Namespaces
	kinfuLS

Classes
struct	Eigen33

struct	Histogram

struct	PPFSignature

struct	PPFRGBSignature

struct	PrincipalCurvatures

struct	VFHEstimationImpl

struct	Block

struct	Warp

struct	Emulation

struct	Intr
	Camera intrinsics structure. More...

struct	Mat33
	3x3 Matrix for device code More...

struct	LightSource
	Light source collection. More...

struct	float8

struct	float12

struct	OctreeIteratorDevice

struct	OctreeIteratorDeviceNS

struct	OctreeGlobal

struct	OctreeGlobalWithBox

class	OctreeImpl

struct	Morton

struct	CalcMorton

struct	CompareByLevelCode

struct	OctreePriorityIteratorDevice

struct	prob_histogram

struct	ConnectedComponents

struct	Dilatation

struct	CUDATree
	Struct that holds a single RDF tree in GPU. More...

class	MultiTreeLiveProc
	Processor using multiple trees. More...

class	ProbabilityProc
	Implementation Class to process probability histograms on GPU. More...

struct	LessThanByFacet

struct	InitalSimplex

struct	FacetStream

struct	PointStream

struct	NonCachedLoad

struct	bit_not

struct	plusWeighted

Typedefs
using	PointType = float4

using	NormalType = float4

using	PointXYZRGB = float4

using	PointCloud = DeviceArray< PointType >

using	Normals = DeviceArray< NormalType >

using	Indices = DeviceArray< int >

using	PointXYZRGBCloud = DeviceArray< PointType >

using	PFHSignature125 = Histogram< 125 >

using	PFHRGBSignature250 = Histogram< 250 >

using	FPFHSignature33 = Histogram< 33 >

using	VFHSignature308 = Histogram< 308 >

using	ushort = unsigned short

using	MapArr = DeviceArray2D< float >

using	DepthMap = DeviceArray2D< ushort >

using	LabelProbability = DeviceArray2D< prob_histogram >

using	Cloud = DeviceArray2D< float4 >

using	Image = DeviceArray2D< uchar4 >

using	Depth = DeviceArray2D< unsigned short >

using	Labels = DeviceArray2D< unsigned char >

using	HueImage = DeviceArray2D< float >

using	Mask = DeviceArray2D< unsigned char >

using	MultiLabels = DeviceArray2D< char4 >

using	FacetsDists = DeviceArray< std::uint64_t >

using	Perm = DeviceArray< int >

using	StateType = float8

using	PixelRGB = uchar4

Enumerations
enum	ScanKind { exclusive , inclusive , exclusive , inclusive }

enum	ScanKind { exclusive , inclusive , exclusive , inclusive }

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

__device__ __forceinline__ void	computeRoots3 (float c0, float c1, float c2, float3 &roots)

__device__ __host__ __forceinline__ bool	computePairFeatures (const float3 &p1, const float3 &n1, const float3 &p2, const float3 &n2, float &f1, float &f2, float &f3, float &f4)

__device__ __host__ __forceinline__ bool	computeRGBPairFeatures (const float3 &p1, const float3 &n1, const int &colors1, const float3 &p2, const float3 &n2, const int &colors2, float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7)

__device__ __host__ __forceinline__ void	computeRGBPairFeatures_RGBOnly (const int &colors1, const int &colors2, float &f5, float &f6, float &f7)

__device__ __host__ __forceinline__ bool	computePPFPairFeature (const float3 &p1, const float3 &n1, const float3 &p2, const float3 &n2, float &f1, float &f2, float &f3, float &f4)

__device__ __host__ __forceinline__ void	computeAlfaM (const float3 &model_reference_point, const float3 &model_reference_normal, const float3 &model_point, float &alpha_m)

__device__ __host__ __forceinline__ void	AngleAxisf (float angle, const float3 &r, float3 &row1, float3 &row2, float3 &row3)

__device__ __host__ __forceinline__ void	Rodrigues (const float3 &rvec, float3 &row1, float3 &row2, float3 &row3)

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)

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)

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 (std::size_t surface_size, const NeighborIndices &neighbours, DeviceArray< int > &unique_indices, DeviceArray< int > &lookup)

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)

void	computePointPrincipalCurvatures (const Normals &normals, const Indices &indices, const NeighborIndices &neighbours, DeviceArray< PrincipalCurvatures > &output, DeviceArray2D< float > &proj_normals_buf)

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)

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)

__forceinline__ __device__ __host__ float3	operator/ (const float3 &vec, float val)

__device__ __host__ __forceinline__ float3 &	operator/= (float3 &v, const float &value)

__device__ __host__ __forceinline__ float	norm (const float3 &v1, const float3 &v2)

template<typename T >
__device__ __forceinline__ float3	tr (const T &v)

__host__ __device__ float3	normalize (const float3 &v)

__device__ __forceinline__ void	pack_tsdf (float tsdf, int weight, short2 &value)

__device__ __forceinline__ void	unpack_tsdf (short2 value, float &tsdf, int &weight)

__device__ __forceinline__ float	unpack_tsdf (short2 value)

__device__ __forceinline__ float3	operator* (const Mat33 &m, const float3 &vec)

template<ScanKind Kind, class T >
__device__ __forceinline__ T	scan_warp (volatile T *ptr, const unsigned int idx=threadIdx.x)

template<class T >
__device__ __host__ __forceinline__ void	swap (T &a, T &b)

__device__ __forceinline__ float	dot (const float3 &v1, const float3 &v2)

__device__ __forceinline__ float3 &	operator+= (float3 &vec, const float &v)

__device__ __forceinline__ float3	operator+ (const float3 &v1, const float3 &v2)

__device__ __forceinline__ float3 &	operator*= (float3 &vec, const float &v)

__device__ __forceinline__ float3	operator- (const float3 &v1, const float3 &v2)

__device__ __forceinline__ float3	operator* (const float3 &v1, const float &v)

__device__ __forceinline__ float	norm (const float3 &v)

__device__ __forceinline__ float3	normalized (const float3 &v)

__device__ __host__ __forceinline__ float3	cross (const float3 &v1, const float3 &v2)

void	bilateralFilter (const DepthMap &src, DepthMap &dst)
	Performs bilateral filtering of disparity map. More...

void	pyrDown (const DepthMap &src, DepthMap &dst)
	Computes depth pyramid. More...

void	createVMap (const Intr &intr, const DepthMap &depth, MapArr &vmap)
	Computes vertex map. More...

void	createNMap (const MapArr &vmap, MapArr &nmap)
	Computes normal map using cross product. More...

