#include <internal.hpp>
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| ComputeIcpHelper (float dist_thres, float angle_thres) |
| ComputeIcpHelper. More...
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__kf_device__ int | find_coresp (int x, int y, float3 &n, float3 &d, float3 &s) const |
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void | operator() (const Depth &dprev, const Normals &nprev, DeviceArray2D< float > &buffer, float *data, cudaStream_t stream) |
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void | operator() (const Points &vprev, const Normals &nprev, DeviceArray2D< float > &buffer, float *data, cudaStream_t stream) |
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__kf_device__ void | partial_reduce (const float row[7], PtrStep< float > &partial_buffer) const |
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__kf_device__ float2 | proj (const float3 &p) const |
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__kf_device__ float3 | reproj (float x, float y, float z) const |
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void | setLevelIntr (int level_index, float fx, float fy, float cx, float cy) |
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Definition at line 71 of file internal.hpp.
◆ ComputeIcpHelper()
kfusion::device::ComputeIcpHelper::ComputeIcpHelper |
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float |
dist_thres, |
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float |
angle_thres |
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) |
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◆ allocate_buffer()
static void kfusion::device::ComputeIcpHelper::allocate_buffer |
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DeviceArray2D< float > & |
buffer, |
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int |
partials_count = -1 |
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) |
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◆ find_coresp()
__kf_device__ int kfusion::device::ComputeIcpHelper::find_coresp |
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int |
x, |
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int |
y, |
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float3 & |
n, |
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float3 & |
d, |
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float3 & |
s |
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) |
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◆ operator()() [1/2]
void kfusion::device::ComputeIcpHelper::operator() |
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const Depth & |
dprev, |
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const Normals & |
nprev, |
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DeviceArray2D< float > & |
buffer, |
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float * |
data, |
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cudaStream_t |
stream |
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) |
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◆ operator()() [2/2]
void kfusion::device::ComputeIcpHelper::operator() |
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const Points & |
vprev, |
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const Normals & |
nprev, |
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DeviceArray2D< float > & |
buffer, |
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float * |
data, |
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cudaStream_t |
stream |
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) |
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◆ partial_reduce()
__kf_device__ void kfusion::device::ComputeIcpHelper::partial_reduce |
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const float |
row[7], |
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PtrStep< float > & |
partial_buffer |
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) |
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◆ proj()
__kf_device__ float2 kfusion::device::ComputeIcpHelper::proj |
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const float3 & |
p | ) |
const |
◆ reproj()
__kf_device__ float3 kfusion::device::ComputeIcpHelper::reproj |
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float |
x, |
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float |
y, |
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float |
z |
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) |
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◆ setLevelIntr()
void kfusion::device::ComputeIcpHelper::setLevelIntr |
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int |
level_index, |
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float |
fx, |
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float |
fy, |
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float |
cx, |
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float |
cy |
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) |
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◆ aff
Aff3f kfusion::device::ComputeIcpHelper::aff |
float2 kfusion::device::ComputeIcpHelper::c |
◆ cols
float kfusion::device::ComputeIcpHelper::cols |
◆ dcurr
◆ dist2_thres
float kfusion::device::ComputeIcpHelper::dist2_thres |
float2 kfusion::device::ComputeIcpHelper::f |
◆ finv
float2 kfusion::device::ComputeIcpHelper::finv |
◆ min_cosine
float kfusion::device::ComputeIcpHelper::min_cosine |
◆ ncurr
◆ rows
float kfusion::device::ComputeIcpHelper::rows |
◆ vcurr
The documentation for this struct was generated from the following files: