Point Cloud Library (PCL) 1.12.0
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internal.hpp
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Willow Garage, Inc.
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15 * disclaimer in the documentation and/or other materials provided
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19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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33 *
34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35 */
36
37#ifndef PCL_GPU_FEATURES_INTERNAL_HPP_
38#define PCL_GPU_FEATURES_INTERNAL_HPP_
39
40#include <pcl/gpu/containers/device_array.h>
41#include <pcl/gpu/octree/device_format.hpp>
42
43#include <cuda_runtime.h>
44
45#undef PI
46#ifndef PI
47 #define PI 3.1415926535897931f
48#endif
49
50namespace pcl
51{
52 namespace device
53 {
57
58 using PointType = float4;
59 using NormalType = float4;
60 using PointXYZRGB = float4;
61
65
67
68 template <int N> struct Histogram
69 {
70 float histogram[N];
71 };
72
77
79 {
80 float f1, f2, f3, f4;
81 float alpha_m;
82 };
83
85 {
86 float f1, f2, f3, f4;
88 float alpha_m;
89 };
90
92 {
93 union
94 {
96 struct
97 {
101 };
102 };
103 float pc1;
104 float pc2;
105 };
106
107 // normals estimation
108 void computeNormals(const PointCloud& cloud, const NeighborIndices& nn_indices, Normals& normals);
109 void flipNormalTowardsViewpoint(const PointCloud& cloud, const float3& vp, Normals& normals);
110 void flipNormalTowardsViewpoint(const PointCloud& cloud, const Indices& indices, const float3& vp, Normals& normals);
111
112 // pfh estimation
113 void repackToAosForPfh(const PointCloud& cloud, const Normals& normals, const NeighborIndices& neighbours, DeviceArray2D<float>& data_rpk, int& max_elems_rpk);
114 void computePfh125(const DeviceArray2D<float>& data_rpk, int max_elems_rpk, const NeighborIndices& neighbours, DeviceArray2D<PFHSignature125>& features);
115
116 void repackToAosForPfhRgb(const PointCloud& cloud, const Normals& normals, const NeighborIndices& neighbours, DeviceArray2D<float>& data_rpk, int& max_elems_rpk);
117 void computePfhRgb250(const DeviceArray2D<float>& data_rpk, int max_elems_rpk, const NeighborIndices& neighbours, DeviceArray2D<PFHRGBSignature250>& features);
118
119
120 // fpfh estimation
121 void computeSPFH(const PointCloud& surface, const Normals& normals, const Indices& indices, const NeighborIndices& neighbours, DeviceArray2D<FPFHSignature33>& spfh33);
122 void computeFPFH(const PointCloud& cloud, const NeighborIndices& neighbours, const DeviceArray2D<FPFHSignature33>& spfh, DeviceArray2D<FPFHSignature33>& features);
123
124 void computeFPFH(const PointCloud& cloud, const Indices& indices, const PointCloud& surface,
125 const NeighborIndices& neighbours, DeviceArray<int>& lookup, const DeviceArray2D<FPFHSignature33>& spfh, DeviceArray2D<FPFHSignature33>& features);
126
127 int computeUniqueIndices(std::size_t surface_size, const NeighborIndices& neighbours, DeviceArray<int>& unique_indices, DeviceArray<int>& lookup);
128
129 // ppf estimation
130 void computePPF(const PointCloud& input, const Normals& normals, const Indices& indices, DeviceArray<PPFSignature>& output);
131 void computePPFRGB(const PointXYZRGBCloud& input, const Normals& normals, const Indices& indices, DeviceArray<PPFRGBSignature>& output);
132 void computePPFRGBRegion(const PointXYZRGBCloud& cloud, const Normals& normals, const Indices& indices,
133 const NeighborIndices& nn_indices, DeviceArray<PPFRGBSignature>& output);
134
135 //PrincipalCurvatures estimation
136 void computePointPrincipalCurvatures(const Normals& normals, const Indices& indices, const NeighborIndices& neighbours,
137 DeviceArray<PrincipalCurvatures>& output, DeviceArray2D<float>& proj_normals_buf);
138
139
140 //vfh estimation
141 template<typename PointT> void compute3DCentroid(const DeviceArray<PointT>& cloud, float3& centroid);
142 template<typename PointT> void compute3DCentroid(const DeviceArray<PointT>& cloud, const Indices& indices, float3& centroid);
143
144 template<typename PointT> float3 getMaxDistance(const DeviceArray<PointT>& cloud, const float3& pivot);
145 template<typename PointT> float3 getMaxDistance(const DeviceArray<PointT>& cloud, const Indices& indices, const float3& pivot);
146
163
164 //spinimages estimation
165 void computeSpinImagesOrigigNormal(bool radial, bool angular, float support_angle_cos, const Indices& indices, const PointCloud& input_cloud, const Normals& input_normals,
166 const PointCloud& surface, const Normals& normals, const NeighborIndices& neighbours, int min_neighb, int image_width, float bin_size, PtrStep<float> output);
167