void	computeNormalsEigen (const MapArr &vmap, MapArr &nmap)
	Computes normal map using Eigen/PCA approach. More...

void	tranformMaps (const MapArr &vmap_src, const MapArr &nmap_src, const Mat33 &Rmat, const float3 &tvec, MapArr &vmap_dst, MapArr &nmap_dst)
	Performs affine transform of vertex and normal maps. More...

void	truncateDepth (DepthMap &depth, float max_distance)
	Performs depth truncation. More...

void	findCoresp (const MapArr &vmap_g_curr, const MapArr &nmap_g_curr, const Mat33 &Rprev_inv, const float3 &tprev, const Intr &intr, const MapArr &vmap_g_prev, const MapArr &nmap_g_prev, float distThres, float angleThres, PtrStepSz< short2 > coresp)
	(now it's extra code) Computes corespondances map More...

void	estimateTransform (const MapArr &v_dst, const MapArr &n_dst, const MapArr &v_src, const PtrStepSz< short2 > &coresp, DeviceArray2D< float > &gbuf, DeviceArray< float > &mbuf, float matrixA_host, float vectorB_host)
	(now it's extra code) Computation Ax=b for ICP iteration More...

void	estimateCombined (const Mat33 &Rcurr, const float3 &tcurr, const MapArr &vmap_curr, const MapArr &nmap_curr, const Mat33 &Rprev_inv, const float3 &tprev, const Intr &intr, const MapArr &vmap_g_prev, const MapArr &nmap_g_prev, float distThres, float angleThres, DeviceArray2D< float > &gbuf, DeviceArray< float > &mbuf, float matrixA_host, float vectorB_host)
	Computation Ax=b for ICP iteration. More...

void	estimateCombined (const Mat33 &Rcurr, const float3 &tcurr, const MapArr &vmap_curr, const MapArr &nmap_curr, const Mat33 &Rprev_inv, const float3 &tprev, const Intr &intr, const MapArr &vmap_g_prev, const MapArr &nmap_g_prev, float distThres, float angleThres, DeviceArray2D< double > &gbuf, DeviceArray< double > &mbuf, double matrixA_host, double vectorB_host)

PCL_EXPORTS void	initVolume (PtrStep< short2 > array)
	Perform tsdf volume initialization. More...

void	integrateTsdfVolume (const PtrStepSz< ushort > &depth_raw, const Intr &intr, const float3 &volume_size, const Mat33 &Rcurr_inv, const float3 &tcurr, float tranc_dist, PtrStep< short2 > volume)
	Performs Tsfg volume uptation (extra obsolete now) More...

PCL_EXPORTS void	integrateTsdfVolume (const PtrStepSz< ushort > &depth_raw, const Intr &intr, const float3 &volume_size, const Mat33 &Rcurr_inv, const float3 &tcurr, float tranc_dist, PtrStep< short2 > volume, DeviceArray2D< float > &depthRawScaled)
	Function that integrates volume if volume element contains: 2 bytes for round(tsdf*SHORT_MAX) and 2 bytes for integer weight. More...

void	initColorVolume (PtrStep< uchar4 > color_volume)
	Initialized color volume. More...

void	updateColorVolume (const Intr &intr, float tranc_dist, const Mat33 &R_inv, const float3 &t, const MapArr &vmap, const PtrStepSz< uchar3 > &colors, const float3 &volume_size, PtrStep< uchar4 > color_volume, int max_weight=1)
	Performs integration in color volume. More...

void	raycast (const Intr &intr, const Mat33 &Rcurr, const float3 &tcurr, float tranc_dist, const float3 &volume_size, const PtrStep< short2 > &volume, MapArr &vmap, MapArr &nmap)
	Generation vertex and normal maps from volume for current camera pose. More...

void	generateImage (const MapArr &vmap, const MapArr &nmap, const LightSource &light, PtrStepSz< uchar3 > dst)
	Renders 3D image of the scene. More...

void	generateDepth (const Mat33 &R_inv, const float3 &t, const MapArr &vmap, DepthMap &dst)
	Renders depth image from give pose. More...

void	paint3DView (const PtrStep< uchar3 > &colors, PtrStepSz< uchar3 > dst, float colors_weight=0.5f)
	Paints 3D view with color map. More...

void	resizeVMap (const MapArr &input, MapArr &output)
	Performs resize of vertex map to next pyramid level by averaging each four points. More...

void	resizeNMap (const MapArr &input, MapArr &output)
	Performs resize of vertex map to next pyramid level by averaging each four normals. More...

PCL_EXPORTS std::size_t	extractCloud (const PtrStep< short2 > &volume, const float3 &volume_size, PtrSz< PointType > output)
	Perform point cloud extraction from tsdf volume. More...

template<typename NormalType >
void	extractNormals (const PtrStep< short2 > &volume, const float3 &volume_size, const PtrSz< PointType > &input, NormalType *output)
	Performs normals computation for given points using tsdf volume. More...

void	exctractColors (const PtrStep< uchar4 > &color_volume, const float3 &volume_size, const PtrSz< PointType > &points, uchar4 *colors)
	Performs colors extraction from color volume. More...

template<typename T >
void	convert (const MapArr &vmap, DeviceArray2D< T > &output)
	Conversion from SOA to AOS. More...

void	mergePointNormal (const DeviceArray< float4 > &cloud, const DeviceArray< float8 > &normals, const DeviceArray< float12 > &output)
	Merges pcl::PointXYZ and pcl::Normal to PointNormal. More...

bool	valid_host (float value)
	Check for qnan (unused now) More...

void	sync ()
	synchronizes CUDA execution More...

template<class D , class Matx >
D &	device_cast (Matx &matx)

void	bindTextures (const int edgeBuf, const int triBuf, const int *numVertsBuf)
	Binds marching cubes tables to texture references. More...

void	unbindTextures ()
	Unbinds. More...

int	getOccupiedVoxels (const PtrStep< short2 > &volume, DeviceArray2D< int > &occupied_voxels)
	Scans tsdf volume and retrieves occupied voxels. More...

int	computeOffsetsAndTotalVertexes (DeviceArray2D< int > &occupied_voxels)
	Computes total number of vertexes for all voxels and offsets of vertexes in final triangle array. More...

void	generateTriangles (const PtrStep< short2 > &volume, const DeviceArray2D< int > &occupied_voxels, const float3 &volume_size, DeviceArray< PointType > &output)
	Generates final triangle array. More...

void	bruteForceRadiusSearch (const OctreeImpl::PointCloud &cloud, const OctreeImpl::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer)

