DeviceArray<Point>
kfusion::cuda::TsdfVolume::fetchSliceAsCloud (DeviceArray<Point>& cloud_buffer, const kfusion::tsdf_buffer* buffer, const Vec3i minBounds, const Vec3i maxBounds, const Vec3i globalShift ) const
{
enum { DEFAULT_CLOUD_BUFFER_SIZE = 10 * 1000 * 1000 };
if (cloud_buffer.empty ())
cloud_buffer.create (DEFAULT_CLOUD_BUFFER_SIZE/2);
DeviceArray<device::Point>& b = (DeviceArray<device::Point>&)cloud_buffer;
device::Vec3i dims = device_cast<device::Vec3i>(dims_);
device::Vec3i deviceGlobalShift;
deviceGlobalShift.x = globalShift[0];
deviceGlobalShift.y = globalShift[1];
deviceGlobalShift.z = globalShift[2];
device::Vec3i minBounds_c;
minBounds_c.x = minBounds[0];
minBounds_c.y = minBounds[1];
minBounds_c.z = minBounds[2];
device::Vec3i maxBounds_c;
maxBounds_c.x = maxBounds[0];
maxBounds_c.y = maxBounds[1];
maxBounds_c.z = maxBounds[2];
device::Vec3f vsz = device_cast<device::Vec3f>(getVoxelSize());
device::Aff3f aff = device_cast<device::Aff3f>(pose_);
device::TsdfVolume volume((ushort2*)data_.ptr<ushort2>(), dims, vsz, trunc_dist_, max_weight_);
size_t size = extractSliceAsCloud (volume, buffer, minBounds_c, maxBounds_c, deviceGlobalShift, aff, b);
return DeviceArray<Point>((Point*)cloud_buffer.ptr(), size);
}
boost::shared_ptr<pcl::PolygonMesh> convertToMesh(const DeviceArray<PointXYZ>& triangles)
{
if (triangles.empty())
return boost::shared_ptr<pcl::PolygonMesh>();
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.width = (int)triangles.size();
cloud.height = 1;
triangles.download(cloud.points);
boost::shared_ptr<pcl::PolygonMesh> mesh_ptr( new pcl::PolygonMesh() );
pcl::toPCLPointCloud2(cloud, mesh_ptr->cloud);
mesh_ptr->polygons.resize (triangles.size() / 3);
for (size_t i = 0; i < mesh_ptr->polygons.size (); ++i)
{
pcl::Vertices v;
v.vertices.push_back(i*3+0);
v.vertices.push_back(i*3+2);
v.vertices.push_back(i*3+1);
mesh_ptr->polygons[i] = v;
}
return mesh_ptr;
cout << mesh_ptr->polygons.size () << " plys\n";
}
DeviceArray<pcl::gpu::MarchingCubes::PointType>
pcl::gpu::MarchingCubes::run(const TsdfVolume& tsdf, DeviceArray<PointType>& triangles_buffer)
{
if (triangles_buffer.empty())
triangles_buffer.create(DEFAULT_TRIANGLES_BUFFER_SIZE);
occupied_voxels_buffer_.create(3, triangles_buffer.size() / 3);
device::bindTextures(edgeTable_, triTable_, numVertsTable_);
int active_voxels = device::getOccupiedVoxels(tsdf.data(), occupied_voxels_buffer_);
if(!active_voxels)
{
device::unbindTextures();
return DeviceArray<PointType>();
}
DeviceArray2D<int> occupied_voxels(3, active_voxels, occupied_voxels_buffer_.ptr(), occupied_voxels_buffer_.step());
int total_vertexes = device::computeOffsetsAndTotalVertexes(occupied_voxels);
float3 volume_size = device_cast<const float3>(tsdf.getSize());
device::generateTriangles(tsdf.data(), occupied_voxels, volume_size, (DeviceArray<device::PointType>&)triangles_buffer);
device::unbindTextures();
return DeviceArray<PointType>(triangles_buffer.ptr(), total_vertexes);
}
boost::shared_ptr<pcl::PolygonMesh> convertToMesh(const DeviceArray<PointXYZ>& triangles)
{
if (triangles.empty())
{
std::cerr << "kinfu_util::convertToMesh(): triangles empty...returning null..." << std::endl;
return boost::shared_ptr<pcl::PolygonMesh>();
}
pcl::PointCloud<pcl::PointXYZ> cloud;
cloud.width = (int)triangles.size();
cloud.height = 1;
triangles.download(cloud.points);
boost::shared_ptr<pcl::PolygonMesh> mesh_ptr( new pcl::PolygonMesh() );
pcl::toROSMsg(cloud, mesh_ptr->cloud);
mesh_ptr->polygons.resize (triangles.size() / 3);
for (size_t i = 0; i < mesh_ptr->polygons.size (); ++i)
{
pcl::Vertices v;
v.vertices.push_back(i*3+0);
v.vertices.push_back(i*3+2);
v.vertices.push_back(i*3+1);
mesh_ptr->polygons[i] = v;
}
return mesh_ptr;
}
pcl::gpu::DeviceArray<pcl::gpu::TsdfVolume::PointType>
pcl::gpu::TsdfVolume::fetchCloud (DeviceArray<PointType>& cloud_buffer) const
{
if (cloud_buffer.empty ())
cloud_buffer.create (DEFAULT_CLOUD_BUFFER_SIZE);
float3 device_volume_size = device_cast<const float3> (size_);
size_t size = device::extractCloud (volume_, device_volume_size, cloud_buffer);
return (DeviceArray<PointType> (cloud_buffer.ptr (), size));
}
DeviceArray<Point> kfusion::cuda::TsdfVolume::fetchCloud(DeviceArray<Point>& cloud_buffer, const tsdf_buffer& buffer) const
{
enum { DEFAULT_CLOUD_BUFFER_SIZE = 10 * 1000 * 1000 };
if (cloud_buffer.empty ())
cloud_buffer.create (DEFAULT_CLOUD_BUFFER_SIZE);
DeviceArray<device::Point>& b = (DeviceArray<device::Point>&)cloud_buffer;
device::Vec3i dims = device_cast<device::Vec3i>(dims_);
device::Vec3f vsz = device_cast<device::Vec3f>(getVoxelSize());
device::Aff3f aff = device_cast<device::Aff3f>(pose_);
device::TsdfVolume volume((ushort2*)data_.ptr<ushort2>(), dims, vsz, trunc_dist_, max_weight_);
size_t size = extractCloud(volume, buffer, aff, b);
return DeviceArray<Point>((Point*)cloud_buffer.ptr(), size);
}
