Point Cloud Library (PCL) 1.12.0
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internal.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Willow Garage, Inc.
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21 * from this software without specific prior written permission.
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23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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35 *
36 * @authors: Cedric Cagniart, Koen Buys, Anatoly Baksheev
37 */
38
39#pragma once
40
41#include <pcl/gpu/containers/device_array.h>
42#include <pcl/gpu/utils/safe_call.hpp>
43#include <pcl/gpu/people/label_common.h>
44#include <pcl/gpu/people/tree.h>
45
47
48namespace pcl
49{
50 namespace device
51 {
54
59
61
62 /** \brief The intrinsic camera calibration **/
63 struct Intr
64 {
65 float fx, fy, cx, cy;
66 Intr () {}
67 Intr (float fx_, float fy_, float cx_, float cy_) : fx(fx_), fy(fy_), cx(cx_), cy(cy_) {}
68
69 void setDefaultPPIfIncorrect(int cols, int rows)
70 {
71 cx = cx > 0 ? cx : cols/2 - 0.5f;
72 cy = cy > 0 ? cy : rows/2 - 0.5f;
73 }
74 };
75
76 void smoothLabelImage(const Labels& src, const Depth& depth, Labels& dst, int num_parts, int patch_size, int depthThres);
77 void colorLMap(const Labels& labels, const DeviceArray<uchar4>& cmap, Image& rgb);
78 void mixedColorMap(const Labels& labels, const DeviceArray<uchar4>& map, const Image& rgba, Image& output);
79
80 ////////////// connected components ///////////////////
81
83 {
84 static void initEdges(int rows, int cols, DeviceArray2D<unsigned char>& edges);
85 //static void computeEdges(const Labels& labels, const Cloud& cloud, int num_parts, float sq_radius, DeviceArray2D<unsigned char>& edges);
86 static void computeEdges(const Labels& labels, const Depth& depth, int num_parts, float sq_radius, DeviceArray2D<unsigned char>& edges);
88 };
89
90 void computeCloud(const Depth& depth, const Intr& intr, Cloud& cloud);
91
92 void setZero(Mask& mask);
93 void prepareForeGroundDepth(const Depth& depth1, Mask& inverse_mask, Depth& depth2);
94
95 float computeHue(int rgba);
96 void computeHueWithNans(const Image& image, const Depth& depth, HueImage& hue);
97
98 //void shs(const DeviceArray2D<float4> &cloud, float tolerance, const std::vector<int>& indices_in, float delta_hue, Mask& indices_out);
99
101 {
103 enum
104 {
109 };
110
112 static void invoke(const Mask& src, const Kernel& kernel, Mask& dst);
113 };
114
115 /** \brief Struct that holds a single RDF tree in GPU **/
116 struct CUDATree
117 {
120
123
126
127 CUDATree (int treeHeight_, const std::vector<Node>& nodes, const std::vector<Label>& leaves);
128 };
129
130 /** \brief Processor using multiple trees */
132 {
133 public:
134 /** \brief Constructor with default values, allocates multilmap device memory **/
135 MultiTreeLiveProc(int def_rows = 480, int def_cols = 640) : multilmap (def_rows, def_cols) {}
136 /** \brief Empty destructor **/
138
139 void
140 process (const Depth& dmap, Labels& lmap);
141
142 /** \brief same as process, but runs the trick of declaring as background any neighbor that is more than FGThresh away.**/
143 void
144 process (const Depth& dmap, Labels& lmap, int FGThresh);
145
146 /** \brief output a probability map from the RDF.**/
147 void
148 processProb (const Depth& dmap, Labels& lmap, LabelProbability& prob, int FGThresh);
149
150 std::vector<CUDATree> trees;
152 };
153
154 /** \brief Implementation Class to process probability histograms on GPU **/
156 {
157 public:
158 /** \brief Default constructor **/
160 {
161 std::cout << "[pcl::device::ProbabilityProc:ProbabilityProc] : (D) : Constructor called" << std::endl;
162 //PCL_DEBUG("[pcl::device::ProbabilityProc:ProbabilityProc] : (D) : Constructor called");
163 }
164
165 /** \brief Default destructor **/
167
168 /** \brief This will merge the votes from the different trees into one final vote, including probabilistic's **/
169 void
170 CUDA_SelectLabel ( const Depth& depth, Labels& labels, LabelProbability& probabilities);
171
172 /** \brief This will combine two probabilities according their weight **/
173 void
174 CUDA_CombineProb ( const Depth& depth, LabelProbability& probIn1, float weight1,
175 LabelProbability& probIn2, float weight2, LabelProbability& probOut);
176
177 /** \brief This will sum a probability multiplied with it's weight **/
178 void
179 CUDA_WeightedSumProb ( const Depth& depth, LabelProbability& probIn, float weight, LabelProbability& probOut);
180
181 /** \brief This will blur the input labelprobability with the given kernel **/
182 int
184 LabelProbability& probIn,
186 LabelProbability& probOut);
187 /** \brief This will blur the input labelprobability with the given kernel, this version avoids extended allocation **/
188 int
190 LabelProbability& probIn,
192 LabelProbability& probTemp,
193 LabelProbability& probOut);
194 };
195 }
196}
Processor using multiple trees.