__device__ __host__ __forceinline__ unsigned	getBitsNum (const unsigned integer)

__host__ __device__ __forceinline__ std::pair< uint3, std::uint8_t >	nearestVoxel (const float3 query, const unsigned &level, const std::uint8_t &mask, const float3 &minp, const float3 &maxp, const uint3 &index)

template<typename T >
__device__ __host__ int	findNode (const float3 minp, const float3 maxp, const float3 query, const T nodes)

template<typename T >
__device__ __forceinline__ void	swap (T &a, T &b)

template<typename V , typename K >
__device__ __forceinline__ void	bitonicSortWarp (volatile K keys, volatile V vals, unsigned int dir=1)

__device__ __host__ static __forceinline__ bool	checkIfNodeInsideSphere (const float3 &minp, const float3 &maxp, const float3 &c, float r)

__device__ __host__ static __forceinline__ bool	checkIfNodeOutsideSphere (const float3 &minp, const float3 &maxp, const float3 &c, float r)

__device__ __host__ static __forceinline__ void	calcBoundingBox (int level, int code, float3 &res_minp, float3 &res_maxp)

template<typename T >
__device__ void	CopyKernel (const T in, T out, int length)

template<typename T >
__device__ void	GenerateKernel (T *out, int beg, int end)

template<typename T >
__device__ void	GenerateTasksKernel (T *out, int beg, int end, int level)

template<ScanKind Kind, class T >
__device__ __forceinline__ T	scan_block (volatile T *ptr, const unsigned int idx=threadIdx.x)

template<class T >
__device__ __forceinline__ T	warp_reduce (volatile T *ptr, const unsigned int tid=threadIdx.x)

template<typename Point >
__device__ __forceinline__ float	sqnorm (const Point &p1, const Point &p2)

__device__ __forceinline__ float3	computePoint (unsigned short depth, int x, int y, const Intr &intr)

__device__ __forceinline__ bool	isFinite (const float3 &p)

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)

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)

__device__ __host__ __forceinline__ float4	compute_plane (const float3 &v, const float3 &v1, const float3 &v2, const float3 &p)
	Computers plane from 3 points (v, v1, v2), ensures that point P lies positive subspace. More...

__device__ __host__ __forceinline__ float3	tr (const PointType &p)

__device__ __host__ __forceinline__ float	compue_inv_normal_norm (const float4 &p)

__device__ __host__ __forceinline__ float4 &	operator*= (float4 &p, float v)

std::size_t	remove_duplicates (DeviceArray< int > &indeces)

void	pack_hull (const DeviceArray< PointType > &points, const DeviceArray< int > &indeces, DeviceArray< PointType > &output)

__device__ __forceinline__ float	getSampleNormal (const float mean, const float cov, curandState *rng_state)

void	initParticles (PtrSz< curandState > rng_states, DeviceArray< float > &initial_noise_mean, DeviceArray< float > &initial_noise_covariance, const StateType &representative_state, DeviceArray< StateType > &particles)

void	computeTracking (const DeviceArray2D< PointType > &ref, const DeviceArray2D< PixelRGB > &ref_color, const DeviceArray2D< PointType > &input, const DeviceArray2D< PixelRGB > &input_color, PtrSz< curandState > rng_states, const DeviceArray< float > &step_noise_covariance, DeviceArray< StateType > &particles, StateType &representative_state, StateType &motion, float motion_ratio)

template<typename Iterator , typename T , typename BinaryPredicate >
__host__ __device__ Iterator	lower_bound (Iterator first, Iterator last, const T &val, BinaryPredicate comp)

template<class Func >
void	printFuncAttrib (Func &func)

template<unsigned int CTA_SIZE, typename T , typename BinaryFunction >
__device__ __forceinline__ void	reduce_block (volatile T *data, BinaryFunction op, unsigned int tid=threadIdx.x)

__device__ __host__ __forceinline__ float	dot (const float4 &v1, const float4 &v2)

template<typename T >
__device__ __host__ __forceinline__ float	norm (const T &val)

template<typename T >
__host__ __device__ __forceinline__ float	inverse_norm (const T &v)

template<typename T >
__host__ __device__ __forceinline__ T	normalized (const T &v)

template<typename T >
__host__ __device__ __forceinline__ T	normalized_safe (const T &v)

void	copyFields (int in_size, int out_size, int info[4], int size, const void input, void output)

Variables
constexpr int	DIVISOR = std::numeric_limits<short>::max()

constexpr int	VOLUME_X = 512

constexpr int	VOLUME_Y = 512

constexpr int	VOLUME_Z = 512

constexpr float	VOLUME_SIZE = 3.0f

Typedef Documentation

◆ Cloud

typedef pcl::gpu::DeviceArray< PointType > pcl::device::Cloud

Definition at line 52 of file internal.h.

◆ Depth

using pcl::device::Depth = typedef DeviceArray2D<unsigned short>

Definition at line 55 of file internal.h.

◆ DepthMap

using pcl::device::DepthMap = typedef DeviceArray2D<ushort>

Definition at line 52 of file internal.h.

◆ FacetsDists

using pcl::device::FacetsDists = typedef DeviceArray<std::uint64_t>

Definition at line 52 of file internal.h.

◆ FPFHSignature33

using pcl::device::FPFHSignature33 = typedef Histogram<33>

Definition at line 75 of file internal.hpp.

◆ HueImage

using pcl::device::HueImage = typedef DeviceArray2D<float>

Definition at line 57 of file internal.h.

◆ Image

using pcl::device::Image = typedef DeviceArray2D<uchar4>

Definition at line 53 of file internal.h.

◆ Indices

using pcl::device::Indices = typedef DeviceArray<int>

Definition at line 64 of file internal.hpp.

◆ LabelProbability

using pcl::device::LabelProbability = typedef DeviceArray2D<prob_histogram>

Definition at line 264 of file label_common.h.

◆ Labels

using pcl::device::Labels = typedef DeviceArray2D<unsigned char>

Definition at line 56 of file internal.h.

◆ MapArr

using pcl::device::MapArr = typedef DeviceArray2D<float>

Definition at line 51 of file internal.h.

◆ Mask

using pcl::device::Mask = typedef DeviceArray2D<unsigned char>

Definition at line 58 of file internal.h.

◆ MultiLabels

using pcl::device::MultiLabels = typedef DeviceArray2D<char4>

Definition at line 60 of file internal.h.

◆ Normals

using pcl::device::Normals = typedef DeviceArray<NormalType>

Definition at line 63 of file internal.hpp.

