Namespaces
	detail

Classes
struct	AddPoints
	Simple kernel to add two points. More...

struct	AddCovariances
	Adds two matrices element-wise. More...

struct	convert_point_to_float3
	Simple kernel to convert a PointXYZRGB to float3. More...

struct	ComputeCovarianceForPoint
	Kernel to compute a `‘covariance matrix’' for a single point. More...

class	OrganizedRadiusSearch
	Kernel to compute a radius neighborhood given a organized point cloud (aka range image cloud) More...

union	RGB
	Default RGB structure, defined as a union over 4 chars. More...

class	PCLCUDABase
	PCL base class. More...

struct	CovarianceMatrix
	misnamed class holding a 3x3 matrix More...

struct	OpenNIRGB
	Simple structure holding RGB data. More...

struct	Host
	Host helper class. More...

struct	Device
	Device helper class. More...

class	PointCloudAOS
	PointCloudAOS represents an AOS (Array of Structs) PointCloud implementation for CUDA processing. More...

class	PointCloudSOA
	PointCloudSOA represents a SOA (Struct of Arrays) PointCloud implementation for CUDA processing. More...

struct	PointIterator

struct	PointIterator< Device, T >

struct	PointIterator< Host, T >

struct	StoragePointer

struct	StoragePointer< Device, T >

struct	StoragePointer< Host, T >

struct	StorageAllocator

struct	StorageAllocator< Device, T >

struct	StorageAllocator< Host, T >

struct	PointXYZRGB
	Default point xyz-rgb structure. More...

class	ScopeTimeCPU
	Class to measure the time spent in a scope. More...

class	ScopeTimeGPU
	Class to measure the time spent in a scope. More...

struct	NormalEstimationKernel

struct	FastNormalEstimationKernel

struct	NormalDeviationKernel

struct	downsampleIndices

struct	DebayerBilinear

class	DebayeringDownsampling

struct	YUV2RGBKernel

class	YUV2RGB

class	Debayering

struct	ComputeXYZ
	Compute the XYZ values for a point based on disparity information. More...

struct	ComputeXYZRGB
	Compute the XYZ and RGB values for a point based on disparity information. More...

class	DisparityToCloud
	Disparity to PointCloudAOS generator. More...

struct	DisparityBoundSmoothing

struct	DisparityClampedSmoothing

struct	DisparityHelperMap

struct	isNotZero

struct	isInlier
	Check if a certain tuple is a point inlier. More...

struct	isNotInlier

struct	SetColor

struct	ChangeColor

class	MultiRandomSampleConsensus
	RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography", Martin A. More...

class	RandomSampleConsensus
	RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography", Martin A. More...

class	SampleConsensus

struct	DeleteIndices
	Check if a certain tuple is a point inlier. More...

struct	isNaNPoint

class	SampleConsensusModel
	SampleConsensusModel represents the base model class. More...

struct	CountPlanarInlier
	Check if a certain tuple is a point inlier. More...

struct	NewCheckPlanarInlier
	Check if a certain tuple is a point inlier. More...

struct	CheckPlanarInlier
	Check if a certain tuple is a point inlier. More...

struct	CheckPlanarInlierIndices
	Check if a certain tuple is a point inlier. More...

struct	CheckPlanarInlierKinectNormalIndices
	Check if a certain tuple is a point inlier. More...

struct	CheckPlanarInlierKinectIndices
	Check if a certain tuple is a point inlier. More...

struct	CheckPlanarInlierNormalIndices
	Check if a certain tuple is a point inlier. More...

class	SampleConsensusModel1PointPlane
	SampleConsensusModel1PointPlane defines a model for 3D plane segmentation. More...

struct	Create1PointPlaneHypothesis
	Check if a certain tuple is a point inlier. More...

struct	Create1PointPlaneSampleHypothesis
	Check if a certain tuple is a point inlier. More...

struct	parallel_random_generator

class	SampleConsensusModelPlane
	SampleConsensusModelPlane defines a model for 3D plane segmentation. More...

struct	CreatePlaneHypothesis
	Check if a certain tuple is a point inlier. More...

