Namespaces
namespace	kinfuLS
namespace	people

Classes
class	DeviceArray
	DeviceArray class More...
class	DeviceArray2D
	DeviceArray2D class More...
class	DeviceMemory
	DeviceMemory class More...
class	DeviceMemory2D
	DeviceMemory2D class More...
class	TextureBinder
struct	DevPtr
struct	PtrSz
struct	PtrStep
struct	PtrStepSz
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	NormalEstimation
	Class for normal estimation. More...
class	PFHEstimation
	Class for PFH estimation. More...
class	PFHRGBEstimation
	Class for PFHRGB estimation. More...
class	FPFHEstimation
	Class for FPFH estimation. More...
class	PPFEstimation
	** More...
class	PPFRGBEstimation
	** More...
class	PPFRGBRegionEstimation
	** More...
class	VFHEstimation
	Class for PPFRGBRegion estimation. More...
struct	DataSource
class	ColorVolume
	ColorVolume class. 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	PixelRGB
	Input/output pixel format for KinfuTracker. More...
struct	RayCaster
	Class that performs raycasting for TSDF volume. More...
class	TsdfVolume
	TsdfVolume class. More...
class	CaptureOpenNI
struct	NeighborIndices
class	Octree
	Octree implementation on GPU. More...
class	AsyncCopy
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...
class	SeededHueSegmentation
class	PseudoConvexHull3D
class	ParticleFilterGPUTracker
struct	Timer
struct	ScopeTimer

Functions
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)
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)
static void	___cudaSafeCall (cudaError_t err, const char file, const int line, const char func="")
static int	divUp (int total, int grain)

Variables
const int	NoCP = 0xFFFFFFFF
	This is an experimental code ///.
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_

Function Documentation

◆ ___cudaSafeCall() [1/2]

void pcl::gpu::___cudaSafeCall	(	cudaError_t	err,
		const char *	file,
		const int	line,
		const char *	func = "" )

inlinestatic

Definition at line 53 of file safe_call.hpp.

References error().

◆ ___cudaSafeCall() [2/2]

void pcl::gpu::___cudaSafeCall	(	cudaError_t	err,
		const char *	file,
		const int	line,
		const char *	func = "" )

inlinestatic

Definition at line 54 of file safe_call.hpp.

◆ bruteForceRadiusSearchGPU()

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.

Parameters

[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

◆ checkIfPreFermiGPU()

bool PCL_EXPORTS pcl::gpu::checkIfPreFermiGPU ( int device = -1 )

Returns true if pre-Fermi generator GPU.

Parameters

device device id to check, if < 0 checks current device.

◆ convertMapToOranizedCloud()

template<typename PointType>

void pcl::gpu::convertMapToOranizedCloud	(	const RayCaster::MapArr &	map,
		DeviceArray2D< PointType > &	cloud )

Converts from map representation to organized not-dence point cloud.

◆ copyFields() [1/5]

void pcl::gpu::copyFields	(	const DeviceArray< Normal > &	src,
		DeviceArray< PointNormal > &	dst )

Definition at line 102 of file repacks.hpp.

References copyFieldsEx(), cp(), and rule().

◆ copyFields() [2/5]

void pcl::gpu::copyFields	(	const DeviceArray< PointXYZ > &	src,
		DeviceArray< PointNormal > &	dst )

Definition at line 93 of file repacks.hpp.

References copyFieldsEx(), cp(), and rule().

◆ copyFields() [3/5]

void pcl::gpu::copyFields	(	const DeviceArray< PointXYZRGB > &	src,
		DeviceArray< PointXYZ > &	dst )

Definition at line 121 of file repacks.hpp.

References copyFieldsEx(), cp(), and rule().

◆ copyFields() [4/5]

void pcl::gpu::copyFields	(	const DeviceArray< PointXYZRGBA > &	src,
		DeviceArray< PointXYZ > &	dst )

Definition at line 130 of file repacks.hpp.

References copyFieldsEx(), cp(), and rule().

◆ copyFields() [5/5]

void pcl::gpu::copyFields	(	const DeviceArray< PointXYZRGBL > &	src,
		DeviceArray< PointXYZ > &	dst )

Definition at line 112 of file repacks.hpp.

References copyFieldsEx(), cp(), and rule().

◆ copyFieldsEx()

template<typename PointIn, typename PointOut>

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 75 of file repacks.hpp.

References copyFieldsImpl(), pcl::gpu::DeviceArray< T >::create(), NoCP, pcl::gpu::DeviceArray< T >::ptr(), and pcl::gpu::DeviceArray< T >::size().

Referenced by copyFields(), copyFields(), copyFields(), copyFields(), copyFields(), copyFieldsZ(), and copyFieldsZ().

◆ copyFieldsImpl()

void pcl::gpu::copyFieldsImpl	(	int	in_size,
		int	out_size,
		int	rules[4],
		int	size,
		const void *	input,
		void *	output )

Referenced by copyFieldsEx().

◆ copyFieldsZ() [1/2]

void pcl::gpu::copyFieldsZ	(	const DeviceArray< PointXYZ > &	src,
		DeviceArray< float > &	dst )

Definition at line 139 of file repacks.hpp.

References copyFieldsEx(), cp(), and rule().

◆ copyFieldsZ() [2/2]

void pcl::gpu::copyFieldsZ	(	const DeviceArray< PointXYZRGB > &	src,
		DeviceArray< float > &	dst )

Definition at line 146 of file repacks.hpp.

References copyFieldsEx(), cp(), and rule().

◆ cp()

int pcl::gpu::cp	(	int	from,
		int	to )

inline

Returns field copy operation code.

