raycaster.h

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */
 
#pragma once
 
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/kinfu/pixel_rgb.h>
#include <Eigen/Geometry>
 
namespace pcl
{
  namespace gpu
  {
    class TsdfVolume;
 
    /** \brief Class that performs raycasting for TSDF volume
      * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
      */
    struct PCL_EXPORTS RayCaster
    {
    public:
      using Ptr = shared_ptr<RayCaster>;
      using ConstPtr = shared_ptr<const RayCaster>;
      using MapArr = DeviceArray2D<float>;
      using View = DeviceArray2D<PixelRGB>;
      using Depth = DeviceArray2D<unsigned short>;     
 
      /** \brief Image with height */ 
      const int cols, rows;      
      
      /** \brief Constructor 
        * \param[in] rows image rows
        * \param[in] cols image cols
        * \param[in] fx focal x
        * \param[in] fy focal y
        * \param[in] cx principal point x
        * \param[in] cy principal point y
        */
      RayCaster(int rows = 480, int cols = 640, float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
      ~RayCaster();
 
      /** \brief Sets camera intrinsics */ 
      void
      setIntrinsics(float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
      
      /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal files.
        * \param[in] volume tsdf volume container
        * \param[in] camera_pose camera pose
        */ 
      void 
      run(const TsdfVolume& volume, const Eigen::Affine3f& camera_pose);
 
      /** \brief Generates scene view using data raycasted by run method. So call it before.
        * \param[out] view output array for RGB image        
        */
      void
      generateSceneView(View& view) const;
 
      /** \brief Generates scene view using data raycasted by run method. So call it before.
        * \param[out] view output array for RGB image
        * \param[in] light_source_pose pose of light source
        */
      void
      generateSceneView(View& view, const Eigen::Vector3f& light_source_pose) const;
 
      /** \brief Generates depth image using data raycasted by run method. So call it before.
        * \param[out] depth output array for depth image        
        */
      void
      generateDepthImage(Depth& depth) const;
      
      /** \brief Returns raycasterd vertex map. */ 
      MapArr
      getVertexMap() const;
 
      /** \brief Returns raycasterd normal map. */ 
      MapArr
      getNormalMap() const;
 
    private:
      /** \brief Camera intrinsics. */ 
      float fx_, fy_, cx_, cy_;
            
      /* Vertext/normal map internal representation example for rows=2 and cols=4
       *  X X X X
       *  X X X X
       *  Y Y Y Y
       *  Y Y Y Y
       *  Z Z Z Z
       *  Z Z Z Z     
       */
 
      /** \brief vertex map of 3D points*/
      MapArr vertex_map_;
      
      /** \brief normal map of 3D points*/
      MapArr normal_map_;
 
      /** \brief camera pose from which raycasting was done */
      Eigen::Affine3f camera_pose_;
 
      /** \brief Last passed volume size */
      Eigen::Vector3f volume_size_;
 
public:
  PCL_MAKE_ALIGNED_OPERATOR_NEW
    };
 
    /** \brief Converts from map representation to organized not-dence point cloud. */
    template<typename PointType>
    void convertMapToOranizedCloud(const RayCaster::MapArr& map, DeviceArray2D<PointType>& cloud);
  }
}