bool
DeviceVolume::getVolume (pcl::TSDFVolume<VoxelT, WeightT>::Ptr &volume)
{
int volume_size = device_volume_.rows() * device_volume_.cols();
if ((size_t)volume_size != volume->size())
{
pc::print_error ("Device volume size (%d) and tsdf volume size (%d) don't match. ABORTING!\n", volume_size, volume->size());
return false;
}
vector<VoxelT>& volume_vec = volume->volumeWriteable();
vector<WeightT>& weights_vec = volume->weightsWriteable();
device_volume_.download (&volume_vec[0], device_volume_.cols() * sizeof(int));
#pragma omp parallel for
for(int i = 0; i < (int) volume->size(); ++i)
{
short2 *elem = (short2*)&volume_vec[i];
volume_vec[i] = (float)(elem->x)/pcl::device::DIVISOR;
weights_vec[i] = (short)(elem->y);
}
return true;
}
template<typename T> void
savePNGFile(const std::string& filename, const pcl::gpu::DeviceArray2D<T>& arr)
{
int c;
pcl::PointCloud<T> cloud(arr.cols(), arr.rows());
arr.download(cloud.points, c);
pcl::io::savePNGFile(filename, cloud);
}
template <typename T> void
savePCDFile (const std::string& filename, const pcl::gpu::DeviceArray2D<T>& arr)
{
int c;
pcl::PointCloud<T> cloud(arr.cols(), arr.rows());
arr.download(cloud.points, c);
cloud.is_dense = false;
cloud.points.resize (cloud.width * cloud.height);
pcl::io::savePCDFileASCII(filename, cloud);
cout << "devarr2d\n";
}
