Point Cloud Library (PCL) 1.12.0
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Namespaces | |
namespace | kinfuLS |
namespace | people |
Classes | |
class | AsyncCopy |
class | CaptureOpenNI |
class | ColorVolume |
ColorVolume class. More... | |
struct | DataSource |
class | DeviceArray |
DeviceArray class More... | |
class | DeviceArray2D |
DeviceArray2D class More... | |
class | DeviceMemory |
DeviceMemory class More... | |
class | DeviceMemory2D |
DeviceMemory2D class More... | |
struct | DevPtr |
class | EuclideanClusterExtraction |
EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree More... | |
class | EuclideanLabeledClusterExtraction |
EuclideanLabeledClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense, depending on pcl::gpu::octree More... | |
struct | Feature |
Feature represents the base feature class. More... | |
struct | FeatureFromNormals |
Feature represents the base feature class that takes normals as input also. More... | |
class | FPFHEstimation |
Class for FPFH estimation. More... | |
class | KinfuTracker |
KinfuTracker class encapsulates implementation of Microsoft Kinect Fusion algorithm. More... | |
class | MarchingCubes |
MarchingCubes implements MarchingCubes functionality for TSDF volume on GPU. More... | |
struct | NeighborIndices |
class | NormalEstimation |
Class for normal estimation. More... | |
class | Octree |
Octree implementation on GPU. More... | |
class | ParticleFilterGPUTracker |
class | PFHEstimation |
Class for PFH estimation. More... | |
class | PFHRGBEstimation |
Class for PFHRGB estimation. More... | |
struct | PixelRGB |
Input/output pixel format for KinfuTracker. More... | |
class | PPFEstimation |
** More... | |
class | PPFRGBEstimation |
** More... | |
class | PPFRGBRegionEstimation |
** More... | |
class | PseudoConvexHull3D |
struct | PtrStep |
struct | PtrStepSz |
struct | PtrSz |
struct | RayCaster |
Class that performs raycasting for TSDF volume. More... | |
struct | ScopeTimer |
class | SeededHueSegmentation |
class | TextureBinder |
struct | Timer |
class | TsdfVolume |
TsdfVolume class. More... | |
class | VFHEstimation |
Class for PPFRGBRegion estimation. More... | |
Functions | |
PCL_EXPORTS int | getCudaEnabledDeviceCount () |
Returns number of Cuda device. | |
PCL_EXPORTS void | setDevice (int device) |
Sets active device to work with. | |
PCL_EXPORTS std::string | getDeviceName (int device) |
Return device name for given device. | |
void PCL_EXPORTS | printCudaDeviceInfo (int device=-1) |
Prints information about given cuda device or about all devices. | |
void PCL_EXPORTS | printShortCudaDeviceInfo (int device=-1) |
Prints information about given cuda device or about all devices. | |
bool PCL_EXPORTS | checkIfPreFermiGPU (int device=-1) |
Returns true if pre-Fermi generator GPU. | |
void PCL_EXPORTS | error (const char *error_string, const char *file, const int line, const char *func="") |
Error handler. | |
template<typename PointType > | |
void | convertMapToOranizedCloud (const RayCaster::MapArr &map, DeviceArray2D< PointType > &cloud) |
Converts from map representation to organized not-dence point cloud. | |
static void | ___cudaSafeCall (cudaError_t err, const char *file, const int line, const char *func="") |
static int | divUp (int total, int grain) |
PCL_EXPORTS void | bruteForceRadiusSearchGPU (const Octree::PointCloud &cloud, const Octree::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer) |
Performs brute force radius search on GPU. | |
template<typename PointT > | |
void | extractEuclideanClusters (const typename pcl::PointCloud< PointT >::Ptr &host_cloud_, const pcl::gpu::Octree::Ptr &tree, float tolerance, std::vector< PointIndices > &clusters, unsigned int min_pts_per_cluster, unsigned int max_pts_per_cluster) |