Functions
__host__ __device__ bool	isMuchSmallerThan (float x, float y)

__host__ __device__ float3	unitOrthogonal (const float3 &src)

__host__ __device__ void	computeRoots2 (const float &b, const float &c, float3 &roots)

__host__ __device__ void	swap (float &a, float &b)

__host__ __device__ void	computeRoots (const CovarianceMatrix &m, float3 &roots)

__host__ __device__ void	eigen33 (const CovarianceMatrix &mat, CovarianceMatrix &evecs, float3 &evals)

template<class IteratorT >
void	compute3DCentroid (IteratorT begin, IteratorT end, float3 &centroid)
	Computes a centroid for a given range of points. More...

template<class IteratorT >
void	computeCovariance (IteratorT begin, IteratorT end, CovarianceMatrix &cov, float3 centroid)
	Computes a covariance matrix for a given range of points. More...

struct	__align__ (16) PointXYZRGBNormal
	Default point xyz-rgb structure. More...

double	getTime ()

template<typename InputIteratorT , typename OutputIteratorT , template< typename > class Storage>
void	computePointNormals (InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS< Storage >::ConstPtr &input, float radius, int desired_number_neighbors)

template<template< typename > class Storage, typename InputIteratorT >
shared_ptr< typename Storage< float4 >::type >	computePointNormals (InputIteratorT begin, InputIteratorT end, float focallength, const typename PointCloudAOS< Storage >::ConstPtr &input, float radius, int desired_number_neighbors)

template<typename OutputIteratorT , template< typename > class Storage>
void	computeFastPointNormals (OutputIteratorT output, const typename PointCloudAOS< Storage >::ConstPtr &input)

template<template< typename > class Storage>
shared_ptr< typename Storage< float4 >::type >	computeFastPointNormals (const typename PointCloudAOS< Storage >::ConstPtr &input)

template<typename InputIteratorT , typename OutputIteratorT , template< typename > class Storage>
void	computeWeirdPointNormals (InputIteratorT begin, InputIteratorT end, OutputIteratorT output, float focallength, const typename PointCloudAOS< Storage >::ConstPtr &input, float radius, int desired_number_neighbors)

template<template< typename > class Storage, typename InputIteratorT >
shared_ptr< typename Storage< float4 >::type >	computeWeirdPointNormals (InputIteratorT begin, InputIteratorT end, float focallength, const typename PointCloudAOS< Storage >::ConstPtr &input, float radius, int desired_number_neighbors)

PCL_EXPORTS void	toPCL (const PointCloudAOS< Host > &input, const thrust::host_vector< float4 > &normals, pcl::PointCloud< pcl::PointXYZRGBNormal > &output)

PCL_EXPORTS void	toPCL (const PointCloudAOS< Device > &input, const thrust::device_vector< float4 > &normals, pcl::PointCloud< pcl::PointXYZRGBNormal > &output)

PCL_EXPORTS void	toPCL (const PointCloudAOS< Host > &input, pcl::PointCloud< pcl::PointXYZRGB > &output)

PCL_EXPORTS void	toPCL (const PointCloudAOS< Device > &input, pcl::PointCloud< pcl::PointXYZRGB > &output)

PCL_EXPORTS void	fromPCL (const pcl::PointCloud< pcl::PointXYZRGB > &input, PointCloudAOS< Host > &output)

PCL_EXPORTS void	fromPCL (const pcl::PointCloud< pcl::PointXYZRGB > &input, PointCloudAOS< Device > &output)

template<template< typename > class Storage, class DataT , class MaskT >
void	extractMask (const shared_ptr< typename Storage< DataT >::type > &input, MaskT *mask, shared_ptr< typename Storage< DataT >::type > &output)

template<template< typename > class Storage, class T >
void	extractMask (const typename PointCloudAOS< Storage >::Ptr &input, T *mask, typename PointCloudAOS< Storage >::Ptr &output)

template<template< typename > class Storage>
void	extractIndices (const typename PointCloudAOS< Storage >::Ptr &input, typename Storage< int >::type &indices, typename PointCloudAOS< Storage >::Ptr &output)

template<template< typename > class Storage>
void	removeIndices (const typename PointCloudAOS< Storage >::Ptr &input, typename Storage< int >::type &indices, typename PointCloudAOS< Storage >::Ptr &output)

template<template< typename > class Storage>
void	extractIndices (const typename PointCloudAOS< Storage >::Ptr &input, typename Storage< int >::type &indices, typename PointCloudAOS< Storage >::Ptr &output, const OpenNIRGB &color)

template<template< typename > class Storage>
void	removeIndices (const typename PointCloudAOS< Storage >::Ptr &input, typename Storage< int >::type &indices, typename PointCloudAOS< Storage >::Ptr &output, const OpenNIRGB &color)

template<template< typename > class Storage>
void	colorIndices (typename PointCloudAOS< Storage >::Ptr &input, shared_ptr< typename Storage< int >::type > indices, const OpenNIRGB &color)

