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_;