40 #include <cuda_runtime.h>
73 tsdf_memory_start =
nullptr; tsdf_memory_end =
nullptr; tsdf_rolling_buff_origin =
nullptr;
74 origin_GRID.x = 0; origin_GRID.y = 0; origin_GRID.z = 0;
75 origin_GRID_global.x = 0.f; origin_GRID_global.y = 0.f; origin_GRID_global.z = 0.f;
76 origin_metric.x = 0.f; origin_metric.y = 0.f; origin_metric.z = 0.f;
77 volume_size.x = 3.f; volume_size.y = 3.f; volume_size.z = 3.f;
78 voxels_size.x = 512; voxels_size.y = 512; voxels_size.z = 512;
short2 * tsdf_memory_start
Address of the first element of the TSDF volume in memory.
float3 volume_size
Size of the volume, in meters.
Structure to handle buffer addresses.
tsdf_buffer()
Default constructor.
short2 * tsdf_memory_end
Address of the last element of the TSDF volume in memory.
float3 origin_metric
Current metric origin of the cube, in world coordinates.
int3 origin_GRID
Internal cube origin for rollign buffer.
short2 * tsdf_rolling_buff_origin
Memory address of the origin of the rolling buffer.
int3 voxels_size
Number of voxels in the volume, per axis.
float3 origin_GRID_global
Cube origin in world coordinates.