bool | comparePointClusters (const pcl::PointIndices &a, const pcl::PointIndices &b) |
Sort clusters method (for std::sort). | |
template<typename PointT > | |
void | extractLabeledEuclideanClusters (const typename pcl::PointCloud< PointT >::Ptr &host_cloud_, const pcl::gpu::Octree::Ptr &tree, float tolerance, std::vector< PointIndices > &clusters, unsigned int min_pts_per_cluster, unsigned int max_pts_per_cluster) |
bool | compareLabeledPointClusters (const pcl::PointIndices &a, const pcl::PointIndices &b) |
Sort clusters method (for std::sort). | |
void | seededHueSegmentation (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &host_cloud_, const pcl::gpu::Octree::Ptr &tree, float tolerance, PointIndices &clusters_in, PointIndices &clusters_out, float delta_hue=0.0) |
int | cp (int from, int to) |
Returns field copy operation code. | |
int | rule (int cp1, int cp2=NoCP, int cp3=NoCP, int cp4=NoCP) |
void | copyFieldsImpl (int in_size, int out_size, int rules[4], int size, const void *input, void *output) |
template<typename PointIn , typename PointOut > | |
void | copyFieldsEx (const DeviceArray< PointIn > &src, DeviceArray< PointOut > &dst, int rule1, int rule2=NoCP, int rule3=NoCP, int rule4=NoCP) |
void | copyFields (const DeviceArray< PointXYZ > &src, DeviceArray< PointNormal > &dst) |
void | copyFields (const DeviceArray< Normal > &src, DeviceArray< PointNormal > &dst) |
void | copyFields (const DeviceArray< PointXYZRGBL > &src, DeviceArray< PointXYZ > &dst) |
void | copyFields (const DeviceArray< PointXYZRGB > &src, DeviceArray< PointXYZ > &dst) |
void | copyFields (const DeviceArray< PointXYZRGBA > &src, DeviceArray< PointXYZ > &dst) |
void | copyFieldsZ (const DeviceArray< PointXYZ > &src, DeviceArray< float > &dst) |
void | copyFieldsZ (const DeviceArray< PointXYZRGB > &src, DeviceArray< float > &dst) |
static void | ___cudaSafeCall (cudaError_t err, const char *file, const int line, const char *func="") |
static int | divUp (int total, int grain) |
Variables | |
bool | use_custom_axes_cloud_ |
Class for SpinImages estimation. | |
bool | is_radial_ |
unsigned int | image_width_ |
float | support_angle_cos_ |
unsigned int | min_pts_neighb_ |
bool | fake_surface_ |
NeighborIndices | nn_indices_ |
const int | NoCP = 0xFFFFFFFF |
This is an experimental code ///. | |
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inlinestatic |
Definition at line 53 of file safe_call.hpp.
References error().
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inlinestatic |
Definition at line 53 of file safe_call.hpp.
References error().
PCL_EXPORTS void pcl::gpu::bruteForceRadiusSearchGPU | ( | const Octree::PointCloud & | cloud, |
const Octree::PointType & | query, | ||
float | radius, | ||
DeviceArray< int > & | result, | ||
DeviceArray< int > & | buffer ) |
Performs brute force radius search on GPU.
[in] | cloud | cloud where to search |
[in] | query | query point |
[in] | radius | radius |
[out] | result | indeces of points within give sphere |
[in] | buffer | buffer for intermediate results. Keep reference to it between calls to eliminate internal allocations |
bool PCL_EXPORTS pcl::gpu::checkIfPreFermiGPU | ( | int | device = -1 | ) |
Returns true if pre-Fermi generator GPU.
device | device id to check, if < 0 checks current device. |
void pcl::gpu::convertMapToOranizedCloud | ( | const RayCaster::MapArr & | map, |
DeviceArray2D< PointType > & | cloud ) |
Converts from map representation to organized not-dence point cloud.
void pcl::gpu::copyFields | ( | const DeviceArray< Normal > & | src, |
DeviceArray< PointNormal > & | dst ) |
Definition at line 86 of file repacks.hpp.
References copyFieldsEx(), cp(), and rule().
void pcl::gpu::copyFields | ( | const DeviceArray< PointXYZ > & | src, |
DeviceArray< PointNormal > & | dst ) |
Definition at line 78 of file repacks.hpp.
