text: /*
   * Software License Agreement (BSD License)
   *
   *  Point Cloud Library (PCL) - www.pointclouds.org
   *  Copyright (c) 2011, Willow Garage, Inc.
   *
   *  All rights reserved.
   *
   *  Redistribution and use in source and binary forms, with or without
   *  modification, are permitted provided that the following conditions
   *  are met:
   *
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the name of Willow Garage, Inc. nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *  POSSIBILITY OF SUCH DAMAGE.
   *
   */
  
  
  #ifndef PCL_KINFU_TSDF_RAYCASTER_H_
  #define PCL_KINFU_TSDF_RAYCASTER_H_
  
  
  #include <pcl/pcl_macros.h>
  #include <pcl/point_types.h>
  #include <pcl/gpu/containers/device_array.h>
  #include <pcl/gpu/kinfu/pixel_rgb.h>
  #include <boost/shared_ptr.hpp>
  #include <Eigen/Geometry>
  
  namespace pcl
  {
    namespace gpu
    {
      class TsdfVolume;
  
      /** \brief Class that performs raycasting for TSDF volume
        * \author Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
        */
      struct PCL_EXPORTS RayCaster
      {
      public:
        typedef boost::shared_ptr<RayCaster> Ptr;
        typedef DeviceArray2D<float> MapArr;
        typedef DeviceArray2D<PixelRGB> View;
        typedef DeviceArray2D<unsigned short> Depth;     
  
        /** \brief Image with height */ 
        const int cols, rows;      
        
        /** \brief Constructor 
          * \param[in] rows image rows
          * \param[in] cols image cols
          * \param[in] fx focal x
          * \param[in] fy focal y
          * \param[in] cx principal point x
          * \param[in] cy principal point y
          */
        RayCaster(int rows = 480, int cols = 640, float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
        ~RayCaster();
  
        /** \brief Sets camera intrinsics */ 
        void
        setIntrinsics(float fx = 525.f, float fy = 525.f, float cx = -1, float cy = -1);
        
        /** \brief Runs raycasting algorithm from given camera pose. It writes results to internal fiels.
          * \param[in] volume tsdf volume container
          * \param[in] camera_pose camera pose
          */ 
        void 
        run(const TsdfVolume& volume, const Eigen::Affine3f& camera_pose);
  
        /** \brief Generates scene view using data raycasted by run method. So call it before.
          * \param[out] view output array for RGB image        
          */
        void
        generateSceneView(View& view) const;
  
        /** \brief Generates scene view using data raycasted by run method. So call it before.
          * \param[out] view output array for RGB image
          * \param[in] light_source_pose pose of light source
          */
        void
        generateSceneView(View& view, const Eigen::Vector3f& light_source_pose) const;
  
        /** \brief Generates depth image using data raycasted by run method. So call it before.
          * \param[out] view output array for depth image        
          */
        void
        generateDepthImage(Depth& depth) const;
        
        /** \brief Returns raycasterd vertex map. */ 
        MapArr
        getVertexMap() const;
  
        /** \brief Returns raycasterd normal map. */ 
        MapArr
        getNormalMap() const;
  
      private:
        /** \brief Camera intrinsics. */ 
        float fx_, fy_, cx_, cy_;
              
        /* Vertext/normal map internal representation example for rows=2 and cols=4
         *  X X X X
         *  X X X X
         *  Y Y Y Y
         *  Y Y Y Y
         *  Z Z Z Z
         *  Z Z Z Z     
         */
  
        /** \brief vertex map of 3D points*/
        MapArr vertex_map_;
        
        /** \brief normal map of 3D points*/
        MapArr normal_map_;
  
        /** \brief camera pose from which raycasting was done */
        Eigen::Affine3f camera_pose_;
  
        /** \brief Last passed volume size */
        Eigen::Vector3f volume_size_;
      };
      
      /** \brief Converts from map representation to organized not-dence point cloud. */
      template<typename PointType>
      void convertMapToOranizedCloud(const RayCaster::MapArr& map, DeviceArray2D<PointType>& cloud);
    }
  }
  
  #endif /* PCL_KINFU_TSDF_RAYCASTER_H_ */