43 #include <pcl/gpu/containers/device_array.h>
44 #include <pcl/gpu/kinfu_large_scale/tsdf_buffer.h>
62 constexpr
int DIVISOR = std::numeric_limits<short>::max();
87 Intr (
float fx_,
float fy_,
float cx_,
float cy_) : fx (fx_), fy (fy_), cx (cx_), cy (cy_) {}
91 int div = 1 << level_index;
92 return (
Intr (fx / div, fy / div, cx / div, cy / div));
95 friend inline std::ostream&
98 os <<
"([f = " << intr.
fx <<
", " << intr.
fy <<
"] [cp = " << intr.
cx <<
", " << intr.
cy <<
"])";
constexpr float FOCAL_LENGTH
Camera intrinsics structure.
3x3 Matrix for device code
Intr(float fx_, float fy_, float cx_, float cy_)
friend std::ostream & operator<<(std::ostream &os, const Intr &intr)
constexpr float VOLUME_SIZE
constexpr float DISTANCE_THRESHOLD
constexpr int SNAPSHOT_RATE
Intr operator()(int level_index) const