#include <tsdf_volume.hpp>

Classes
struct	Entry

Public Member Functions
virtual void	applyAffine (const Affine3f &affine)

virtual void	clear ()

void	clearSlice (const kfusion::tsdf_buffer *buffer, const Vec3i offset) const

void	create (const Vec3i &dims)

const CudaData	data () const

CudaData	data ()

DeviceArray< Point >	fetchCloud (DeviceArray< Point > &cloud_buffer, const tsdf_buffer &buffer) const

void	fetchNormals (const DeviceArray< Point > &cloud, const tsdf_buffer &buffer, DeviceArray< Normal > &normals) const

DeviceArray< Point >	fetchSliceAsCloud (DeviceArray< Point > &cloud_buffer, const kfusion::tsdf_buffer *buffer, const Vec3i minBounds, const Vec3i maxBounds, const Vec3i globalShift) const
	Generates cloud using GPU in connected6 mode only. More...

ushort2 *	getCoord (int x, int y, int z, int dim_x, int dim_y)

Vec3i	getDims () const

float	getGradientDeltaFactor () const

Vec3i	getGridOrigin () const

int	getMaxWeight () const

Affine3f	getPose () const

float	getRaycastStepFactor () const

Vec3f	getSize () const

float	getTruncDist () const

Vec3f	getVoxelSize () const

virtual void	integrate (const Dists &dists, tsdf_buffer &buffer, const Affine3f &camera_pose, const Intr &intr)

virtual void	raycast (const Affine3f &camera_pose, tsdf_buffer &buffer, const Intr &intr, Depth &depth, Normals &normals)

virtual void	raycast (const Affine3f &camera_pose, tsdf_buffer &buffer, const Intr &intr, Cloud &points, Normals &normals)

void	setGradientDeltaFactor (float factor)

void	setGridOrigin (const Vec3i &origin)

void	setMaxWeight (int weight)

void	setPose (const Affine3f &pose)

void	setRaycastStepFactor (float factor)

void	setSize (const Vec3f &size)

void	setTruncDist (float distance)

void	swap (CudaData &data)

	TsdfVolume (const cv::Vec3i &dims)
	TsdfVolume. More...

virtual	~TsdfVolume ()

Private Attributes
CudaData	data_

Vec3i	dims_

float	gradient_delta_factor_

int	max_weight_

Affine3f	pose_

float	raycast_step_factor_

Vec3f	size_

float	trunc_dist_

Detailed Description

Definition at line 11 of file tsdf_volume.hpp.

Constructor & Destructor Documentation

◆ TsdfVolume()

kfusion::cuda::TsdfVolume::TsdfVolume ( const cv::Vec3i & dims )

TsdfVolume.

Definition at line 18 of file tsdf_volume.cpp.

◆ ~TsdfVolume()

kfusion::cuda::TsdfVolume::~TsdfVolume ( )

virtual

Definition at line 22 of file tsdf_volume.cpp.

Member Function Documentation

◆ applyAffine()

void kfusion::cuda::TsdfVolume::applyAffine ( const Affine3f & affine )

virtual

Definition at line 71 of file tsdf_volume.cpp.

◆ clear()

void kfusion::cuda::TsdfVolume::clear ( )

virtual

Definition at line 73 of file tsdf_volume.cpp.

◆ clearSlice()

void kfusion::cuda::TsdfVolume::clearSlice	(	const kfusion::tsdf_buffer *	buffer,
		const Vec3i	offset
	)		const

Definition at line 82 of file tsdf_volume.cpp.

◆ create()

void kfusion::cuda::TsdfVolume::create ( const Vec3i & dims )

Definition at line 24 of file tsdf_volume.cpp.

◆ data() [1/2]

const CudaData kfusion::cuda::TsdfVolume::data ( ) const

Definition at line 41 of file tsdf_volume.cpp.

◆ data() [2/2]

CudaData kfusion::cuda::TsdfVolume::data ( )

Definition at line 42 of file tsdf_volume.cpp.