template<template< typename > class Storage>
void	colorCloud (typename PointCloudAOS< Storage >::Ptr &input, typename Storage< char4 >::type &colors)

template<template< typename > class Storage, template< typename > class OtherStorage>
PointCloudAOS< OtherStorage >::Ptr	toStorage (const PointCloudAOS< Storage > &input)

template<template< typename > class Storage>
void	toHost (const PointCloudAOS< Storage > &input, PointCloudAOS< Host > &output)

template<template< typename > class Storage>
void	toDevice (const PointCloudAOS< Storage > &input, PointCloudAOS< Device > &output)

template<template< typename > class Storage, typename OutT , typename InT >
void	createIndicesImage (OutT &dst, InT &region_mask)

template<template< typename > class Storage, typename OutT , typename InT >
void	createNormalsImage (const OutT &dst, InT &normals)

template<template< typename > class Storage>
void	markInliers (const typename PointCloudAOS< Storage >::ConstPtr &input, typename Storage< int >::type &region_mask, std::vector< shared_ptr< typename Storage< int >::type > > inlier_stencils)

template<template< typename > class Storage>
std::vector< typename Storage< int >::type >	createRegionStencils (typename Storage< int >::type &parent, typename Storage< int >::type &rank, typename Storage< int >::type &size, int min_size, float percentage)

PCL_EXPORTS void	meanShiftSegmentation (const cv::gpu::GpuMat &src, cv::Mat &dst, int sp, int sr, int minsize, detail::DjSets &comps, cv::TermCriteria criteria=cv::TermCriteria(cv::TermCriteria::MAX_ITER+cv::TermCriteria::EPS, 5, 1))

Function Documentation

◆ align()

struct pcl::cuda::__align__ ( 16 )

Default point xyz-rgb structure.

Definition at line 1 of file point_types.h.

◆ colorCloud()

template<template< typename > class Storage>

void pcl::cuda::colorCloud	(	typename PointCloudAOS< Storage >::Ptr &	input,
		typename Storage< char4 >::type &	colors
	)

◆ colorIndices()

template<template< typename > class Storage>

void pcl::cuda::colorIndices	(	typename PointCloudAOS< Storage >::Ptr &	input,
		shared_ptr< typename Storage< int >::type >	indices,
		const OpenNIRGB &	color
	)

◆ compute3DCentroid()

template<class IteratorT >

void pcl::cuda::compute3DCentroid	(	IteratorT	begin,
		IteratorT	end,
		float3 &	centroid
	)

Computes a centroid for a given range of points.

Definition at line 489 of file eigen.h.

◆ computeCovariance()

template<class IteratorT >

void pcl::cuda::computeCovariance	(	IteratorT	begin,
		IteratorT	end,
		CovarianceMatrix &	cov,
		float3	centroid
	)

Computes a covariance matrix for a given range of points.

Definition at line 500 of file eigen.h.

References pcl::cuda::CovarianceMatrix::data.

◆ computeFastPointNormals() [1/2]

template<template< typename > class Storage>

shared_ptr<typename Storage<float4>::type> pcl::cuda::computeFastPointNormals ( const typename PointCloudAOS< Storage >::ConstPtr & input )

◆ computeFastPointNormals() [2/2]

template<typename OutputIteratorT , template< typename > class Storage>

void pcl::cuda::computeFastPointNormals	(	OutputIteratorT	output,
		const typename PointCloudAOS< Storage >::ConstPtr &	input
	)

◆ computePointNormals() [1/2]

template<template< typename > class Storage, typename InputIteratorT >

shared_ptr<typename Storage<float4>::type> pcl::cuda::computePointNormals	(	InputIteratorT	begin,
		InputIteratorT	end,
		float	focallength,
		const typename PointCloudAOS< Storage >::ConstPtr &	input,
		float	radius,
		int	desired_number_neighbors
	)

◆ computePointNormals() [2/2]

template<typename InputIteratorT , typename OutputIteratorT , template< typename > class Storage>

void pcl::cuda::computePointNormals	(	InputIteratorT	begin,
		InputIteratorT	end,
		OutputIteratorT	output,
		float	focallength,
		const typename PointCloudAOS< Storage >::ConstPtr &	input,
		float	radius,
		int	desired_number_neighbors
	)

◆ computeRoots()

__host__ __device__ void pcl::cuda::computeRoots	(	const CovarianceMatrix &	m,
		float3 &	roots
	)

inline

Definition at line 164 of file eigen.h.

References computeRoots2(), pcl::cuda::CovarianceMatrix::data, and swap().

Referenced by eigen33().

