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/*
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* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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#ifndef PCL_GPU_FEATURES_INTERNAL_HPP_
#define PCL_GPU_FEATURES_INTERNAL_HPP_
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/octree/device_format.hpp>
#include <cuda_runtime.h>
#undef PI
#ifndef PI
#define PI 3.1415926535897931f
#endif
namespace pcl
{
namespace device
{
using pcl::gpu::DeviceArray;
using pcl::gpu::DeviceArray2D;
using pcl::gpu::NeighborIndices;
typedef float4 PointType;
typedef float4 NormalType;
typedef float4 PointXYZRGB;
typedef DeviceArray< PointType> PointCloud;
typedef DeviceArray<NormalType> Normals;
typedef DeviceArray<int> Indices;
typedef DeviceArray< PointType> PointXYZRGBCloud;
template <int N> struct Histogram
{
float histogram[N];
};
typedef Histogram<125> PFHSignature125;
typedef Histogram<250> PFHRGBSignature250;
typedef Histogram<33> FPFHSignature33;
typedef Histogram<308> VFHSignature308;
struct PPFSignature
{
float f1, f2, f3, f4;
float alpha_m;
};
struct PPFRGBSignature
{
float f1, f2, f3, f4;
float r_ratio, g_ratio, b_ratio;
float alpha_m;
};
struct PrincipalCurvatures
{
union
{
float principal_curvature[3];
struct
{
float principal_curvature_x;
float principal_curvature_y;
float principal_curvature_z;
};
};
float pc1;
float pc2;
};
// normals estimation
void computeNormals(const PointCloud& cloud, const NeighborIndices& nn_indices, Normals& normals);
void flipNormalTowardsViewpoint(const PointCloud& cloud, const float3& vp, Normals& normals);
void flipNormalTowardsViewpoint(const PointCloud& cloud, const Indices& indices, const float3& vp, Normals& normals);
// pfh estimation
void repackToAosForPfh(const PointCloud& cloud, const Normals& normals, const NeighborIndices& neighbours, DeviceArray2D<float>& data_rpk, int& max_elems_rpk);
void computePfh125(const DeviceArray2D<float>& data_rpk, int max_elems_rpk, const NeighborIndices& neighbours, DeviceArray2D<PFHSignature125>& features);
void repackToAosForPfhRgb(const PointCloud& cloud, const Normals& normals, const NeighborIndices& neighbours, DeviceArray2D<float>& data_rpk, int& max_elems_rpk);
void computePfhRgb250(const DeviceArray2D<float>& data_rpk, int max_elems_rpk, const NeighborIndices& neighbours, DeviceArray2D<PFHRGBSignature250>& features);
// fpfh estimation
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 computeFPFH(const PointCloud& cloud, const Indices& indices, const PointCloud& surface,
const NeighborIndices& neighbours, DeviceArray<int>& lookup, const DeviceArray2D<FPFHSignature33>& spfh, DeviceArray2D<FPFHSignature33>& features);
int computeUniqueIndices(size_t surface_size, const NeighborIndices& neighbours, DeviceArray<int>& unique_indices, DeviceArray<int>& lookup);
// ppf estimation
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 computePPFRGBRegion(const PointXYZRGBCloud& cloud, const Normals& normals, const Indices& indices,
const NeighborIndices& nn_indices, DeviceArray<PPFRGBSignature>& output);
//PrincipalCurvatures estimation
void computePointPrincipalCurvatures(const Normals& normals, const Indices& indices, const NeighborIndices& neighbours,
DeviceArray<PrincipalCurvatures>& output, DeviceArray2D<float>& proj_normals_buf);
//vfh estimation
template<typename PointT> void compute3DCentroid(const DeviceArray<PointT>& cloud, float3& centroid);
template<typename PointT> void compute3DCentroid(const DeviceArray<PointT>& cloud, const Indices& indices, float3& centroid);
template<typename PointT> float3 getMaxDistance(const DeviceArray<PointT>& cloud, const float3& pivot);
template<typename PointT> float3 getMaxDistance(const DeviceArray<PointT>& cloud, const Indices& indices, const float3& pivot);
struct VFHEstimationImpl
{
float3 xyz_centroid;
float3 normal_centroid;
float3 viewpoint;
Indices indices;
PointCloud points;
Normals normals;
bool normalize_distances;
bool size_component;
bool normalize_bins;
void compute(DeviceArray<VFHSignature308>& feature);
};
//spinimages estimation
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 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 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 computeMask(const NeighborIndices& neighbours, int min_neighb, DeviceArray<unsigned char>& mask);
}
}
#endif /* PCL_GPU_FEATURES_INTERNAL_HPP_ */