168 void computeSpinImagesCustomAxes(bool radial, bool angular, float support_angle_cos, const Indices& indices, const PointCloud& input_cloud, const Normals& input_normals,
169 const PointCloud& surface, const Normals& normals, const NeighborIndices& neighbours, int min_neighb, int image_width, float bin_size, const float3& rotation_axis, PtrStep<float> output);
170
171 void computeSpinImagesCustomAxesCloud(bool radial, bool angular, float support_angle_cos, const Indices& indices, const PointCloud& input_cloud, const Normals& input_normals,
172 const PointCloud& surface, const Normals& normals, const NeighborIndices& neighbours, int min_neighb, int image_width, float bin_size, const Normals& rotation_axes_cloud, PtrStep<float> output);
173
174 void computeMask(const NeighborIndices& neighbours, int min_neighb, DeviceArray<unsigned char>& mask);
175 }
176}
177
178#endif /* PCL_GPU_FEATURES_INTERNAL_HPP_ */
DeviceArray2D class
DeviceArray class
void computePfhRgb250(const DeviceArray2D< float > &data_rpk, int max_elems_rpk, const NeighborIndices &neighbours, DeviceArray2D< PFHRGBSignature250 > &features)
void computeSPFH(const PointCloud &surface, const Normals &normals, const Indices &indices, const NeighborIndices &neighbours, DeviceArray2D< FPFHSignature33 > &spfh33)
void computeFPFH(const PointCloud &cloud, const NeighborIndices &neighbours, const DeviceArray2D< FPFHSignature33 > &spfh, DeviceArray2D< FPFHSignature33 > &features)
void computeSpinImagesCustomAxesCloud(bool radial, bool angular, float support_angle_cos, const Indices &indices, const PointCloud &input_cloud, const Normals &input_normals, const PointCloud &surface, const Normals &normals, const NeighborIndices &neighbours, int min_neighb, int image_width, float bin_size, const Normals &rotation_axes_cloud, PtrStep< float > output)
void computePointPrincipalCurvatures(const Normals &normals, const Indices &indices, const NeighborIndices &neighbours, DeviceArray< PrincipalCurvatures > &output, DeviceArray2D< float > &proj_normals_buf)
void computePPFRGBRegion(const PointXYZRGBCloud &cloud, const Normals &normals, const Indices &indices, const NeighborIndices &nn_indices, DeviceArray< PPFRGBSignature > &output)
void flipNormalTowardsViewpoint(const PointCloud &cloud, const float3 &vp, Normals &normals)
void computePfh125(const DeviceArray2D< float > &data_rpk, int max_elems_rpk, const NeighborIndices &neighbours, DeviceArray2D< PFHSignature125 > &features)
Histogram< 250 > PFHRGBSignature250
Definition internal.hpp:74
float4 PointType
Definition internal.hpp:58
Histogram< 308 > VFHSignature308
Definition internal.hpp:76
int computeUniqueIndices(std::size_t surface_size, const NeighborIndices &neighbours, DeviceArray< int > &unique_indices, DeviceArray< int > &lookup)
Histogram< 33 > FPFHSignature33
Definition internal.hpp:75
void repackToAosForPfhRgb(const PointCloud &cloud, const Normals &normals, const NeighborIndices &neighbours, DeviceArray2D< float > &data_rpk, int &max_elems_rpk)
void repackToAosForPfh(const PointCloud &cloud, const Normals &normals, const NeighborIndices &neighbours, DeviceArray2D< float > &data_rpk, int &max_elems_rpk)
void compute3DCentroid(const DeviceArray< PointT > &cloud, float3 &centroid)
void computeMask(const NeighborIndices &neighbours, int min_neighb, DeviceArray< unsigned char > &mask)
void computeNormals(const PointCloud &cloud, const NeighborIndices &nn_indices, Normals &normals)
float3 getMaxDistance(const DeviceArray< PointT > &cloud, const float3 &pivot)
Histogram< 125 > PFHSignature125
Definition internal.hpp:73
float4 PointXYZRGB
Definition internal.hpp:60
float4 NormalType
Definition internal.hpp:59
void computeSpinImagesCustomAxes(bool radial, bool angular, float support_angle_cos, const Indices &indices, const PointCloud &input_cloud, const Normals &input_normals, const PointCloud &surface, const Normals &normals, const NeighborIndices &neighbours, int min_neighb, int image_width, float bin_size, const float3 &rotation_axis, PtrStep< float > output)
void computeSpinImagesOrigigNormal(bool radial, bool angular, float support_angle_cos, const Indices &indices, const PointCloud &input_cloud, const Normals &input_normals, const PointCloud &surface, const Normals &normals, const NeighborIndices &neighbours, int min_neighb, int image_width, float bin_size, PtrStep< float > output)
void computePPF(const PointCloud &input, const Normals &normals, const Indices &indices, DeviceArray< PPFSignature > &output)
void computePPFRGB(const PointXYZRGBCloud &input, const Normals &normals, const Indices &indices, DeviceArray< PPFRGBSignature > &output)
void compute(DeviceArray< VFHSignature308 > &feature)