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Jetson Inference: Point Cloud

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| | Jetson Inference

DNN Vision Library |

Classes

Point Cloud Utilities Library (jetson-utils) » CUDA

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

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Classes

| | class | cudaPointCloud | | | CUDA-accelerated point cloud processing. More...
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Detailed Description

3D point cloud processing and visualization.

Class Documentation

◆cudaPointCloud

| class cudaPointCloud |

CUDA-accelerated point cloud processing.

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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...
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Static Public Member Functions

| | static cudaPointCloud * | Create () | | | Create. More...
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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()

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| cudaPointCloud::cudaPointCloud | ( | | ) | |

| protected |

Member Function Documentation

◆__attribute__()

| struct cudaPointCloud::Vertex cudaPointCloud::__attribute__ | ( | (packed) | | ) | |

◆allocBufferGL()

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| bool cudaPointCloud::allocBufferGL | ( | | ) | |

| protected |

◆allocDepthResize()

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| bool cudaPointCloud::allocDepthResize | ( | size_t | size | ) | |

| protected |

◆Clear()

| void cudaPointCloud::Clear | ( | | ) | |

Clear the points, but keep the memory allocated.

◆Create()

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| 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]

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| Vertex* cudaPointCloud::GetData | ( | | ) | const |

| inline |

Retrieve memory pointer to point cloud data.

◆GetData() [2/2]

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| Vertex* cudaPointCloud::GetData | ( | size_t | index | ) | const |

| inline |

Retrieve memory pointer to a specific point.

◆GetMaxPoints()

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| uint32_t cudaPointCloud::GetMaxPoints | ( | | ) | const |

| inline |

Retrieve the max number of points in memory.

◆GetMaxSize()

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| size_t cudaPointCloud::GetMaxSize | ( | | ) | const |

| inline |

Retrieve the maximum size in bytes of the point cloud.

◆GetNumPoints()

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| uint32_t cudaPointCloud::GetNumPoints | ( | | ) | const |

| inline |

Retrieve the number of points being used.

◆GetSize()

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| size_t cudaPointCloud::GetSize | ( | | ) | const |

| inline |

Retrieve the size in bytes currently being used.

◆HasRGB()

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| 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.

NoteMemory 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

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| glBuffer* cudaPointCloud::mBufferGL |

| protected |

◆mCameraGL

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| glCamera* cudaPointCloud::mCameraGL |

| protected |

◆mDepthResize

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| float* cudaPointCloud::mDepthResize |

| protected |

◆mDepthSize

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| size_t cudaPointCloud::mDepthSize |

| protected |

◆mFocalLength

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| float2 cudaPointCloud::mFocalLength |

| protected |

◆mHasCalibration

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| bool cudaPointCloud::mHasCalibration |

| protected |

◆mHasNewPoints

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| bool cudaPointCloud::mHasNewPoints |

| protected |

◆mHasRGB

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| bool cudaPointCloud::mHasRGB |

| protected |

◆mMaxPoints

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| uint32_t cudaPointCloud::mMaxPoints |

| protected |

◆mNumPoints

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| uint32_t cudaPointCloud::mNumPoints |

| protected |

◆mPointsCPU

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| Vertex* cudaPointCloud::mPointsCPU |

| protected |

◆mPointsGPU

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| Vertex* cudaPointCloud::mPointsGPU |

| protected |

◆mPrincipalPoint

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| float2 cudaPointCloud::mPrincipalPoint |

| protected |

  • Generated on Tue Mar 28 2023 14:27:58 for Jetson Inference by 1.8.17