Point Cloud

3D point cloud processing and visualization. More...

Classes
class	cudaPointCloud
	CUDA-accelerated point cloud processing. More...

Detailed Description

3D point cloud processing and visualization.

---

Class Documentation

cudaPointCloud

class cudaPointCloud

CUDA-accelerated point cloud processing.

Public Member Functions
struct cudaPointCloud::Vertex	__attribute__ ((packed))
	~cudaPointCloud ()
	Destructor. More...
bool	Reserve (uint32_t maxPoints)
	Allocate and reserve memory for the max number of points. More...
void	Free ()
	Free the memory being used to store the point cloud. More...
void	Clear ()
	Clear the points, but keep the memory allocated. More...
bool	Extract (float *depth, float4 *rgba, uint32_t width, uint32_t height)
	Extract point cloud from depth map and optional RGBA image. More...
bool	Extract (float *depth, uint32_t depth_width, uint32_t depth_height, float4 *rgba, uint32_t color_width, uint32_t color_height)
	Extract point cloud from depth map and optional RGBA image. More...
uint32_t	GetNumPoints () const
	Retrieve the number of points being used. More...
uint32_t	GetMaxPoints () const
	Retrieve the max number of points in memory. More...
size_t	GetSize () const
	Retrieve the size in bytes currently being used. More...
size_t	GetMaxSize () const
	Retrieve the maximum size in bytes of the point cloud. More...
Vertex *	GetData () const
	Retrieve memory pointer to point cloud data. More...
Vertex *	GetData (size_t index) const
	Retrieve memory pointer to a specific point. More...
bool	HasRGB () const
	Does the point cloud have RGB data? More...
bool	Render ()
	Render the point cloud with OpenGL. More...
bool	Save (const char *filename)
	Save point cloud to PCD file. More...
bool	SetCalibration (const char *filename)
	Set the intrinsic camera calibration. More...
void	SetCalibration (const float K[3][3])
	Set the intrinsic camera calibration. More...
void	SetCalibration (const float2 &focalLength, const float2 &principalPoint)
	Set the intrinsic camera calibration. More...
Static Public Member Functions
static cudaPointCloud *	Create ()
	Create. More...
Protected Member Functions
	cudaPointCloud ()
bool	allocBufferGL ()
bool	allocDepthResize (size_t size)
Protected Attributes
Vertex *	mPointsCPU
Vertex *	mPointsGPU
glBuffer *	mBufferGL
glCamera *	mCameraGL
uint32_t	mNumPoints
uint32_t	mMaxPoints
float2	mFocalLength
float2	mPrincipalPoint
float *	mDepthResize
size_t	mDepthSize
bool	mHasRGB
bool	mHasNewPoints
bool	mHasCalibration

Constructor & Destructor Documentation

~cudaPointCloud()

cudaPointCloud::~cudaPointCloud

(

)

Destructor.

cudaPointCloud()

cudaPointCloud::cudaPointCloud ( )

protected

Member Function Documentation

__attribute__()

struct cudaPointCloud::Vertex cudaPointCloud::__attribute__

(

(packed)

)

allocBufferGL()

bool cudaPointCloud::allocBufferGL ( )

protected

allocDepthResize()

bool cudaPointCloud::allocDepthResize ( size_t  size )

protected

Clear()

void cudaPointCloud::Clear

(

)

Clear the points, but keep the memory allocated.

Create()

static cudaPointCloud* cudaPointCloud::Create ( )

static

Create.

Extract() [1/2]

bool cudaPointCloud::Extract	(	float *	depth,
		float4 *	rgba,
		uint32_t	width,
		uint32_t	height
	)

Extract point cloud from depth map and optional RGBA image.

Extract() [2/2]

bool cudaPointCloud::Extract	(	float *	depth,
		uint32_t	depth_width,
		uint32_t	depth_height,
		float4 *	rgba,
		uint32_t	color_width,
		uint32_t	color_height
	)

Extract point cloud from depth map and optional RGBA image.

Free()

void cudaPointCloud::Free

(

)

Free the memory being used to store the point cloud.

GetData() [1/2]

Vertex* cudaPointCloud::GetData ( ) const

inline

Retrieve memory pointer to point cloud data.

GetData() [2/2]

Vertex* cudaPointCloud::GetData ( size_t  index ) const

inline

Retrieve memory pointer to a specific point.

GetMaxPoints()

uint32_t cudaPointCloud::GetMaxPoints ( ) const

inline

Retrieve the max number of points in memory.

GetMaxSize()

size_t cudaPointCloud::GetMaxSize ( ) const

inline

Retrieve the maximum size in bytes of the point cloud.

GetNumPoints()

uint32_t cudaPointCloud::GetNumPoints ( ) const

inline

Retrieve the number of points being used.

GetSize()

size_t cudaPointCloud::GetSize ( ) const

inline

Retrieve the size in bytes currently being used.

HasRGB()

bool cudaPointCloud::HasRGB ( ) const

inline

Does the point cloud have RGB data?

Render()

bool cudaPointCloud::Render

(

)

Render the point cloud with OpenGL.

Reserve()

bool cudaPointCloud::Reserve

(

uint32_t

maxPoints

)

Allocate and reserve memory for the max number of points.

Note

Memory is reserved automatically by Extract(), but if you know in advance the maximum number of points it is good practice to call Reserve() ahead of time.

Save()

bool cudaPointCloud::Save

(

const char *

filename

)

Save point cloud to PCD file.

SetCalibration() [1/3]

bool cudaPointCloud::SetCalibration

(

const char *

filename

)

Set the intrinsic camera calibration.

SetCalibration() [2/3]

void cudaPointCloud::SetCalibration

(

const float

K[3][3]

)

Set the intrinsic camera calibration.

SetCalibration() [3/3]

void cudaPointCloud::SetCalibration	(	const float2 &	focalLength,
		const float2 &	principalPoint
	)

Set the intrinsic camera calibration.

Member Data Documentation

mBufferGL

glBuffer* cudaPointCloud::mBufferGL

protected

mCameraGL

glCamera* cudaPointCloud::mCameraGL

protected

mDepthResize

float* cudaPointCloud::mDepthResize

protected

mDepthSize

size_t cudaPointCloud::mDepthSize

protected

mFocalLength

float2 cudaPointCloud::mFocalLength

protected

mHasCalibration

bool cudaPointCloud::mHasCalibration

protected

mHasNewPoints

bool cudaPointCloud::mHasNewPoints

protected

mHasRGB

bool cudaPointCloud::mHasRGB

protected

mMaxPoints

uint32_t cudaPointCloud::mMaxPoints

protected

mNumPoints

uint32_t cudaPointCloud::mNumPoints

protected

mPointsCPU

Vertex* cudaPointCloud::mPointsCPU

protected

mPointsGPU

Vertex* cudaPointCloud::mPointsGPU

protected

mPrincipalPoint

float2 cudaPointCloud::mPrincipalPoint

protected