References copyFieldsEx(), cp(), and rule().
void pcl::gpu::copyFields | ( | const DeviceArray< PointXYZRGB > & | src, |
DeviceArray< PointXYZ > & | dst ) |
Definition at line 103 of file repacks.hpp.
References copyFieldsEx(), cp(), and rule().
void pcl::gpu::copyFields | ( | const DeviceArray< PointXYZRGBA > & | src, |
DeviceArray< PointXYZ > & | dst ) |
Definition at line 111 of file repacks.hpp.
References copyFieldsEx(), cp(), and rule().
void pcl::gpu::copyFields | ( | const DeviceArray< PointXYZRGBL > & | src, |
DeviceArray< PointXYZ > & | dst ) |
Definition at line 95 of file repacks.hpp.
References copyFieldsEx(), cp(), and rule().
void pcl::gpu::copyFieldsEx | ( | const DeviceArray< PointIn > & | src, |
DeviceArray< PointOut > & | dst, | ||
int | rule1, | ||
int | rule2 = NoCP, | ||
int | rule3 = NoCP, | ||
int | rule4 = NoCP ) |
Definition at line 71 of file repacks.hpp.
References copyFieldsImpl(), pcl::gpu::DeviceArray< T >::create(), pcl::gpu::DeviceArray< T >::ptr(), and pcl::gpu::DeviceArray< T >::size().
Referenced by copyFields(), copyFields(), copyFields(), copyFields(), copyFields(), copyFieldsZ(), and copyFieldsZ().
void pcl::gpu::copyFieldsImpl | ( | int | in_size, |
int | out_size, | ||
int | rules[4], | ||
int | size, | ||
const void * | input, | ||
void * | output ) |
Referenced by copyFieldsEx().
void pcl::gpu::copyFieldsZ | ( | const DeviceArray< PointXYZ > & | src, |
DeviceArray< float > & | dst ) |
Definition at line 119 of file repacks.hpp.
References copyFieldsEx(), cp(), and rule().
void pcl::gpu::copyFieldsZ | ( | const DeviceArray< PointXYZRGB > & | src, |
DeviceArray< float > & | dst ) |
Definition at line 125 of file repacks.hpp.
References copyFieldsEx(), cp(), and rule().
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inline |
Returns field copy operation code.
Definition at line 56 of file repacks.hpp.
Referenced by copyFields(), copyFields(), copyFields(), copyFields(), copyFields(), copyFieldsZ(), and copyFieldsZ().
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inlinestatic |
Definition at line 59 of file safe_call.hpp.
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inlinestatic |
Definition at line 59 of file safe_call.hpp.
void PCL_EXPORTS pcl::gpu::error | ( | const char * | error_string, |
const char * | file, | ||
const int | line, | ||
const char * | func = "" ) |
Error handler.
All GPU functions call this to report an error. For internal use only
Referenced by ___cudaSafeCall().
void pcl::gpu::extractEuclideanClusters | ( | const typename pcl::PointCloud< PointT >::Ptr & | host_cloud_, |
const pcl::gpu::Octree::Ptr & | tree, | ||
float | tolerance, | ||
std::vector< PointIndices > & | clusters, | ||
unsigned int | min_pts_per_cluster, | ||
unsigned int | max_pts_per_cluster ) |
Definition at line 56 of file gpu_extract_clusters.hpp.
References pcl::copyPoint(), pcl::gpu::DeviceArray< T >::create(), pcl::gpu::DeviceArray< T >::download(), pcl::detail::economical_download(), pcl::PointIndices::header, pcl::PointIndices::indices, pcl::gpu::DeviceArray< T >::ptr(), pcl::gpu::NeighborIndices::sizes, and pcl::gpu::DeviceArray< T >::upload().
void pcl::gpu::extractLabeledEuclideanClusters | ( | const typename pcl::PointCloud< PointT >::Ptr & | host_cloud_, |
const pcl::gpu::Octree::Ptr & | tree, | ||
float | tolerance, | ||
std::vector< PointIndices > & | clusters, | ||
unsigned int | min_pts_per_cluster, | ||
unsigned int | max_pts_per_cluster ) |
Definition at line 44 of file gpu_extract_labeled_clusters.hpp.
