color_volume.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
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#pragma once
 
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <Eigen/Core>
 
namespace pcl
{
  namespace gpu
  {
    class TsdfVolume;
 
    /** \brief ColorVolume class
      * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
      */
    class PCL_EXPORTS ColorVolume
    {
    public:
      using PointType = PointXYZ;
      using Ptr = shared_ptr<ColorVolume>;
      using ConstPtr = shared_ptr<const ColorVolume>;
 
      /** \brief Constructor
        * \param[in] tsdf tsdf volume to get parameters from
        * \param[in] max_weight max weight for running average. Can be less than 255. Negative means default.
        */
      ColorVolume(const TsdfVolume& tsdf, int max_weight = -1);
 
      /** \brief Destructor */
      ~ColorVolume();
 
      /** \brief Resets color volume to uninitialized state */
      void
      reset();
 
      /** \brief Returns running average length */
      int
      getMaxWeight() const;
 
      /** \brief Returns container with color volume in GPU memory */
      DeviceArray2D<int>
      data() const;
 
      /** \brief Computes colors from color volume
        * \param[in] cloud Points for which colors are to be computed.
        * \param[out] colors output array for colors
        */
      void
      fetchColors (const DeviceArray<PointType>& cloud, DeviceArray<RGB>& colors) const; 
 
    private:
      /** \brief Volume resolution */
      Eigen::Vector3i resolution_;
 
      /** \brief Volume size in meters */
      Eigen::Vector3f volume_size_;
 
      /** \brief Length of running average */
      int max_weight_;     
 
      /** \brief color volume data */
      DeviceArray2D<int> color_volume_;
 
public:
  PCL_MAKE_ALIGNED_OPERATOR_NEW
 
    };
  }
}