Point Cloud Library (PCL)  1.9.1-dev
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 
43 namespace pcl
44 {
45  namespace gpu
46  {
47  namespace kinfuLS
48  {
49  /** \brief Structure to handle buffer addresses */
50  struct tsdf_buffer
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*/
56  short2* tsdf_memory_end;
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.*/
60  int3 origin_GRID;
61  /** \brief Cube origin in world coordinates.*/
63  /** \brief Current metric origin of the cube, in world coordinates.*/
64  float3 origin_metric;
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;
75  origin_GRID_global.x = 0.f; origin_GRID_global.y = 0.f; origin_GRID_global.z = 0.f;
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 }
short2 * tsdf_memory_start
Address of the first element of the TSDF volume in memory.
Definition: tsdf_buffer.h:54
float3 volume_size
Size of the volume, in meters.
Definition: tsdf_buffer.h:66
Structure to handle buffer addresses.
Definition: tsdf_buffer.h:50
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
tsdf_buffer()
Default constructor.
Definition: tsdf_buffer.h:71
short2 * tsdf_memory_end
Address of the last element of the TSDF volume in memory.
Definition: tsdf_buffer.h:56
float3 origin_metric
Current metric origin of the cube, in world coordinates.
Definition: tsdf_buffer.h:64
int3 origin_GRID
Internal cube origin for rollign buffer.
Definition: tsdf_buffer.h:60
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 origin_GRID_global
Cube origin in world coordinates.
Definition: tsdf_buffer.h:62