void MyPointCloud::getDepthMap(unsigned short *depthMap) {
for(int pixel = 0; pixel < (640 * 480); pixel++)
depthMap[pixel] = 0;
DeviceArray2D<pcl::PointXYZ> cloudDevice;
pcl::PointCloud<PointXYZ>::Ptr hostFrameCloud;
this->getLastFrameCloud(cloudDevice);
int c;
hostFrameCloud = PointCloud<PointXYZ>::Ptr (new PointCloud<PointXYZ>);
cloudDevice.download (hostFrameCloud->points, c);
hostFrameCloud->width = cloudDevice.cols ();
hostFrameCloud->height = cloudDevice.rows ();
int count = 0;
int x, y, pixel;
for(int point = 0; point < hostFrameCloud->points.size(); point++) {
if(hostFrameCloud->points[point].z == hostFrameCloud->points[point].z) {
if(hostFrameCloud->points[point].z != 0) {
x = (hostFrameCloud->points[point].x * 525.f / hostFrameCloud->points[point].z) + 320;
y = (hostFrameCloud->points[point].y * 525.f / hostFrameCloud->points[point].z) + 240;
pixel = y * 640 + x;
if(pixel >= 0 && pixel < (640 * 480))
depthMap[pixel] = hostFrameCloud->points[point].z;
}
}
}
}
void pcl::gpu::people::colorizeLabels(const DeviceArray<pcl::RGB>& color_map, const DeviceArray2D<unsigned char>& labels, DeviceArray2D<pcl::RGB>& color_labels)
{
color_labels.create(labels.rows(), labels.cols());
const DeviceArray<uchar4>& map = (const DeviceArray<uchar4>&)color_map;
device::Image& img = (device::Image&)color_labels;
device::colorLMap(labels, map, img);
}
void
pcl::gpu::KinfuTracker::getLastFrameNormals (DeviceArray2D<NormalType>& normals) const
{
normals.create (rows_, cols_);
DeviceArray2D<float8>& n = (DeviceArray2D<float8>&)normals;
device::convert (nmaps_g_prev_[0], n);
}
void
pcl::gpu::KinfuTracker::getLastFrameCloud (DeviceArray2D<PointType>& cloud) const
{
cloud.create (rows_, cols_);
DeviceArray2D<float4>& c = (DeviceArray2D<float4>&)cloud;
device::convert (vmaps_g_prev_[0], c);
}
template<> PCL_EXPORTS void
convertMapToOranizedCloud<pcl::Normal> (const RayCaster::MapArr& map, DeviceArray2D<pcl::Normal>& cloud)
{
cloud.create (map.rows()/3, map.cols());
DeviceArray2D<float8>& n = (DeviceArray2D<float8>&)cloud;
device::convert(map, n);
}
void MyPointCloud::getLastFrameNormals(DeviceArray2D<pcl::PointXYZ>& normals) {
normals.create (rows_, cols_);
DeviceArray2D<float4>& n = (DeviceArray2D<float4>&)normals;
device::convert<float4>(nmaps_[0], n);
}
void MyPointCloud::getLastFrameCloud(DeviceArray2D<pcl::PointXYZ>& cloud) {
cloud.create (rows_, cols_);
DeviceArray2D<float4>& c = (DeviceArray2D<float4>&)cloud;
device::convert (vmaps_[0], c);
}
void MyPointCloud::getHostErrorInRGB(DeviceArray2D<pcl::PointXYZI>& errorInRGB) {
errorInRGB.create(rows_ , cols_);
DeviceArray2D<float4>& c = (DeviceArray2D<float4>&)errorInRGB;
device::convertXYZI(error_, c);
}
void
pcl::gpu::PseudoConvexHull3D::reconstruct (const Cloud &cloud, DeviceArray2D<int>& vertexes)
{
const device::Cloud& c = (const device::Cloud&)cloud;
device::FacetStream& fs = impl_->fs;
device::PointStream ps(c);
ps.computeInitalSimplex();
device::InitalSimplex simplex = ps.simplex;
fs.setInitialFacets(ps.simplex);
ps.initalClassify();
for(;;)
{
//new external points number
ps.cloud_size = ps.searchFacetHeads(fs.facet_count, fs.head_points);
if (ps.cloud_size == 0)
break;
fs.compactFacets();
ps.classify(fs);
if (!fs.canSplit())
throw PCLException("Can't split facets, please enlarge default buffer", __FILE__, "", __LINE__);
fs.splitFacets();
}
int ecount;
int fcount = fs.facet_count;
fs.empty_count.download(&ecount);
vertexes.create(3, fcount + ecount);
DeviceArray2D<int> subf(3, fcount, vertexes.ptr(), vertexes.step());
DeviceArray2D<int> sube(3, ecount, vertexes.ptr()+fcount, vertexes.step());
DeviceArray2D<int>(3, fcount, fs.verts_inds.ptr(), fs.verts_inds.step()).copyTo(subf);
DeviceArray2D<int>(3, ecount, fs.empty_facets.ptr(), fs.empty_facets.step()).copyTo(sube);
}
Eigen::Vector3f& MyPointCloud::getCentroid() {
DeviceArray2D<pcl::PointXYZ> cloudDevice;
pcl::PointCloud<PointXYZ>::Ptr hostFrameCloud;
this->getLastFrameCloud(cloudDevice);
int c;
hostFrameCloud = PointCloud<PointXYZ>::Ptr (new PointCloud<PointXYZ>);
cloudDevice.download (hostFrameCloud->points, c);
hostFrameCloud->width = cloudDevice.cols ();
hostFrameCloud->height = cloudDevice.rows ();
Eigen::Vector3f centroid;
centroid.setZero();
int count = 0;
for(int point = 0; point < hostFrameCloud->points.size(); point++) {
if(hostFrameCloud->points[point].z == hostFrameCloud->points[point].z) {
if(hostFrameCloud->points[point].z != 0) {
centroid(0) += hostFrameCloud->points[point].x;
centroid(1) += hostFrameCloud->points[point].y;
centroid(2) += hostFrameCloud->points[point].z;
count++;
}
}
}
centroid /= count;
return centroid;
}
void
pcl::gpu::PseudoConvexHull3D::reconstruct (const Cloud &points, Cloud &output)
{
DeviceArray2D<int> vertexes;
reconstruct(points, vertexes);
DeviceArray<int> cont(vertexes.cols() * vertexes.rows());
DeviceArray2D<int> buf(3, vertexes.cols(), cont.ptr(), vertexes.cols() * sizeof(int));
vertexes.copyTo(buf);
size_t new_size = device::remove_duplicates(cont);
DeviceArray<int> new_cont(cont.ptr(), new_size);
output.create(new_size);
const device::Cloud& c = (const device::Cloud&)points;
device::Cloud& o = (device::Cloud&)output;
device::pack_hull(c, new_cont, o);
}
void MulticamFusion::getLastFrameCloud (DeviceArray2D<PointXYZ>& cloud) const{
cloud.create (rows, cols);
DeviceArray2D<float4>& c = (DeviceArray2D<float4>&)cloud;
device::convert (vmaps_g_prev_, c);
}
