Merge pull request #2099 from SergioRAgostinho/decimation-step

Allow specifying decimation step in convertToTsdfCloud
PointCloudLibrary · Nov 23, 2017 · cd302dc · cd302dc
2 parents 651c06a + 2ba23b9
commit cd302dc
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Showing 4 changed files with 16 additions and 8 deletions.
diff --git a/gpu/kinfu/tools/tsdf_volume.h b/gpu/kinfu/tools/tsdf_volume.h
@@ -225,9 +225,13 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     ////////////////////////////////////////////////////////////////////////////////////////
     // Functionality
 
-    /** \brief Converts volume to cloud of TSDF values*/
+    /** \brief Converts volume to cloud of TSDF values
+      * \param[ou] cloud - the output point cloud
+      * \param[in] step - the decimation step to use
+      */
     void
-    convertToTsdfCloud (pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud) const;
+    convertToTsdfCloud (pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud,
+                        const unsigned step = 2) const;
 
     /** \brief Converts the volume to a surface representation via a point cloud */
   //  void

diff --git a/gpu/kinfu/tools/tsdf_volume.hpp b/gpu/kinfu/tools/tsdf_volume.hpp
@@ -155,13 +155,13 @@ pcl::TSDFVolume<VoxelT, WeightT>::save (const std::string &filename, bool binary
 
 
 template <typename VoxelT, typename WeightT> void
-pcl::TSDFVolume<VoxelT, WeightT>::convertToTsdfCloud (pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud) const
+pcl::TSDFVolume<VoxelT, WeightT>::convertToTsdfCloud (pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud,
+                                                      const unsigned step) const
 {
   int sx = header_.resolution(0);
   int sy = header_.resolution(1);
   int sz = header_.resolution(2);
 
-  const int step = 2;
   const int cloud_size = header_.getVolumeSize() / (step*step*step);
 
   cloud->clear();

diff --git a/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_volume.h b/gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_volume.h
@@ -243,9 +243,13 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
           return header_.getVolumeSize ();          
         }
 
-        /** \brief Converts volume stored on host to cloud of TSDF values*/
+        /** \brief Converts volume stored on host to cloud of TSDF values
+          * \param[ou] cloud - the output point cloud
+          * \param[in] step - the decimation step to use
+          */
         void
-        convertToTsdfCloud (pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud) const;
+        convertToTsdfCloud (pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud,
+                            const unsigned step = 2) const;
 
         /** \brief Returns the voxel grid resolution */
         inline const Eigen::Vector3i &

diff --git a/gpu/kinfu_large_scale/src/tsdf_volume.cpp b/gpu/kinfu_large_scale/src/tsdf_volume.cpp
@@ -354,13 +354,13 @@ pcl::gpu::kinfuLS::TsdfVolume::fetchNormals (const DeviceArray<PointType>& cloud
 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 void
-pcl::gpu::kinfuLS::TsdfVolume::convertToTsdfCloud (pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud) const
+pcl::gpu::kinfuLS::TsdfVolume::convertToTsdfCloud ( pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud,
+                                                    const unsigned step) const
 {
   int sx = header_.resolution(0);
   int sy = header_.resolution(1);
   int sz = header_.resolution(2);
 
-  const int step = 2;
   const int cloud_size = static_cast<int> (header_.getVolumeSize() / (step*step*step));
 
   cloud->clear();