◆ NormalType

typedef float4 pcl::device::NormalType

Definition at line 59 of file internal.hpp.

◆ Perm

using pcl::device::Perm = typedef DeviceArray<int>

Definition at line 53 of file internal.h.

◆ PFHRGBSignature250

using pcl::device::PFHRGBSignature250 = typedef Histogram<250>

Definition at line 74 of file internal.hpp.

◆ PFHSignature125

using pcl::device::PFHSignature125 = typedef Histogram<125>

Definition at line 73 of file internal.hpp.

◆ PixelRGB

using pcl::device::PixelRGB = typedef uchar4

Definition at line 18 of file internal.h.

◆ PointCloud

using pcl::device::PointCloud = typedef DeviceArray<PointType>

Definition at line 62 of file internal.hpp.

◆ PointType

typedef float4 pcl::device::PointType

Definition at line 58 of file internal.hpp.

◆ PointXYZRGB

using pcl::device::PointXYZRGB = typedef float4

Definition at line 60 of file internal.hpp.

◆ PointXYZRGBCloud

using pcl::device::PointXYZRGBCloud = typedef DeviceArray<PointType>

Definition at line 66 of file internal.hpp.

◆ StateType

using pcl::device::StateType = typedef float8

Definition at line 15 of file internal.h.

◆ ushort

using pcl::device::ushort = typedef unsigned short

Definition at line 50 of file internal.h.

◆ VFHSignature308

using pcl::device::VFHSignature308 = typedef Histogram<308>

Definition at line 76 of file internal.hpp.

Enumeration Type Documentation

◆ ScanKind [1/2]

enum pcl::device::ScanKind

Enumerator
exclusive
inclusive
exclusive
inclusive

Definition at line 83 of file device.hpp.

◆ ScanKind [2/2]

enum pcl::device::ScanKind

Enumerator
exclusive
inclusive
exclusive
inclusive

Definition at line 45 of file scan_block.hpp.

Function Documentation

◆ AngleAxisf()

__device__ __host__ __forceinline__ void pcl::device::AngleAxisf	(	float	angle,
		const float3 &	r,
		float3 &	row1,
		float3 &	row2,
		float3 &	row3
	)

Definition at line 47 of file rodrigues.hpp.

Referenced by computeAlfaM(), and Rodrigues().

◆ bilateralFilter()

void pcl::device::bilateralFilter	(	const DepthMap &	src,
		DepthMap &	dst
	)

Performs bilateral filtering of disparity map.

Parameters

[in]	src	source map
[out]	dst	output map

◆ bindTextures()

void pcl::device::bindTextures	(	const int *	edgeBuf,
		const int *	triBuf,
		const int *	numVertsBuf
	)

Binds marching cubes tables to texture references.

◆ bitonicSortWarp()

template<typename V , typename K >

__device__ __forceinline__ void pcl::device::bitonicSortWarp	(	volatile K *	keys,
		volatile V *	vals,
		unsigned int	dir = `1`
	)

Definition at line 48 of file bitonic_sort.hpp.

References swap().

◆ bruteForceRadiusSearch()

void pcl::device::bruteForceRadiusSearch	(	const OctreeImpl::PointCloud &	cloud,
		const OctreeImpl::PointType &	query,
		float	radius,
		DeviceArray< int > &	result,
		DeviceArray< int > &	buffer
	)

◆ calcBoundingBox()

__device__ __host__ static __forceinline__ void pcl::device::calcBoundingBox	(	int	level,
		int	code,
		float3 &	res_minp,
		float3 &	res_maxp
	)

static

Definition at line 101 of file boxutils.hpp.

References pcl::device::Morton::decomposeCode().

◆ checkIfNodeInsideSphere()

__device__ __host__ static __forceinline__ bool pcl::device::checkIfNodeInsideSphere	(	const float3 &	minp,
		const float3 &	maxp,
		const float3 &	c,
		float	r
	)

static

Definition at line 47 of file boxutils.hpp.

◆ checkIfNodeOutsideSphere()

__device__ __host__ static __forceinline__ bool pcl::device::checkIfNodeOutsideSphere	(	const float3 &	minp,
		const float3 &	maxp,
		const float3 &	c,
		float	r
	)

static

Definition at line 89 of file boxutils.hpp.

◆ colorLMap()

void pcl::device::colorLMap	(	const Labels &	labels,
		const DeviceArray< uchar4 > &	cmap,
		Image &	rgb
	)

◆ compue_inv_normal_norm()

__device__ __host__ __forceinline__ float pcl::device::compue_inv_normal_norm ( const float4 & p )

Definition at line 81 of file device.h.

◆ compute3DCentroid() [1/2]

template<typename PointT >

void pcl::device::compute3DCentroid	(	const DeviceArray< PointT > &	cloud,
		const Indices &	indices,
		float3 &	centroid
	)

◆ compute3DCentroid() [2/2]

template<typename PointT >

void pcl::device::compute3DCentroid	(	const DeviceArray< PointT > &	cloud,
		float3 &	centroid
	)

◆ compute_plane()

__device__ __host__ __forceinline__ float4 pcl::device::compute_plane	(	const float3 &	v,
		const float3 &	v1,
		const float3 &	v2,
		const float3 &	p
	)

Computers plane from 3 points (v, v1, v2), ensures that point P lies positive subspace.

Parameters

[in]	v	3D point volume tsdf volume container
[in]	v1	3D point volume tsdf volume container
[in]	v2	3D point volume tsdf volume container
[in]	p	point for sign check of plane coefs (should lie in positive subspace)

Returns: a,b,c,d coefs vector

Definition at line 55 of file device.h.

References cross(), and dot().

◆ computeAlfaM()

__device__ __host__ __forceinline__ void pcl::device::computeAlfaM	(	const float3 &	model_reference_point,
		const float3 &	model_reference_normal,
		const float3 &	model_point,
		float &	alpha_m
	)

Definition at line 179 of file pair_features.hpp.

References AngleAxisf(), and normalized().

