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);
}
ColorVolume::ColorVolume(const TsdfVolume& tsdf)
: resolution_(tsdf.getResolution()),
volume_size_(tsdf.getSize())
{
int volume_x = resolution_(0);
int volume_y = resolution_(1);
int volume_z = resolution_(2);
color_volume_.create(volume_y * volume_z, volume_x);
reset();
}
void
pcl::gpu::RayCaster::run(const TsdfVolume& volume, const Affine3f& camera_pose)
{
camera_pose_ = camera_pose;
volume_size_ = volume.getSize();
device::Intr intr (fx_, fy_, cx_, cy_);
vertex_map_.create(rows * 3, cols);
normal_map_.create(rows * 3, cols);
typedef Matrix<float, 3, 3, RowMajor> Matrix3f;
Matrix3f R = camera_pose_.linear();
Vector3f t = camera_pose_.translation();
const Mat33& device_R = device_cast<const Mat33>(R);
const float3& device_t = device_cast<const float3>(t);
float tranc_dist = volume.getTsdfTruncDist();
device::raycast (intr, device_R, device_t, tranc_dist, device_cast<const float3>(volume_size_), volume.data(), vertex_map_, normal_map_);
}
