bool
pcl::gpu::kinfuLS::CyclicalBuffer::checkForShift (const TsdfVolume::Ptr volume, const Eigen::Affine3f &cam_pose, const double distance_camera_target, const bool perform_shift, const bool last_shift, const bool force_shift)
{
bool result = false;
// project the target point in the cube
pcl::PointXYZ targetPoint;
targetPoint.x = 0.0f;
targetPoint.y = 0.0f;
targetPoint.z = distance_camera_target; // place the point at camera position + distance_camera_target on Z
targetPoint = pcl::transformPoint (targetPoint, cam_pose);
// check distance from the cube's center
pcl::PointXYZ center_cube;
center_cube.x = buffer_.origin_metric.x + buffer_.volume_size.x/2.0f;
center_cube.y = buffer_.origin_metric.y + buffer_.volume_size.y/2.0f;
center_cube.z = buffer_.origin_metric.z + buffer_.volume_size.z/2.0f;
if (pcl::euclideanDistance (targetPoint, center_cube) > distance_threshold_)
result = true;
if (!perform_shift && !force_shift)
return (result);
// perform shifting operations
if (result || force_shift)
performShift (volume, targetPoint, last_shift);
return (result);
}
static void performReduce( traceback **h, a_pro *pro )
{
an_item *p;
for( p = pro->item; p->p.sym != NULL; ++p ) {
popTrace( h );
}
performShift( h, pro->sym );
}