◆ computeCloud()

void pcl::device::computeCloud	(	const Depth &	depth,
		const Intr &	intr,
		Cloud &	cloud
	)

◆ computeFPFH() [1/2]

void pcl::device::computeFPFH	(	const PointCloud &	cloud,
		const Indices &	indices,
		const PointCloud &	surface,
		const NeighborIndices &	neighbours,
		DeviceArray< int > &	lookup,
		const DeviceArray2D< FPFHSignature33 > &	spfh,
		DeviceArray2D< FPFHSignature33 > &	features
	)

◆ computeFPFH() [2/2]

void pcl::device::computeFPFH	(	const PointCloud &	cloud,
		const NeighborIndices &	neighbours,
		const DeviceArray2D< FPFHSignature33 > &	spfh,
		DeviceArray2D< FPFHSignature33 > &	features
	)

◆ computeHue()

float pcl::device::computeHue ( int rgba )

◆ computeHueWithNans()

void pcl::device::computeHueWithNans	(	const Image &	image,
		const Depth &	depth,
		HueImage &	hue
	)

◆ computeMask()

void pcl::device::computeMask	(	const NeighborIndices &	neighbours,
		int	min_neighb,
		DeviceArray< unsigned char > &	mask
	)

◆ computeNormals()

void pcl::device::computeNormals	(	const PointCloud &	cloud,
		const NeighborIndices &	nn_indices,
		Normals &	normals
	)

◆ computeNormalsEigen()

void pcl::device::computeNormalsEigen	(	const MapArr &	vmap,
		MapArr &	nmap
	)

Computes normal map using Eigen/PCA approach.

Parameters

[in]	vmap	vertex map
[out]	nmap	normal map

◆ computeOffsetsAndTotalVertexes()

int pcl::device::computeOffsetsAndTotalVertexes ( DeviceArray2D< int > & occupied_voxels )

Computes total number of vertexes for all voxels and offsets of vertexes in final triangle array.

Parameters

[out] occupied_voxels buffer with occupied voxels. The function fulfills 3nd only with offsets

Returns: total number of vertexes

◆ computePairFeatures()

__device__ __host__ __forceinline__ bool pcl::device::computePairFeatures	(	const float3 &	p1,
		const float3 &	n1,
		const float3 &	p2,
		const float3 &	n2,
		float &	f1,
		float &	f2,
		float &	f3,
		float &	f4
	)

Definition at line 48 of file pair_features.hpp.

References cross(), dot(), and norm().

◆ computePfh125()

void pcl::device::computePfh125	(	const DeviceArray2D< float > &	data_rpk,
		int	max_elems_rpk,
		const NeighborIndices &	neighbours,
		DeviceArray2D< PFHSignature125 > &	features
	)

◆ computePfhRgb250()

void pcl::device::computePfhRgb250	(	const DeviceArray2D< float > &	data_rpk,
		int	max_elems_rpk,
		const NeighborIndices &	neighbours,
		DeviceArray2D< PFHRGBSignature250 > &	features
	)

◆ computePoint()

__device__ __forceinline__ float3 pcl::device::computePoint	(	unsigned short	depth,
		int	x,
		int	y,
		const Intr &	intr
	)

Definition at line 58 of file device.h.

References pcl::device::Intr::cx, pcl::device::Intr::cy, pcl::device::Intr::fx, and pcl::device::Intr::fy.

◆ computePointPrincipalCurvatures()

void pcl::device::computePointPrincipalCurvatures	(	const Normals &	normals,
		const Indices &	indices,
		const NeighborIndices &	neighbours,
		DeviceArray< PrincipalCurvatures > &	output,
		DeviceArray2D< float > &	proj_normals_buf
	)

◆ computePPF()

void pcl::device::computePPF	(	const PointCloud &	input,
		const Normals &	normals,
		const Indices &	indices,
		DeviceArray< PPFSignature > &	output
	)

◆ computePPFPairFeature()

__device__ __host__ __forceinline__ bool pcl::device::computePPFPairFeature	(	const float3 &	p1,
		const float3 &	n1,
		const float3 &	p2,
		const float3 &	n2,
		float &	f1,
		float &	f2,
		float &	f3,
		float &	f4
	)

Definition at line 160 of file pair_features.hpp.

References dot(), and norm().

◆ computePPFRGB()

void pcl::device::computePPFRGB	(	const PointXYZRGBCloud &	input,
		const Normals &	normals,
		const Indices &	indices,
		DeviceArray< PPFRGBSignature > &	output
	)

◆ computePPFRGBRegion()

void pcl::device::computePPFRGBRegion	(	const PointXYZRGBCloud &	cloud,
		const Normals &	normals,
		const Indices &	indices,
		const NeighborIndices &	nn_indices,
		DeviceArray< PPFRGBSignature > &	output
	)

◆ computeRGBPairFeatures()

__device__ __host__ __forceinline__ bool pcl::device::computeRGBPairFeatures	(	const float3 &	p1,
		const float3 &	n1,
		const int &	colors1,
		const float3 &	p2,
		const float3 &	n2,
		const int &	colors2,
		float &	f1,
		float &	f2,
		float &	f3,
		float &	f4,
		float &	f5,
		float &	f6,
		float &	f7
	)

Definition at line 95 of file pair_features.hpp.

References cross(), dot(), and norm().

◆ computeRGBPairFeatures_RGBOnly()

__device__ __host__ __forceinline__ void pcl::device::computeRGBPairFeatures_RGBOnly	(	const int &	colors1,
		const int &	colors2,
		float &	f5,
		float &	f6,
		float &	f7
	)

Definition at line 148 of file pair_features.hpp.

◆ computeRoots2()

__device__ __forceinline__ void pcl::device::computeRoots2	(	const float &	b,
		const float &	c,
		float3 &	roots
	)

Definition at line 102 of file eigen.hpp.

Referenced by computeRoots3().

◆ computeRoots3()

__device__ __forceinline__ void pcl::device::computeRoots3	(	float	c0,
		float	c1,
		float	c2,
		float3 &	roots
	)

Definition at line 115 of file eigen.hpp.

References computeRoots2(), and swap().

Referenced by pcl::device::Eigen33::compute().

◆ computeSPFH()

void pcl::device::computeSPFH	(	const PointCloud &	surface,
		const Normals &	normals,
		const Indices &	indices,
		const NeighborIndices &	neighbours,
		DeviceArray2D< FPFHSignature33 > &	spfh33
	)

◆ computeSpinImagesCustomAxes()

void pcl::device::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
	)

◆ computeSpinImagesCustomAxesCloud()

void pcl::device::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
	)

◆ computeSpinImagesOrigigNormal()

void pcl::device::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
	)

◆ computeTracking()

void pcl::device::computeTracking	(	const DeviceArray2D< PointType > &	ref,
		const DeviceArray2D< PixelRGB > &	ref_color,
		const DeviceArray2D< PointType > &	input,
		const DeviceArray2D< PixelRGB > &	input_color,
		PtrSz< curandState >	rng_states,
		const DeviceArray< float > &	step_noise_covariance,
		DeviceArray< StateType > &	particles,
		StateType &	representative_state,
		StateType &	motion,
		float	motion_ratio
	)

◆ computeUniqueIndices()

int pcl::device::computeUniqueIndices	(	std::size_t	surface_size,
		const NeighborIndices &	neighbours,
		DeviceArray< int > &	unique_indices,
		DeviceArray< int > &	lookup
	)

◆ convert()

template<typename T >

void pcl::device::convert	(	const MapArr &	vmap,
		DeviceArray2D< T > &	output
	)

Conversion from SOA to AOS.