Definition internal.h:132
void process(const Depth &dmap, Labels &lmap, int FGThresh)
same as process, but runs the trick of declaring as background any neighbor that is more than FGThres...
void processProb(const Depth &dmap, Labels &lmap, LabelProbability &prob, int FGThresh)
output a probability map from the RDF.
void process(const Depth &dmap, Labels &lmap)
~MultiTreeLiveProc()
Empty destructor.
Definition internal.h:137
MultiTreeLiveProc(int def_rows=480, int def_cols=640)
Constructor with default values, allocates multilmap device memory.
Definition internal.h:135
std::vector< CUDATree > trees
Definition internal.h:150
Implementation Class to process probability histograms on GPU.
Definition internal.h:156
int CUDA_GaussianBlur(const Depth &depth, LabelProbability &probIn, DeviceArray< float > &kernel, LabelProbability &probTemp, LabelProbability &probOut)
This will blur the input labelprobability with the given kernel, this version avoids extended allocat...
~ProbabilityProc()
Default destructor.
Definition internal.h:166
int CUDA_GaussianBlur(const Depth &depth, LabelProbability &probIn, DeviceArray< float > &kernel, LabelProbability &probOut)
This will blur the input labelprobability with the given kernel.
void CUDA_WeightedSumProb(const Depth &depth, LabelProbability &probIn, float weight, LabelProbability &probOut)
This will sum a probability multiplied with it's weight.
ProbabilityProc()
Default constructor.
Definition internal.h:159
void CUDA_CombineProb(const Depth &depth, LabelProbability &probIn1, float weight1, LabelProbability &probIn2, float weight2, LabelProbability &probOut)
This will combine two probabilities according their weight.
void CUDA_SelectLabel(const Depth &depth, Labels &labels, LabelProbability &probabilities)
This will merge the votes from the different trees into one final vote, including probabilistic's.
DeviceArray2D class
DeviceArray class
void smoothLabelImage(const Labels &src, const Depth &depth, Labels &dst, int num_parts, int patch_size, int depthThres)
void computeCloud(const Depth &depth, const Intr &intr, Cloud &cloud)
void colorLMap(const Labels &labels, const DeviceArray< uchar4 > &cmap, Image &rgb)
void mixedColorMap(const Labels &labels, const DeviceArray< uchar4 > &map, const Image &rgba, Image &output)
void computeHueWithNans(const Image &image, const Depth &depth, HueImage &hue)
void setZero(Mask &mask)
float computeHue(int rgba)
void prepareForeGroundDepth(const Depth &depth1, Mask &inverse_mask, Depth &depth2)
std::uint8_t Label
Definition tree.h:73
Struct that holds a single RDF tree in GPU.
Definition internal.h:117
pcl::gpu::people::trees::Label Label
Definition internal.h:119
DeviceArray< Label > leaves_device
Definition internal.h:125
DeviceArray< Node > nodes_device
Definition internal.h:124
CUDATree(int treeHeight_, const std::vector< Node > &nodes, const std::vector< Label > &leaves)
static void computeEdges(const Labels &labels, const Depth &depth, int num_parts, float sq_radius, DeviceArray2D< unsigned char > &edges)
static void labelComponents(const DeviceArray2D< unsigned char > &edges, DeviceArray2D< int > &comps)
static void initEdges(int rows, int cols, DeviceArray2D< unsigned char > &edges)
static void prepareRect5x5Kernel(Kernel &kernel)
static void invoke(const Mask &src, const Kernel &kernel, Mask &dst)
Camera intrinsics structure.
Definition internal.h:64
void setDefaultPPIfIncorrect(int cols, int rows)
Definition internal.h:69
Intr(float fx_, float fy_, float cx_, float cy_)
Definition internal.h:67