◆ computeRoots2()

__host__ __device__ void pcl::cuda::computeRoots2	(	const float &	b,
		const float &	c,
		float3 &	roots
	)

inline

Definition at line 143 of file eigen.h.

Referenced by computeRoots().

◆ computeWeirdPointNormals() [1/2]

template<template< typename > class Storage, typename InputIteratorT >

shared_ptr<typename Storage<float4>::type> pcl::cuda::computeWeirdPointNormals	(	InputIteratorT	begin,
		InputIteratorT	end,
		float	focallength,
		const typename PointCloudAOS< Storage >::ConstPtr &	input,
		float	radius,
		int	desired_number_neighbors
	)

◆ computeWeirdPointNormals() [2/2]

template<typename InputIteratorT , typename OutputIteratorT , template< typename > class Storage>

void pcl::cuda::computeWeirdPointNormals	(	InputIteratorT	begin,
		InputIteratorT	end,
		OutputIteratorT	output,
		float	focallength,
		const typename PointCloudAOS< Storage >::ConstPtr &	input,
		float	radius,
		int	desired_number_neighbors
	)

◆ createIndicesImage()

template<template< typename > class Storage, typename OutT , typename InT >

void pcl::cuda::createIndicesImage	(	OutT &	dst,
		InT &	region_mask
	)

◆ createNormalsImage()

template<template< typename > class Storage, typename OutT , typename InT >

void pcl::cuda::createNormalsImage	(	const OutT &	dst,
		InT &	normals
	)

◆ createRegionStencils()

template<template< typename > class Storage>

std::vector<typename Storage<int>::type> pcl::cuda::createRegionStencils	(	typename Storage< int >::type &	parent,
		typename Storage< int >::type &	rank,
		typename Storage< int >::type &	size,
		int	min_size,
		float	percentage
	)

◆ eigen33()

__host__ __device__ void pcl::cuda::eigen33	(	const CovarianceMatrix &	mat,
		CovarianceMatrix &	evecs,
		float3 &	evals
	)

inline

Definition at line 227 of file eigen.h.

References computeRoots(), pcl::cuda::CovarianceMatrix::data, and unitOrthogonal().

Referenced by pcl::cuda::NormalEstimationKernel< Storage >::operator()().

◆ extractIndices() [1/2]

template<template< typename > class Storage>

void pcl::cuda::extractIndices	(	const typename PointCloudAOS< Storage >::Ptr &	input,
		typename Storage< int >::type &	indices,
		typename PointCloudAOS< Storage >::Ptr &	output
	)

◆ extractIndices() [2/2]

template<template< typename > class Storage>

void pcl::cuda::extractIndices	(	const typename PointCloudAOS< Storage >::Ptr &	input,
		typename Storage< int >::type &	indices,
		typename PointCloudAOS< Storage >::Ptr &	output,
		const OpenNIRGB &	color
	)

◆ extractMask() [1/2]

template<template< typename > class Storage, class DataT , class MaskT >

void pcl::cuda::extractMask	(	const shared_ptr< typename Storage< DataT >::type > &	input,
		MaskT *	mask,
		shared_ptr< typename Storage< DataT >::type > &	output
	)

◆ extractMask() [2/2]

template<template< typename > class Storage, class T >

void pcl::cuda::extractMask	(	const typename PointCloudAOS< Storage >::Ptr &	input,
		T *	mask,
		typename PointCloudAOS< Storage >::Ptr &	output
	)

◆ fromPCL() [1/2]

PCL_EXPORTS void pcl::cuda::fromPCL	(	const pcl::PointCloud< pcl::PointXYZRGB > &	input,
		PointCloudAOS< Device > &	output
	)

◆ fromPCL() [2/2]

PCL_EXPORTS void pcl::cuda::fromPCL	(	const pcl::PointCloud< pcl::PointXYZRGB > &	input,
		PointCloudAOS< Host > &	output
	)

◆ getTime()

double pcl::cuda::getTime ( )

inline

Definition at line 112 of file time_cpu.h.

Referenced by pcl::cuda::ScopeTimeCPU::ScopeTimeCPU(), and pcl::cuda::ScopeTimeCPU::~ScopeTimeCPU().

◆ isMuchSmallerThan()

__host__ __device__ bool pcl::cuda::isMuchSmallerThan	(	float	x,
		float	y
	)

inline

Definition at line 102 of file eigen.h.

Referenced by unitOrthogonal().

