Point Cloud Library (PCL) 1.14.0
Loading...
Searching...
No Matches
raycaster.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Willow Garage, Inc. nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 */
37
38#pragma once
39
40#include <pcl/memory.h>
41#include <pcl/pcl_macros.h>
42#include <pcl/point_types.h>
43#include <pcl/gpu/containers/device_array.h>
44#include <pcl/gpu/kinfu/pixel_rgb.h>
45#include <Eigen/Geometry>
46
47namespace pcl
48{
49 namespace gpu
50 {
51 class TsdfVolume;
52
53 /** \brief Class that performs raycasting for TSDF volume
54 * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
55 */
56 struct PCL_EXPORTS RayCaster
57 {
58 public:
59 using Ptr = shared_ptr<RayCaster>;
60 using ConstPtr = shared_ptr<const RayCaster>;
64
65 /** \brief Image with height */
66 const int cols, rows;
67
68 /** \brief Constructor
69 * \param[in] rows image rows
70 * \param[in] cols image cols
71 * \param[in] fx focal x
72 * \param[in] fy focal y
73 * \param[in] cx principal point x
74 * \param[in] cy principal point y
75 */
76 RayCaster(int rows = 480, int cols = 640, float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
77
78 /** \brief Sets camera intrinsics */
79 void
80 setIntrinsics(float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
81
82 /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal files.
83 * \param[in] volume tsdf volume container
84 * \param[in] camera_pose camera pose
85 */
86 void
87 run(const TsdfVolume& volume, const Eigen::Affine3f& camera_pose);
88
89 /** \brief Generates scene view using data raycasted by run method. So call it before.
90 * \param[out] view output array for RGB image
91 */
92 void
93 generateSceneView(View& view) const;
94
95 /** \brief Generates scene view using data raycasted by run method. So call it before.
96 * \param[out] view output array for RGB image
97 * \param[in] light_source_pose pose of light source
98 */
99 void
100 generateSceneView(View& view, const Eigen::Vector3f& light_source_pose) const;
101
102 /** \brief Generates depth image using data raycasted by run method. So call it before.
103 * \param[out] depth output array for depth image
104 */
105 void
107
108 /** \brief Returns raycasterd vertex map. */
109 MapArr
111
112 /** \brief Returns raycasterd normal map. */
113 MapArr
115
116 private:
117 /** \brief Camera intrinsics. */
118 float fx_, fy_, cx_, cy_;
119
120 /* Vertext/normal map internal representation example for rows=2 and cols=4
121 * X X X X
122 * X X X X
123 * Y Y Y Y
124 * Y Y Y Y
125 * Z Z Z Z
126 * Z Z Z Z
127 */
128
129 /** \brief vertex map of 3D points*/
130 MapArr vertex_map_;
131
132 /** \brief normal map of 3D points*/
133 MapArr normal_map_;
134
135 /** \brief camera pose from which raycasting was done */
136 Eigen::Affine3f camera_pose_;
137
138 /** \brief Last passed volume size */
139 Eigen::Vector3f volume_size_;
140
141public:
143 };
144
145 /** \brief Converts from map representation to organized not-dence point cloud. */
146 template<typename PointType>
148 }
149}
TsdfVolume class.
Definition tsdf_volume.h:56
Defines all the PCL implemented PointT point type structures.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition memory.h:63
Defines functions, macros and traits for allocating and using memory.
void convertMapToOranizedCloud(const RayCaster::MapArr &map, DeviceArray2D< PointType > &cloud)
Converts from map representation to organized not-dence point cloud.
Defines all the PCL and non-PCL macros used.
Class that performs raycasting for TSDF volume.
Definition raycaster.h:57
MapArr getVertexMap() const
Returns raycasterd vertex map.
void generateDepthImage(Depth &depth) const
Generates depth image using data raycasted by run method.
const int cols
Image with height.
Definition raycaster.h:66
void run(const TsdfVolume &volume, const Eigen::Affine3f &camera_pose)
Runs raycasting algorithm from given camera pose.
DeviceArray2D< PixelRGB > View
Definition raycaster.h:62
MapArr getNormalMap() const
Returns raycasterd normal map.
void generateSceneView(View &view, const Eigen::Vector3f &light_source_pose) const
Generates scene view using data raycasted by run method.
void setIntrinsics(float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)
Sets camera intrinsics.
shared_ptr< const RayCaster > ConstPtr
Definition raycaster.h:60
void generateSceneView(View &view) const
Generates scene view using data raycasted by run method.
RayCaster(int rows=480, int cols=640, float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)
Constructor.
shared_ptr< RayCaster > Ptr
Definition raycaster.h:59