Definition at line 54 of file repacks.hpp.

Referenced by copyFields(), copyFields(), copyFields(), copyFields(), copyFields(), copyFieldsZ(), and copyFieldsZ().

◆ divUp() [1/2]

int pcl::gpu::divUp	(	int	total,
		int	grain )

inlinestatic

Definition at line 59 of file safe_call.hpp.

◆ divUp() [2/2]

int pcl::gpu::divUp	(	int	total,
		int	grain )

inlinestatic

Definition at line 67 of file safe_call.hpp.

◆ error()

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().

◆ extractEuclideanClusters()

template<typename PointT>

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 )

Todo: : adjust this to a variable number settable with method

Definition at line 58 of file gpu_extract_clusters.hpp.

References pcl::copyPoint(), pcl::gpu::DeviceArray< T >::create(), pcl::gpu::DeviceArray< T >::download(), pcl::detail::economical_download(), pcl::PointCloud< PointT >::header, pcl::PointIndices::header, pcl::PointIndices::indices, pcl::gpu::DeviceArray< T >::ptr(), pcl::PointCloud< PointT >::size(), pcl::gpu::NeighborIndices::sizes, and pcl::gpu::DeviceArray< T >::upload().

Referenced by pcl::gpu::EuclideanClusterExtraction< PointT >::extract().

◆ extractLabeledEuclideanClusters()

template<typename PointT>

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 45 of file gpu_extract_labeled_clusters.hpp.

References pcl::gpu::NeighborIndices::data, pcl::gpu::DeviceArray< T >::download(), pcl::PointCloud< PointT >::header, pcl::PointIndices::header, pcl::PointIndices::indices, pcl::PointCloud< PointT >::size(), pcl::gpu::NeighborIndices::sizes, and pcl::gpu::DeviceArray< T >::upload().

Referenced by pcl::gpu::EuclideanLabeledClusterExtraction< PointT >::extract().

◆ getCudaEnabledDeviceCount()

PCL_EXPORTS int pcl::gpu::getCudaEnabledDeviceCount ( )

Returns number of Cuda device.

◆ getDeviceName()

PCL_EXPORTS std::string pcl::gpu::getDeviceName ( int device )

Return device name for given device.

◆ printCudaDeviceInfo()

void PCL_EXPORTS pcl::gpu::printCudaDeviceInfo ( int device = -1 )

Prints information about given cuda device or about all devices.

Parameters

device if < 0 prints info for all devices, otherwise the function interprets it as device id.

◆ printShortCudaDeviceInfo()

void PCL_EXPORTS pcl::gpu::printShortCudaDeviceInfo ( int device = -1 )

Prints information about given cuda device or about all devices.

Parameters

device if < 0 prints info for all devices, otherwise the function interprets it as device id.

◆ rule()

int pcl::gpu::rule	(	int	cp1,
		int	cp2 = NoCP,
		int	cp3 = NoCP,
		int	cp4 = NoCP )

inline

Definition at line 61 of file repacks.hpp.

References NoCP.

Referenced by copyFields(), copyFields(), copyFields(), copyFields(), copyFields(), copyFieldsZ(), and copyFieldsZ().

◆ seededHueSegmentation()

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().

◆ setDevice()

PCL_EXPORTS void pcl::gpu::setDevice ( int device )

Sets active device to work with.

Variable Documentation

◆ fake_surface_

bool pcl::gpu::fake_surface_

Definition at line 296 of file features.hpp.

◆ image_width_

unsigned int pcl::gpu::image_width_

Definition at line 292 of file features.hpp.

◆ is_radial_

bool pcl::gpu::is_radial_

Definition at line 290 of file features.hpp.

◆ min_pts_neighb_

unsigned int pcl::gpu::min_pts_neighb_

Definition at line 294 of file features.hpp.

◆ nn_indices_

NeighborIndices pcl::gpu::nn_indices_

Definition at line 298 of file features.hpp.

◆ NoCP

const int pcl::gpu::NoCP = 0xFFFFFFFF

This is an experimental code ///.

Definition at line 50 of file repacks.hpp.

Referenced by copyFieldsEx(), and rule().

◆ support_angle_cos_

float pcl::gpu::support_angle_cos_

Definition at line 293 of file features.hpp.

◆ use_custom_axes_cloud_

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 288 of file features.hpp.

Namespaces

Classes

Functions

Variables

Function Documentation

◆ ___cudaSafeCall() [1/2]

◆ ___cudaSafeCall() [2/2]

◆ bruteForceRadiusSearchGPU()

◆ checkIfPreFermiGPU()

◆ convertMapToOranizedCloud()

◆ copyFields() [1/5]

◆ copyFields() [2/5]

◆ copyFields() [3/5]

◆ copyFields() [4/5]

◆ copyFields() [5/5]

◆ copyFieldsEx()

◆ copyFieldsImpl()

◆ copyFieldsZ() [1/2]

◆ copyFieldsZ() [2/2]

◆ cp()

◆ divUp() [1/2]

◆ divUp() [2/2]

◆ error()

◆ extractEuclideanClusters()

◆ extractLabeledEuclideanClusters()

◆ getCudaEnabledDeviceCount()

◆ getDeviceName()

◆ printCudaDeviceInfo()

◆ printShortCudaDeviceInfo()

◆ rule()

◆ seededHueSegmentation()

◆ setDevice()

Variable Documentation

◆ fake_surface_

◆ image_width_

◆ is_radial_

◆ min_pts_neighb_

◆ nn_indices_

◆ NoCP

◆ support_angle_cos_

◆ use_custom_axes_cloud_