◆ markInliers()

template<template< typename > class Storage>

void pcl::cuda::markInliers	(	const typename PointCloudAOS< Storage >::ConstPtr &	input,
		typename Storage< int >::type &	region_mask,
		std::vector< shared_ptr< typename Storage< int >::type > >	inlier_stencils
	)

◆ meanShiftSegmentation()

PCL_EXPORTS void pcl::cuda::meanShiftSegmentation	(	const cv::gpu::GpuMat &	src,
		cv::Mat &	dst,
		int	sp,
		int	sr,
		int	minsize,
		detail::DjSets &	comps,
		cv::TermCriteria	criteria = `cv::TermCriteria(cv::TermCriteria::MAX_ITER+cv::TermCriteria::EPS, 5, 1)`
	)

◆ removeIndices() [1/2]

template<template< typename > class Storage>

void pcl::cuda::removeIndices	(	const typename PointCloudAOS< Storage >::Ptr &	input,
		typename Storage< int >::type &	indices,
		typename PointCloudAOS< Storage >::Ptr &	output
	)

◆ removeIndices() [2/2]

template<template< typename > class Storage>

void pcl::cuda::removeIndices	(	const typename PointCloudAOS< Storage >::Ptr &	input,
		typename Storage< int >::type &	indices,
		typename PointCloudAOS< Storage >::Ptr &	output,
		const OpenNIRGB &	color
	)

◆ swap()

__host__ __device__ void pcl::cuda::swap	(	float &	a,
		float &	b
	)

inline

Definition at line 156 of file eigen.h.

Referenced by computeRoots().

◆ toDevice()

template<template< typename > class Storage>

void pcl::cuda::toDevice	(	const PointCloudAOS< Storage > &	input,
		PointCloudAOS< Device > &	output
	)

◆ toHost()

template<template< typename > class Storage>

void pcl::cuda::toHost	(	const PointCloudAOS< Storage > &	input,
		PointCloudAOS< Host > &	output
	)

◆ toPCL() [1/4]

PCL_EXPORTS void pcl::cuda::toPCL	(	const PointCloudAOS< Device > &	input,
		const thrust::device_vector< float4 > &	normals,
		pcl::PointCloud< pcl::PointXYZRGBNormal > &	output
	)

◆ toPCL() [2/4]

PCL_EXPORTS void pcl::cuda::toPCL	(	const PointCloudAOS< Device > &	input,
		pcl::PointCloud< pcl::PointXYZRGB > &	output
	)

◆ toPCL() [3/4]

PCL_EXPORTS void pcl::cuda::toPCL	(	const PointCloudAOS< Host > &	input,
		const thrust::host_vector< float4 > &	normals,
		pcl::PointCloud< pcl::PointXYZRGBNormal > &	output
	)

◆ toPCL() [4/4]

PCL_EXPORTS void pcl::cuda::toPCL	(	const PointCloudAOS< Host > &	input,
		pcl::PointCloud< pcl::PointXYZRGB > &	output
	)

◆ toStorage()

template<template< typename > class Storage, template< typename > class OtherStorage>

PointCloudAOS<OtherStorage>::Ptr pcl::cuda::toStorage ( const PointCloudAOS< Storage > & input )

◆ unitOrthogonal()

__host__ __device__ float3 pcl::cuda::unitOrthogonal ( const float3 & src )

inline

Definition at line 110 of file eigen.h.

References isMuchSmallerThan().

Referenced by eigen33().

Namespaces

Classes

Functions

Function Documentation

◆ __align__()

◆ colorCloud()

◆ colorIndices()

◆ compute3DCentroid()

◆ computeCovariance()

◆ computeFastPointNormals() [1/2]

◆ computeFastPointNormals() [2/2]

◆ computePointNormals() [1/2]

◆ computePointNormals() [2/2]

◆ computeRoots()

◆ computeRoots2()

◆ computeWeirdPointNormals() [1/2]

◆ computeWeirdPointNormals() [2/2]

◆ createIndicesImage()

◆ createNormalsImage()

◆ createRegionStencils()

◆ eigen33()

◆ extractIndices() [1/2]

◆ extractIndices() [2/2]

◆ extractMask() [1/2]

◆ extractMask() [2/2]

◆ fromPCL() [1/2]

◆ fromPCL() [2/2]

◆ getTime()

◆ isMuchSmallerThan()

◆ markInliers()

◆ meanShiftSegmentation()

◆ removeIndices() [1/2]

◆ removeIndices() [2/2]

◆ swap()

◆ toDevice()

◆ toHost()

◆ toPCL() [1/4]

◆ toPCL() [2/4]

◆ toPCL() [3/4]

◆ toPCL() [4/4]

◆ toStorage()

◆ unitOrthogonal()

◆ align()