Parameters

[in]	vmap	SOA map
[out]	output	Array of 3D points. Can be float4 or float8.

◆ copyFields()

void pcl::device::copyFields	(	int	in_size,
		int	out_size,
		int	info[4],
		int	size,
		const void *	input,
		void *	output
	)

◆ CopyKernel()

template<typename T >

__device__ void pcl::device::CopyKernel	(	const T *	in,
		T *	out,
		int	length
	)

Definition at line 48 of file copygen.hpp.

◆ createNMap()

void pcl::device::createNMap	(	const MapArr &	vmap,
		MapArr &	nmap
	)

Computes normal map using cross product.

Parameters

[in]	vmap	vertex map
[out]	nmap	normal map

◆ createVMap()

void pcl::device::createVMap	(	const Intr &	intr,
		const DepthMap &	depth,
		MapArr &	vmap
	)

Computes vertex map.

Parameters

[in]	intr	depth camera intrinsics
[in]	depth	depth
[out]	vmap	vertex map

◆ cross()

__device__ __host__ __forceinline__ float3 pcl::device::cross	(	const float3 &	v1,
		const float3 &	v2
	)

Definition at line 107 of file utils.hpp.

Referenced by pcl::device::Eigen33::compute(), compute_plane(), computePairFeatures(), and computeRGBPairFeatures().

◆ device_cast()

template<class D , class Matx >

D& pcl::device::device_cast ( Matx & matx )

Definition at line 401 of file internal.h.

◆ dot() [1/2]

__device__ __host__ __forceinline__ float pcl::device::dot	(	const float3 &	v1,
		const float3 &	v2
	)

Definition at line 59 of file utils.hpp.

Referenced by pcl::device::Eigen33::compute(), compute_plane(), computePairFeatures(), computePPFPairFeature(), computeRGBPairFeatures(), inverse_norm(), norm(), normalized(), normalized_safe(), and operator*().

◆ dot() [2/2]

__device__ __host__ __forceinline__ float pcl::device::dot	(	const float4 &	v1,
		const float4 &	v2
	)

Definition at line 82 of file vector_math.hpp.

◆ estimateCombined() [1/2]

void pcl::device::estimateCombined	(	const Mat33 &	Rcurr,
		const float3 &	tcurr,
		const MapArr &	vmap_curr,
		const MapArr &	nmap_curr,
		const Mat33 &	Rprev_inv,
		const float3 &	tprev,
		const Intr &	intr,
		const MapArr &	vmap_g_prev,
		const MapArr &	nmap_g_prev,
		float	distThres,
		float	angleThres,
		DeviceArray2D< double > &	gbuf,
		DeviceArray< double > &	mbuf,
		double *	matrixA_host,
		double *	vectorB_host
	)

◆ estimateCombined() [2/2]

void pcl::device::estimateCombined	(	const Mat33 &	Rcurr,
		const float3 &	tcurr,
		const MapArr &	vmap_curr,
		const MapArr &	nmap_curr,
		const Mat33 &	Rprev_inv,
		const float3 &	tprev,
		const Intr &	intr,
		const MapArr &	vmap_g_prev,
		const MapArr &	nmap_g_prev,
		float	distThres,
		float	angleThres,
		DeviceArray2D< float > &	gbuf,
		DeviceArray< float > &	mbuf,
		float *	matrixA_host,
		float *	vectorB_host
	)

Computation Ax=b for ICP iteration.

Parameters

[in]	Rcurr	Rotation of current camera pose guess
[in]	tcurr	translation of current camera pose guess
[in]	vmap_curr	current vertex map in camera coo space
[in]	nmap_curr	current vertex map in camera coo space
[in]	Rprev_inv	inverse camera rotation at previous pose
[in]	tprev	camera translation at previous pose
[in]	intr	camera intrinsics
[in]	vmap_g_prev	previous vertex map in global coo space
[in]	nmap_g_prev	previous vertex map in global coo space
[in]	distThres	distance filtering threshold
[in]	angleThres	angle filtering threshold. Represents sine of angle between normals
[out]	gbuf	temp buffer for GPU reduction
[out]	mbuf	output GPU buffer for matrix computed
[out]	matrixA_host	A
[out]	vectorB_host	b

◆ estimateTransform()

void pcl::device::estimateTransform	(	const MapArr &	v_dst,
		const MapArr &	n_dst,
		const MapArr &	v_src,
		const PtrStepSz< short2 > &	coresp,
		DeviceArray2D< float > &	gbuf,
		DeviceArray< float > &	mbuf,
		float *	matrixA_host,
		float *	vectorB_host
	)

(now it's extra code) Computation Ax=b for ICP iteration

Parameters

[in]	v_dst	destination vertex map (previous frame cloud)
[in]	n_dst	destination normal map (previous frame normals)
[in]	v_src	source normal map (current frame cloud)
[in]	coresp	Corespondances
[out]	gbuf	temp buffer for GPU reduction
[out]	mbuf	output GPU buffer for matrix computed
[out]	matrixA_host	A
[out]	vectorB_host	b

◆ exctractColors()

void pcl::device::exctractColors	(	const PtrStep< uchar4 > &	color_volume,
		const float3 &	volume_size,
		const PtrSz< PointType > &	points,
		uchar4 *	colors
	)

Performs colors extraction from color volume.

Parameters

[in]	color_volume	color volume
[in]	volume_size	volume size
[in]	points	points for which color are computed
[out]	colors	output array with colors.

◆ extractCloud()

PCL_EXPORTS std::size_t pcl::device::extractCloud	(	const PtrStep< short2 > &	volume,
		const float3 &	volume_size,
		PtrSz< PointType >	output
	)

Perform point cloud extraction from tsdf volume.

Parameters

[in]	volume	tsdf volume
[in]	volume_size	size of the volume
[out]	output	buffer large enough to store point cloud

Returns: number of point stored to passed buffer

◆ extractNormals()

template<typename NormalType >

void pcl::device::extractNormals	(	const PtrStep< short2 > &	volume,
		const float3 &	volume_size,
		const PtrSz< PointType > &	input,
		NormalType *	output
	)

Performs normals computation for given points using tsdf volume.

