TSDF學習：pcl::gpu::TsdfVolume Class Reference

http://docs.pointclouds.org/trunk/classpcl_1_1gpu_1_1_tsdf_volume.html

Public Member Functions

TsdfVolume (const Eigen::Vector3i &resolution)

Constructor. More...

構造函數

void 

setSize (const Eigen::Vector3f &size)

Sets Tsdf volume size for each dimension. More...

設置Tsdf 立方體在X、Y、Z方向的大小，單位m

void 

setTsdfTruncDist (float distance)

Sets Tsdf truncation distance. More...

設置Tsdf 截斷距離，其值必須大於 2 * volume_voxel_size

DeviceArray2D< int > 

data () const

Returns tsdf volume container that point to data in GPU memory. More...

const Eigen::Vector3f & 

getSize () const

Returns volume size in meters. More...

返回體積大小，單位m

const Eigen::Vector3i & 

getResolution () const

Returns volume resolution. More...

返回體素在X、Y、Z方向的個數

const Eigen::Vector3f 

getVoxelSize () const

Returns volume voxel size in meters. More...

返回體素大小，單位m

float 

getTsdfTruncDist () const

Returns tsdf truncation distance in meters. More...

返回截斷距離

void 

reset ()

Resets tsdf volume data to uninitialized state. More...

void 

fetchCloudHost (PointCloud< PointType > &cloud, bool connected26=false) const

Generates cloud using CPU (downloads volumetric representation to CPU memory) More...

DeviceArray< PointType > 

fetchCloud (DeviceArray< PointType > &cloud_buffer) const

Generates cloud using GPU in connected6 mode only. More...

void 

fetchNormals (const DeviceArray< PointType > &cloud, DeviceArray< PointType > &normals) const

Computes normals as gradient of tsdf for given points. More...

void 

fetchNormals (const DeviceArray< PointType > &cloud, DeviceArray< NormalType > &normals) const

Computes normals as gradient of tsdf for given points. More...

void 

downloadTsdf (std::vector< float > &tsdf) const

Downloads tsdf volume from GPU memory. More...

 

[out]

tsdf

Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512*512*z + 512*y + x];

void 

downloadTsdfAndWeighs (std::vector< float > &tsdf, std::vector< short > &weights) const

Downloads TSDF volume and according voxel weights from GPU memory. More...

[out]	tsdf	Array with tsdf values. if volume resolution is 512x512x512, so for voxel (x,y,z) tsdf value can be retrieved as volume[512*512*z + 512*y + x];
[out]	weights	Array with tsdf voxel weights. Same size and access index as for tsdf. A weight of 0 indicates the voxel was never used.

 

 如圖所示：

TSDF立方體的邊長爲3m；

分辨率可爲32x32x32，64x64x64，128x128x128，256x256x256，512x512x512；

如每個座標軸的體素數量設爲512，則每個體素的邊長爲3/512=0.00585938m