Program Listing for File internal.h¶
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* @authors: Cedric Cagniart, Koen Buys, Anatoly Baksheev
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#ifndef PCL_GPU_PEOPLE_INTERNAL_H_
#define PCL_GPU_PEOPLE_INTERNAL_H_
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/utils/safe_call.hpp>
#include <pcl/gpu/people/label_common.h>
#include <pcl/gpu/people/tree.h>
using pcl::gpu::people::NUM_PARTS;
namespace pcl
{
namespace device
{
typedef DeviceArray2D<float4> Cloud;
typedef DeviceArray2D<uchar4> Image;
typedef DeviceArray2D<unsigned short> Depth;
typedef DeviceArray2D<unsigned char> Labels;
typedef DeviceArray2D<float> HueImage;
typedef DeviceArray2D<unsigned char> Mask;
typedef DeviceArray2D<char4> MultiLabels;
/** \brief The intrinsic camera calibration **/
struct Intr
{
float fx, fy, cx, cy;
Intr () {}
Intr (float fx_, float fy_, float cx_, float cy_) : fx(fx_), fy(fy_), cx(cx_), cy(cy_) {}
void setDefaultPPIfIncorrect(int cols, int rows)
{
cx = cx > 0 ? cx : cols/2 - 0.5f;
cy = cy > 0 ? cy : rows/2 - 0.5f;
}
};
void smoothLabelImage(const Labels& src, const Depth& depth, Labels& dst, int num_parts, int patch_size, int depthThres);
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);
////////////// connected components ///////////////////
struct ConnectedComponents
{
static void initEdges(int rows, int cols, DeviceArray2D<unsigned char>& edges);
//static void computeEdges(const Labels& labels, const Cloud& cloud, int num_parts, float sq_radius, DeviceArray2D<unsigned char>& edges);
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);
};
void computeCloud(const Depth& depth, const Intr& intr, Cloud& cloud);
void setZero(Mask& mask);
void prepareForeGroundDepth(const Depth& depth1, Mask& inverse_mask, Depth& depth2);
float computeHue(int rgba);
void computeHueWithNans(const Image& image, const Depth& depth, HueImage& hue);
//void shs(const DeviceArray2D<float4> &cloud, float tolerance, const std::vector<int>& indices_in, float delta_hue, Mask& indices_out);
struct Dilatation
{
typedef DeviceArray<unsigned char> Kernel;
enum
{
KSIZE_X = 5,
KSIZE_Y = 5,
ANCH_X = KSIZE_X/2,
ANCH_Y = KSIZE_Y/2,
};
static void prepareRect5x5Kernel(Kernel& kernel);
static void invoke(const Mask& src, const Kernel& kernel, Mask& dst);
};
/** \brief Struct that holds a single RDF tree in GPU **/
struct CUDATree
{
typedef pcl::gpu::people::trees::Node Node;
typedef pcl::gpu::people::trees::Label Label;
int treeHeight;
int numNodes;
DeviceArray<Node> nodes_device;
DeviceArray<Label> leaves_device;
CUDATree (int treeHeight_, const std::vector<Node>& nodes, const std::vector<Label>& leaves);
};
/** \brief Processor using multiple trees */
class MultiTreeLiveProc
{
public:
/** \brief Constructor with default values, allocates multilmap device memory **/
MultiTreeLiveProc(int def_rows = 480, int def_cols = 640) : multilmap (def_rows, def_cols) {}
/** \brief Empty destructor **/
~MultiTreeLiveProc() {}
void
process (const Depth& dmap, Labels& lmap);
/** \brief same as process, but runs the trick of declaring as background any neighbor that is more than FGThresh away.**/
void
process (const Depth& dmap, Labels& lmap, int FGThresh);
/** \brief output a probability map from the RDF.**/
void
processProb (const Depth& dmap, Labels& lmap, LabelProbability& prob, int FGThresh);
std::vector<CUDATree> trees;
MultiLabels multilmap;
};
/** \brief Implementation Class to process probability histograms on GPU **/
class ProbabilityProc
{
public:
/** \brief Default constructor **/
ProbabilityProc()
{
std::cout << "[pcl::device::ProbabilityProc:ProbabilityProc] : (D) : Constructor called" << std::endl;
//PCL_DEBUG("[pcl::device::ProbabilityProc:ProbabilityProc] : (D) : Constructor called");
}
/** \brief Default destructor **/
~ProbabilityProc() {}
/** \brief This will merge the votes from the different trees into one final vote, including probabilistic's **/
void
CUDA_SelectLabel ( const Depth& depth, Labels& labels, LabelProbability& probabilities);
/** \brief This will combine two probabilities according their weight **/
void
CUDA_CombineProb ( const Depth& depth, LabelProbability& probIn1, float weight1,
LabelProbability& probIn2, float weight2, LabelProbability& probOut);
/** \brief This will sum a probability multiplied with it's weight **/
void
CUDA_WeightedSumProb ( const Depth& depth, LabelProbability& probIn, float weight, LabelProbability& probOut);
/** \brief This will blur the input labelprobability with the given kernel **/
int
CUDA_GaussianBlur( const Depth& depth,
LabelProbability& probIn,
DeviceArray<float>& kernel,
LabelProbability& probOut);
/** \brief This will blur the input labelprobability with the given kernel, this version avoids extended allocation **/
int
CUDA_GaussianBlur( const Depth& depth,
LabelProbability& probIn,
DeviceArray<float>& kernel,
LabelProbability& probTemp,
LabelProbability& probOut);
};
}
}
#endif /* PCL_GPU_PEOPLE_INTERNAL_H_ */