◆ fetchCloud()

DeviceArray< Point > kfusion::cuda::TsdfVolume::fetchCloud	(	DeviceArray< Point > &	cloud_buffer,
		const tsdf_buffer &	buffer
	)		const

Definition at line 148 of file tsdf_volume.cpp.

◆ fetchNormals()

void kfusion::cuda::TsdfVolume::fetchNormals	(	const DeviceArray< Point > &	cloud,
		const tsdf_buffer &	buffer,
		DeviceArray< Normal > &	normals
	)		const

Definition at line 167 of file tsdf_volume.cpp.

◆ fetchSliceAsCloud()

DeviceArray< Point > kfusion::cuda::TsdfVolume::fetchSliceAsCloud	(	DeviceArray< Point > &	cloud_buffer,
		const kfusion::tsdf_buffer *	buffer,
		const Vec3i	minBounds,
		const Vec3i	maxBounds,
		const Vec3i	globalShift
	)		const

Generates cloud using GPU in connected6 mode only.

Parameters

[out]	cloud_buffer_xyz	buffer to store point cloud
	cloud_buffer_intensity
[in]	buffer	Pointer to the buffer struct that contains information about memory addresses of the tsdf volume memory block, which are used for the cyclic buffer.
[in]	shiftX	Offset in indices.
[in]	shiftY	Offset in indices.
[in]	shiftZ	Offset in indices.

Returns: DeviceArray with disabled reference counting that points to filled part of cloud_buffer.

Definition at line 184 of file tsdf_volume.cpp.

◆ getCoord()

ushort2 * kfusion::cuda::TsdfVolume::getCoord	(	int	x,
		int	y,
		int	z,
		int	dim_x,
		int	dim_y
	)

Definition at line 57 of file tsdf_volume.cpp.

◆ getDims()

Vec3i kfusion::cuda::TsdfVolume::getDims ( ) const

Definition at line 33 of file tsdf_volume.cpp.

◆ getGradientDeltaFactor()

float kfusion::cuda::TsdfVolume::getGradientDeltaFactor ( ) const

Definition at line 68 of file tsdf_volume.cpp.

◆ getGridOrigin()

Vec3i kfusion::cuda::TsdfVolume::getGridOrigin ( ) const

◆ getMaxWeight()

int kfusion::cuda::TsdfVolume::getMaxWeight ( ) const

Definition at line 62 of file tsdf_volume.cpp.

◆ getPose()

Affine3f kfusion::cuda::TsdfVolume::getPose ( ) const

Definition at line 64 of file tsdf_volume.cpp.

◆ getRaycastStepFactor()

float kfusion::cuda::TsdfVolume::getRaycastStepFactor ( ) const

Definition at line 66 of file tsdf_volume.cpp.

◆ getSize()

Vec3f kfusion::cuda::TsdfVolume::getSize ( ) const

Definition at line 43 of file tsdf_volume.cpp.

◆ getTruncDist()

float kfusion::cuda::TsdfVolume::getTruncDist ( ) const

Definition at line 48 of file tsdf_volume.cpp.

◆ getVoxelSize()

Vec3f kfusion::cuda::TsdfVolume::getVoxelSize ( ) const

Definition at line 36 of file tsdf_volume.cpp.

◆ integrate()

void kfusion::cuda::TsdfVolume::integrate	(	const Dists &	dists,
		tsdf_buffer &	buffer,
		const Affine3f &	camera_pose,
		const Intr &	intr
	)

virtual

Definition at line 96 of file tsdf_volume.cpp.

◆ raycast() [1/2]

void kfusion::cuda::TsdfVolume::raycast	(	const Affine3f &	camera_pose,
		tsdf_buffer &	buffer,
		const Intr &	intr,
		Depth &	depth,
		Normals &	normals
	)

virtual

Definition at line 110 of file tsdf_volume.cpp.

