdf_buffer *buffer, const Vec3i offset)
void	kfusion::device::compute_dists (const Depth &depth, Dists dists, float2 f, float2 c)
void	kfusion::device::computeNormalsAndMaskDepth (const Reprojector &reproj, Depth &depth, Normals &normals)
void	kfusion::device::computePointNormals (const Reprojector &reproj, const Depth &depth, Points &points, Normals &normals)
void	kfusion::device::depthPyr (const Depth &source, Depth &pyramid, float sigma_depth)
size_t	kfusion::device::extractCloud (const TsdfVolume &volume, const tsdf_buffer &buffer, const Aff3f &aff, PtrSz< Point > output)
void	kfusion::device::extractNormals (const TsdfVolume &volume, const tsdf_buffer &buffer, const PtrSz< Point > &points, const Aff3f &aff, const Mat3f &Rinv, float gradient_delta_factor, float4 *output)
size_t	kfusion::device::extractSliceAsCloud (const TsdfVolume &volume, const kfusion::tsdf_buffer *buffer, const Vec3i minBounds, const Vec3i maxBounds, const Vec3i globalShift, const Aff3f &aff, PtrSz< Point > output)
void	kfusion::device::integrate (const Dists &depth, TsdfVolume &volume, tsdf_buffer &buffer, const Aff3f &aff, const Projector &proj)
void	kfusion::device::mergePointNormal (const DeviceArray< Point > &cloud, const DeviceArray< float8 > &normals, const DeviceArray< float12 > &output)
__kf_device__ ushort2	kfusion::device::pack_tsdf (float tsdf, int weight)
	packing/unpacking tsdf volume element More...
void	kfusion::device::raycast (const TsdfVolume &volume, tsdf_buffer &buffer, const Aff3f &aff, const Mat3f &Rinv, const Reprojector &reproj, Depth &depth, Normals &normals, float step_factor, float delta_factor)
void	kfusion::device::raycast (const TsdfVolume &volume, tsdf_buffer &buffer, const Aff3f &aff, const Mat3f &Rinv, const Reprojector &reproj, Points &points, Normals &normals, float step_factor, float delta_factor)
void	kfusion::device::renderImage (const Depth &depth, const Normals &normals, const Reprojector &reproj, const Vec3f &light_pose, Image &image)
void	kfusion::device::renderImage (const Points &points, const Normals &normals, const Reprojector &reproj, const Vec3f &light_pose, Image &image)
void	kfusion::device::renderTangentColors (const Normals &normals, Image &image)
void	kfusion::device::resizeDepthNormals (const Depth &depth, const Normals &normals, Depth &depth_out, Normals &normals_out)
void	kfusion::device::resizePointsNormals (const Points &points, const Normals &normals, Points &points_out, Normals &normals_out)
void	kfusion::device::truncateDepth (Depth &depth, float max_dist)
__kf_device__ float	kfusion::device::unpack_tsdf (ushort2 value)
__kf_device__ float	kfusion::device::unpack_tsdf (ushort2 value, int &weight)