42 #include <pcl/gpu/containers/device_array.h> 44 #include <pcl/point_cloud.h> 58 using Ptr = shared_ptr<TsdfVolume>;
66 enum { DEFAULT_CLOUD_BUFFER_SIZE = 10 * 1000 * 1000 };
77 setSize(
const Eigen::Vector3f& size);
90 const Eigen::Vector3f&
94 const Eigen::Vector3i&
95 getResolution()
const;
103 getTsdfTruncDist ()
const;
141 downloadTsdf (std::vector<float>& tsdf)
const;
148 downloadTsdfAndWeighs(std::vector<float>& tsdf, std::vector<short>& weights)
const;
152 Eigen::Vector3f size_;
155 Eigen::Vector3i resolution_;
A point structure representing normal coordinates and the surface curvature estimate.
shared_ptr< const TsdfVolume > ConstPtr
Defines functions, macros and traits for allocating and using memory.
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates.
float distance(const PointT &p1, const PointT &p2)
PointCloud represents the base class in PCL for storing collections of 3D points. ...
shared_ptr< TsdfVolume > Ptr
Defines all the PCL and non-PCL macros used.