color_volume.h

/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
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#pragma once
 
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <Eigen/Core>
 
 
namespace pcl
{
  namespace gpu
  {
    namespace kinfuLS
    {
      class TsdfVolume;
 
      /**
       * \brief ColorVolume class
       * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
       */
      class PCL_EXPORTS ColorVolume
      {
      public:
        using PointType = PointXYZ;
        using Ptr = shared_ptr<ColorVolume>;
        using ConstPtr = shared_ptr<const ColorVolume>;
 
        /**
         * \brief Constructor
         * \param[in] tsdf tsdf volume to get parameters from
         * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
         */
        ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
 
        /** \brief Resets color volume to uninitialized state */
        void
        reset();
 
        /** \brief Returns running average length */
        int
        getMaxWeight() const;
 
        /** \brief Returns container with color volume in GPU memory */
        DeviceArray2D<int>
        data() const;
 
        /**
         * \brief Computes colors from color volume
         * \param[in] cloud Points for which colors are to be computed.
         * \param[out] colors output array for colors
         */
        void
        fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const; 
 
      private:
        /** \brief Volume resolution */
        Eigen::Vector3i resolution_;
 
        /** \brief Volume size in meters */
        Eigen::Vector3f volume_size_;
 
        /** \brief Length of running average */
        int max_weight_;
 
        /** \brief color volume data */
        DeviceArray2D<int> color_volume_;
 
      public:
        PCL_MAKE_ALIGNED_OPERATOR_NEW
      };
    }
  }
}