Parameters

[in]	volume	tsdf volume
[in]	volume_size	volume size
[in]	input	points where normals are computed
[out]	output	normals. Could be float4 or float8. If for a point normal can't be computed, such normal is marked as nan.

◆ findCoresp()

void pcl::device::findCoresp	(	const MapArr &	vmap_g_curr,
		const MapArr &	nmap_g_curr,
		const Mat33 &	Rprev_inv,
		const float3 &	tprev,
		const Intr &	intr,
		const MapArr &	vmap_g_prev,
		const MapArr &	nmap_g_prev,
		float	distThres,
		float	angleThres,
		PtrStepSz< short2 >	coresp
	)

(now it's extra code) Computes corespondances map

Parameters

[in]	vmap_g_curr	current vertex map in global coo space
[in]	nmap_g_curr	current normals map in global coo space
[in]	Rprev_inv	inverse camera rotation at previous pose
[in]	tprev	camera translation at previous pose
[in]	intr	camera intrinsics
[in]	vmap_g_prev	previous vertex map in global coo space
[in]	nmap_g_prev	previous vertex map in global coo space
[in]	distThres	distance filtering threshold
[in]	angleThres	angle filtering threshold. Represents sine of angle between normals
[out]	coresp

◆ findNode()

template<typename T >

__device__ __host__ int pcl::device::findNode	(	const float3	minp,
		const float3	maxp,
		const float3	query,
		const T	nodes
	)

Definition at line 82 of file approx_nearest_utils.hpp.

References pcl::device::Morton::decomposeCode(), pcl::device::Morton::extractLevelCode(), getBitsNum(), pcl::device::Morton::levels, and nearestVoxel().

◆ flipNormalTowardsViewpoint() [1/2]

void pcl::device::flipNormalTowardsViewpoint	(	const PointCloud &	cloud,
		const float3 &	vp,
		Normals &	normals
	)

◆ flipNormalTowardsViewpoint() [2/2]

void pcl::device::flipNormalTowardsViewpoint	(	const PointCloud &	cloud,
		const Indices &	indices,
		const float3 &	vp,
		Normals &	normals
	)

◆ generateDepth()

void pcl::device::generateDepth	(	const Mat33 &	R_inv,
		const float3 &	t,
		const MapArr &	vmap,
		DepthMap &	dst
	)

Renders depth image from give pose.

Parameters

[in]	R_inv	inverse camera rotation
[in]	t	camera translation
[in]	vmap	vertex map
[out]	dst	buffer where depth is generated

◆ generateImage()

void pcl::device::generateImage	(	const MapArr &	vmap,
		const MapArr &	nmap,
		const LightSource &	light,
		PtrStepSz< uchar3 >	dst
	)

Renders 3D image of the scene.

Parameters

[in]	vmap	vertex map
[in]	nmap	normals map
[in]	light	poase of light source
[out]	dst	buffer where image is generated

◆ GenerateKernel()

template<typename T >

__device__ void pcl::device::GenerateKernel	(	T *	out,
		int	beg,
		int	end
	)

Definition at line 58 of file copygen.hpp.

◆ GenerateTasksKernel()

template<typename T >

__device__ void pcl::device::GenerateTasksKernel	(	T *	out,
		int	beg,
		int	end,
		int	level
	)

Definition at line 71 of file copygen.hpp.

◆ generateTriangles()

void pcl::device::generateTriangles	(	const PtrStep< short2 > &	volume,
		const DeviceArray2D< int > &	occupied_voxels,
		const float3 &	volume_size,
		DeviceArray< PointType > &	output
	)

Generates final triangle array.

Parameters

[in]	volume	tsdf volume
[in]	occupied_voxels	occupied voxel ids (first row), number of vertexes(second row), offsets(third row).
[in]	volume_size	volume size in meters
[out]	output	triangle array

◆ getBitsNum()

__device__ __host__ __forceinline__ unsigned pcl::device::getBitsNum ( const unsigned integer )

Definition at line 24 of file approx_nearest_utils.hpp.

Referenced by findNode().

◆ getMaxDistance() [1/2]

template<typename PointT >

float3 pcl::device::getMaxDistance	(	const DeviceArray< PointT > &	cloud,
		const float3 &	pivot
	)

◆ getMaxDistance() [2/2]

template<typename PointT >

float3 pcl::device::getMaxDistance	(	const DeviceArray< PointT > &	cloud,
		const Indices &	indices,
		const float3 &	pivot
	)

◆ getOccupiedVoxels()

int pcl::device::getOccupiedVoxels	(	const PtrStep< short2 > &	volume,
		DeviceArray2D< int > &	occupied_voxels
	)

Scans tsdf volume and retrieves occupied voxels.

Parameters

[in]	volume	tsdf volume
[out]	occupied_voxels	buffer for occupied voxels. The function fulfills first row with voxel ids and second row with number of vertices.

Returns: number of voxels in the buffer

◆ getSampleNormal()

__device__ __forceinline__ float pcl::device::getSampleNormal	(	const float	mean,
		const float	cov,
		curandState *	rng_state
	)

Definition at line 11 of file device.hpp.

◆ initColorVolume()

void pcl::device::initColorVolume ( PtrStep< uchar4 > color_volume )

Initialized color volume.

Parameters

[out] color_volume color volume for initialization

◆ initParticles()

void pcl::device::initParticles	(	PtrSz< curandState >	rng_states,
		DeviceArray< float > &	initial_noise_mean,
		DeviceArray< float > &	initial_noise_covariance,
		const StateType &	representative_state,
		DeviceArray< StateType > &	particles
	)

◆ initVolume()

PCL_EXPORTS void pcl::device::initVolume ( PtrStep< short2 > array )

Perform tsdf volume initialization.

Parameters

[out] array volume to be initialized

◆ integrateTsdfVolume() [1/2]

void pcl::device::integrateTsdfVolume	(	const PtrStepSz< ushort > &	depth_raw,
		const Intr &	intr,
		const float3 &	volume_size,
		const Mat33 &	Rcurr_inv,
		const float3 &	tcurr,
		float	tranc_dist,
		PtrStep< short2 >	volume
	)

Performs Tsfg volume uptation (extra obsolete now)

Parameters

[in]	depth_raw	Kinect depth image
[in]	intr	camera intrinsics
[in]	volume_size	size of volume in mm
[in]	Rcurr_inv	inverse rotation for current camera pose
[in]	tcurr	translation for current camera pose
[in]	tranc_dist	tsdf truncation distance
[in]	volume	tsdf volume to be updated

◆ integrateTsdfVolume() [2/2]

PCL_EXPORTS void pcl::device::integrateTsdfVolume	(	const PtrStepSz< ushort > &	depth_raw,
		const Intr &	intr,
		const float3 &	volume_size,
		const Mat33 &	Rcurr_inv,
		const float3 &	tcurr,
		float	tranc_dist,
		PtrStep< short2 >	volume,
		DeviceArray2D< float > &	depthRawScaled
	)

Function that integrates volume if volume element contains: 2 bytes for round(tsdf*SHORT_MAX) and 2 bytes for integer weight.

