Point Cloud Library (PCL) 1.12.1
tsdf_buffer.h
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37
38#pragma once
39
40#include <cuda_runtime.h>
41//#include <boost/graph/buffer_concepts.hpp>
42
43namespace pcl
44{
45 namespace gpu
46 {
47 namespace kinfuLS
48 {
49 /** \brief Structure to handle buffer addresses */
51 {
52 /** \brief */
53 /** \brief Address of the first element of the TSDF volume in memory*/
55 /** \brief Address of the last element of the TSDF volume in memory*/
57 /** \brief Memory address of the origin of the rolling buffer. MUST BE UPDATED AFTER EACH SHIFT.*/
59 /** \brief Internal cube origin for rollign buffer.*/
61 /** \brief Cube origin in world coordinates.*/
63 /** \brief Current metric origin of the cube, in world coordinates.*/
65 /** \brief Size of the volume, in meters.*/
66 float3 volume_size; //3.0
67 /** \brief Number of voxels in the volume, per axis*/
68 int3 voxels_size; //512
69
70 /** \brief Default constructor*/
72 {
73 tsdf_memory_start = nullptr; tsdf_memory_end = nullptr; tsdf_rolling_buff_origin = nullptr;
74 origin_GRID.x = 0; origin_GRID.y = 0; origin_GRID.z = 0;
76 origin_metric.x = 0.f; origin_metric.y = 0.f; origin_metric.z = 0.f;
77 volume_size.x = 3.f; volume_size.y = 3.f; volume_size.z = 3.f;
78 voxels_size.x = 512; voxels_size.y = 512; voxels_size.z = 512;
79 }
80
81 };
82 }
83 }
84}
Structure to handle buffer addresses.
Definition: tsdf_buffer.h:51
short2 * tsdf_memory_start
Address of the first element of the TSDF volume in memory.
Definition: tsdf_buffer.h:54
short2 * tsdf_memory_end
Address of the last element of the TSDF volume in memory.
Definition: tsdf_buffer.h:56
tsdf_buffer()
Default constructor.
Definition: tsdf_buffer.h:71
short2 * tsdf_rolling_buff_origin
Memory address of the origin of the rolling buffer.
Definition: tsdf_buffer.h:58
int3 voxels_size
Number of voxels in the volume, per axis.
Definition: tsdf_buffer.h:68
float3 volume_size
Size of the volume, in meters.
Definition: tsdf_buffer.h:66
int3 origin_GRID
Internal cube origin for rollign buffer.
Definition: tsdf_buffer.h:60
float3 origin_metric
Current metric origin of the cube, in world coordinates.
Definition: tsdf_buffer.h:64
float3 origin_GRID_global
Cube origin in world coordinates.
Definition: tsdf_buffer.h:62