38 #ifndef PCL_KINFU_DEVICE_H_ 39 #define PCL_KINFU_DEVICE_H_ 41 #include <pcl/gpu/containers/device_array.h> 43 #include <pcl/gpu/kinfu_large_scale/tsdf_buffer.h> 85 Intr (
float fx_,
float fy_,
float cx_,
float cy_) :
fx (fx_),
fy (fy_),
cx (cx_),
cy (cy_) {}
89 int div = 1 << level_index;
93 friend inline std::ostream&
96 os <<
"([f = " << intr.
fx <<
", " << intr.
fy <<
"] [cp = " << intr.
cx <<
", " << intr.
cy <<
"])";
Intr operator()(int level_index) const
Camera intrinsics structure.
This file defines compatibility wrappers for low level I/O functions.
3x3 Matrix for device code
Intr(float fx_, float fy_, float cx_, float cy_)
DeviceArray2D< float > MapArr
friend std::ostream & operator<<(std::ostream &os, const Intr &intr)
DeviceArray2D< ushort > DepthMap
const float DISTANCE_THRESHOLD