References pcl::gpu::NeighborIndices::data, pcl::gpu::DeviceArray< T >::download(), pcl::PointIndices::header, pcl::PointIndices::indices, pcl::gpu::NeighborIndices::sizes, and pcl::gpu::DeviceArray< T >::upload().
PCL_EXPORTS int pcl::gpu::getCudaEnabledDeviceCount | ( | ) |
Returns number of Cuda device.
PCL_EXPORTS std::string pcl::gpu::getDeviceName | ( | int | device | ) |
Return device name for given device.
void PCL_EXPORTS pcl::gpu::printCudaDeviceInfo | ( | int | device = -1 | ) |
Prints information about given cuda device or about all devices.
device | if < 0 prints info for all devices, otherwise the function interprets it as device id. |
void PCL_EXPORTS pcl::gpu::printShortCudaDeviceInfo | ( | int | device = -1 | ) |
Prints information about given cuda device or about all devices.
device | if < 0 prints info for all devices, otherwise the function interprets it as device id. |
Definition at line 62 of file repacks.hpp.
Referenced by copyFields(), copyFields(), copyFields(), copyFields(), copyFields(), copyFieldsZ(), and copyFieldsZ().
void pcl::gpu::seededHueSegmentation | ( | const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & | host_cloud_, |
const pcl::gpu::Octree::Ptr & | tree, | ||
float | tolerance, | ||
PointIndices & | clusters_in, | ||
PointIndices & | clusters_out, | ||
float | delta_hue = 0.0 ) |
Referenced by pcl::gpu::SeededHueSegmentation::segment().
PCL_EXPORTS void pcl::gpu::setDevice | ( | int | device | ) |
Sets active device to work with.
bool pcl::gpu::fake_surface_ |
Definition at line 297 of file features.hpp.
unsigned int pcl::gpu::image_width_ |
Definition at line 293 of file features.hpp.
bool pcl::gpu::is_radial_ |
Definition at line 291 of file features.hpp.
unsigned int pcl::gpu::min_pts_neighb_ |
Definition at line 295 of file features.hpp.
NeighborIndices pcl::gpu::nn_indices_ |
Definition at line 299 of file features.hpp.
Referenced by pcl::gpu::FPFHEstimation::compute(), pcl::gpu::PFHEstimation::compute(), pcl::gpu::PFHRGBEstimation::compute(), pcl::gpu::PPFRGBRegionEstimation::compute(), and pcl::gpu::NormalEstimation::flipNormalTowardsViewpoint().
const int pcl::gpu::NoCP = 0xFFFFFFFF |
This is an experimental code ///.
Definition at line 53 of file repacks.hpp.
float pcl::gpu::support_angle_cos_ |
Definition at line 294 of file features.hpp.
bool pcl::gpu::use_custom_axes_cloud_ |
Class for SpinImages estimation.
*/
class PCL_EXPORTS SpinImageEstimation : public FeatureFromNormals { public:
using SpinImage = Histogram<153>;
SpinImageEstimation (unsigned int image_width = 8, double support_angle_cos = 0.0, // when 0, this is bogus, so not applied unsigned int min_pts_neighb = 0);
void setImageWidth (unsigned int bin_count);
void setSupportAngle (float support_angle_cos);
void setMinPointCountInNeighbourhood (unsigned int min_pts_neighb);
void setInputWithNormals (const PointCloud& input, const Normals& normals);
void setSearchSurfaceWithNormals (const PointCloud& surface, const Normals& normals);
void setRotationAxis (const NormalType& axis); void setInputRotationAxes (const Normals& axes);
void useNormalsAsRotationAxis(); void setAngularDomain (bool is_angular = true); void setRadialStructure (bool is_radial = true);
void compute(DeviceArray2D<SpinImage>& features, DeviceArray<unsigned char>& mask);
private:
Normals input_normals_; Normals rotation_axes_cloud_;
bool is_angular_;
NormalType rotation_axis_; bool use_custom_axis_;
/* use input normals as rotation axes
Definition at line 289 of file features.hpp.