38 #ifndef PCL_KINFU_TSDF_VOLUME_H_
39 #define PCL_KINFU_TSDF_VOLUME_H_
41 #include <pcl/pcl_macros.h>
42 #include <pcl/gpu/containers/device_array.h>
44 #include <pcl/point_cloud.h>
58 typedef boost::shared_ptr<TsdfVolume>
Ptr;
65 enum { DEFAULT_CLOUD_BUFFER_SIZE = 10 * 1000 * 1000 };
76 setSize(
const Eigen::Vector3f& size);
89 const Eigen::Vector3f&
93 const Eigen::Vector3i&
94 getResolution()
const;
102 getTsdfTruncDist ()
const;
140 downloadTsdf (std::vector<float>& tsdf)
const;
147 downloadTsdfAndWeighs(std::vector<float>& tsdf, std::vector<short>& weights)
const;
151 Eigen::Vector3f size_;
154 Eigen::Vector3i resolution_;
163 EIGEN_MAKE_ALIGNED_OPERATOR_NEW