raycaster.h

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#pragma once
 
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/kinfu_large_scale/pixel_rgb.h>
//#include <boost/graph/buffer_concepts.hpp>
#include <Eigen/Geometry>
 
#include <pcl/gpu/kinfu_large_scale/tsdf_buffer.h>
 
namespace pcl
{
  namespace gpu
  {
    namespace kinfuLS
    {
      class TsdfVolume;
 
      /** \brief Class that performs raycasting for TSDF volume
        * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
        */
      struct PCL_EXPORTS RayCaster
      {
      public:
        using Ptr = shared_ptr<RayCaster>;
        using ConstPtr = shared_ptr<const RayCaster>;
        using MapArr = pcl::gpu::DeviceArray2D<float>;
        using View = pcl::gpu::DeviceArray2D<PixelRGB>;
        using Depth = pcl::gpu::DeviceArray2D<unsigned short>;     
 
        /** \brief Image with height */ 
        const int cols, rows;      
        
        /** \brief Constructor 
          * \param[in] rows image rows
          * \param[in] cols image cols
          * \param[in] fx focal x
          * \param[in] fy focal y
          * \param[in] cx principal point x
          * \param[in] cy principal point y
          */
        RayCaster(int rows = 480, int cols = 640, float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
 
        /** \brief Sets camera intrinsics */ 
        void
        setIntrinsics(float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
        
        /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal files.
          * \param[in] volume tsdf volume container
          * \param[in] camera_pose camera pose
          * \param buffer
          */ 
        void 
        run(const TsdfVolume& volume, const Eigen::Affine3f& camera_pose, tsdf_buffer* buffer);
 
        /** \brief Generates scene view using data raycasted by run method. So call it before.
          * \param[out] view output array for RGB image        
          */
        void
        generateSceneView(View& view) const;
 
        /** \brief Generates scene view using data raycasted by run method. So call it before.
          * \param[out] view output array for RGB image
          * \param[in] light_source_pose pose of light source
          */
        void
        generateSceneView(View& view, const Eigen::Vector3f& light_source_pose) const;
 
        /** \brief Generates depth image using data raycasted by run method. So call it before.
          * \param[out] depth output array for depth image        
          */
        void
        generateDepthImage(Depth& depth) const;
        
        /** \brief Returns raycasterd vertex map. */ 
        MapArr
        getVertexMap() const;
 
        /** \brief Returns raycasterd normal map. */ 
        MapArr
        getNormalMap() const;
 
      private:
        /** \brief Camera intrinsics. */ 
        float fx_, fy_, cx_, cy_;
              
        /* Vertext/normal map internal representation example for rows=2 and cols=4
        *  X X X X
        *  X X X X
        *  Y Y Y Y
        *  Y Y Y Y
        *  Z Z Z Z
        *  Z Z Z Z     
        */
 
        /** \brief vertex map of 3D points*/
        MapArr vertex_map_;
        
        /** \brief normal map of 3D points*/
        MapArr normal_map_;
 
        /** \brief camera pose from which raycasting was done */
        Eigen::Affine3f camera_pose_;
 
        /** \brief Last passed volume size */
        Eigen::Vector3f volume_size_;
 
public:
  PCL_MAKE_ALIGNED_OPERATOR_NEW
 
      };
      
      /** \brief Converts from map representation to organized not-dence point cloud. */
      template<typename PointType>
      void convertMapToOranizedCloud(const RayCaster::MapArr& map, pcl::gpu::DeviceArray2D<PointType>& cloud);
    }
  }
}