◆ raycast() [2/2]

void kfusion::cuda::TsdfVolume::raycast	(	const Affine3f &	camera_pose,
		tsdf_buffer &	buffer,
		const Intr &	intr,
		Cloud &	points,
		Normals &	normals
	)

virtual

Definition at line 129 of file tsdf_volume.cpp.

◆ setGradientDeltaFactor()

void kfusion::cuda::TsdfVolume::setGradientDeltaFactor ( float factor )

Definition at line 69 of file tsdf_volume.cpp.

◆ setGridOrigin()

void kfusion::cuda::TsdfVolume::setGridOrigin ( const Vec3i & origin )

◆ setMaxWeight()

void kfusion::cuda::TsdfVolume::setMaxWeight ( int weight )

Definition at line 63 of file tsdf_volume.cpp.

◆ setPose()

void kfusion::cuda::TsdfVolume::setPose ( const Affine3f & pose )

Definition at line 65 of file tsdf_volume.cpp.

◆ setRaycastStepFactor()

void kfusion::cuda::TsdfVolume::setRaycastStepFactor ( float factor )

Definition at line 67 of file tsdf_volume.cpp.

◆ setSize()

void kfusion::cuda::TsdfVolume::setSize ( const Vec3f & size )

Definition at line 45 of file tsdf_volume.cpp.

◆ setTruncDist()

void kfusion::cuda::TsdfVolume::setTruncDist ( float distance )

Definition at line 50 of file tsdf_volume.cpp.

◆ swap()

void kfusion::cuda::TsdfVolume::swap ( CudaData & data )

Definition at line 70 of file tsdf_volume.cpp.

Member Data Documentation

◆ data_

CudaData kfusion::cuda::TsdfVolume::data_

private

Definition at line 86 of file tsdf_volume.hpp.

◆ dims_

Vec3i kfusion::cuda::TsdfVolume::dims_

private

Definition at line 90 of file tsdf_volume.hpp.

◆ gradient_delta_factor_

float kfusion::cuda::TsdfVolume::gradient_delta_factor_

private

Definition at line 94 of file tsdf_volume.hpp.

◆ max_weight_

int kfusion::cuda::TsdfVolume::max_weight_

private

Definition at line 89 of file tsdf_volume.hpp.

◆ pose_

Affine3f kfusion::cuda::TsdfVolume::pose_

private

Definition at line 92 of file tsdf_volume.hpp.

◆ raycast_step_factor_

float kfusion::cuda::TsdfVolume::raycast_step_factor_

private

Definition at line 95 of file tsdf_volume.hpp.

◆ size_

Vec3f kfusion::cuda::TsdfVolume::size_

private

Definition at line 91 of file tsdf_volume.hpp.

◆ trunc_dist_

float kfusion::cuda::TsdfVolume::trunc_dist_

private

Definition at line 88 of file tsdf_volume.hpp.

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

Classes

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TsdfVolume()

◆ ~TsdfVolume()

Member Function Documentation

◆ applyAffine()

◆ clear()

◆ clearSlice()

◆ create()

◆ data() [1/2]

◆ data() [2/2]

◆ fetchCloud()

◆ fetchNormals()

◆ fetchSliceAsCloud()

◆ getCoord()

◆ getDims()

◆ getGradientDeltaFactor()

◆ getGridOrigin()

◆ getMaxWeight()

◆ getPose()

◆ getRaycastStepFactor()

◆ getSize()

◆ getTruncDist()

◆ getVoxelSize()

◆ integrate()

◆ raycast() [1/2]

◆ raycast() [2/2]

◆ setGradientDeltaFactor()

◆ setGridOrigin()

◆ setMaxWeight()

◆ setPose()

◆ setRaycastStepFactor()

◆ setSize()

◆ setTruncDist()

◆ swap()

Member Data Documentation

◆ data_

◆ dims_

◆ gradient_delta_factor_

◆ max_weight_

◆ pose_

◆ raycast_step_factor_

◆ size_

◆ trunc_dist_