Parameters

[in]	depth_raw	Kinect depth image
[in]	intr	camera intrinsics
[in]	volume_size	size of volume in mm
[in]	Rcurr_inv	inverse rotation for current camera pose
[in]	tcurr	translation for current camera pose
[in]	tranc_dist	tsdf truncation distance
[in]	volume	tsdf volume to be updated
[out]	depthRawScaled	Buffer for scaled depth along ray

◆ inverse_norm()

template<typename T >

__host__ __device__ __forceinline__ float pcl::device::inverse_norm ( const T & v )

Definition at line 113 of file vector_math.hpp.

References dot().

Referenced by normalize(), and normalized().

◆ isFinite()

__device__ __forceinline__ bool pcl::device::isFinite ( const float3 & p )

Definition at line 71 of file device.h.

◆ lower_bound()

template<typename Iterator , typename T , typename BinaryPredicate >

__host__ __device__ Iterator pcl::device::lower_bound	(	Iterator	first,
		Iterator	last,
		const T &	val,
		BinaryPredicate	comp
	)

Definition at line 51 of file algorithm.hpp.

◆ mergePointNormal()

void pcl::device::mergePointNormal	(	const DeviceArray< float4 > &	cloud,
		const DeviceArray< float8 > &	normals,
		const DeviceArray< float12 > &	output
	)

Merges pcl::PointXYZ and pcl::Normal to PointNormal.

Parameters

[in]	cloud	points cloud
[in]	normals	normals cloud
[out]	output	array of PointNomals.

◆ mixedColorMap()

void pcl::device::mixedColorMap	(	const Labels &	labels,
		const DeviceArray< uchar4 > &	map,
		const Image &	rgba,
		Image &	output
	)

◆ nearestVoxel()

__host__ __device__ __forceinline__ std::pair<uint3, std::uint8_t> pcl::device::nearestVoxel	(	const float3	query,
		const unsigned &	level,
		const std::uint8_t &	mask,
		const float3 &	minp,
		const float3 &	maxp,
		const uint3 &	index
	)

Definition at line 34 of file approx_nearest_utils.hpp.

Referenced by findNode().

◆ norm() [1/3]

__device__ __forceinline__ float pcl::device::norm ( const float3 & v )

Definition at line 95 of file utils.hpp.

References dot().

◆ norm() [2/3]

__device__ __host__ __forceinline__ float pcl::device::norm	(	const float3 &	v1,
		const float3 &	v2
	)

Definition at line 60 of file vector_operations.hpp.

Referenced by computePairFeatures(), computePPFPairFeature(), computeRGBPairFeatures(), and Rodrigues().

◆ norm() [3/3]

template<typename T >

__device__ __host__ __forceinline__ float pcl::device::norm ( const T & val )

Definition at line 108 of file vector_math.hpp.

References dot().

◆ normalize()

__host__ __device__ float3 pcl::device::normalize ( const float3 & v )

inline

Definition at line 73 of file vector_operations.hpp.

References inverse_norm().

◆ normalized() [1/2]

__device__ __forceinline__ float3 pcl::device::normalized ( const float3 & v )

Definition at line 101 of file utils.hpp.

References dot().

Referenced by pcl::device::Eigen33::compute(), and computeAlfaM().

◆ normalized() [2/2]

template<typename T >

__host__ __device__ __forceinline__ T pcl::device::normalized ( const T & v )

Definition at line 118 of file vector_math.hpp.

References inverse_norm().

◆ normalized_safe()

template<typename T >

__host__ __device__ __forceinline__ T pcl::device::normalized_safe ( const T & v )

Definition at line 123 of file vector_math.hpp.

References dot().

◆ operator*() [1/2]

__device__ __forceinline__ float3 pcl::device::operator*	(	const float3 &	v1,
		const float &	v
	)

Definition at line 89 of file utils.hpp.

◆ operator*() [2/2]

__device__ __forceinline__ float3 pcl::device::operator*	(	const Mat33 &	m,
		const float3 &	vec
	)

Definition at line 74 of file device.hpp.

References pcl::device::Mat33::data, and dot().

◆ operator*=() [1/2]

__device__ __forceinline__ float3& pcl::device::operator*=	(	float3 &	vec,
		const float &	v
	)

Definition at line 77 of file utils.hpp.

◆ operator*=() [2/2]

__device__ __host__ __forceinline__ float4& pcl::device::operator*=	(	float4 &	p,
		float	v
	)

Definition at line 84 of file device.h.

◆ operator+()

__device__ __forceinline__ float3 pcl::device::operator+	(	const float3 &	v1,
		const float3 &	v2
	)

Definition at line 71 of file utils.hpp.

◆ operator+=()

__device__ __forceinline__ float3& pcl::device::operator+=	(	float3 &	vec,
		const float &	v
	)

Definition at line 65 of file utils.hpp.

◆ operator-()

__device__ __forceinline__ float3 pcl::device::operator-	(	const float3 &	v1,
		const float3 &	v2
	)

Definition at line 83 of file utils.hpp.

◆ operator/()

__forceinline__ __device__ __host__ float3 pcl::device::operator/	(	const float3 &	vec,
		float	val
	)

Definition at line 47 of file vector_operations.hpp.

◆ operator/=()

__device__ __host__ __forceinline__ float3& pcl::device::operator/=	(	float3 &	v,
		const float &	value
	)

Definition at line 52 of file vector_operations.hpp.

◆ pack_hull()

void pcl::device::pack_hull	(	const DeviceArray< PointType > &	points,
		const DeviceArray< int > &	indeces,
		DeviceArray< PointType > &	output
	)

◆ pack_tsdf()

__device__ __forceinline__ void pcl::device::pack_tsdf	(	float	tsdf,
		int	weight,
		short2 &	value
	)

Definition at line 52 of file device.hpp.

References DIVISOR.

◆ paint3DView()

void pcl::device::paint3DView	(	const PtrStep< uchar3 > &	colors,
		PtrStepSz< uchar3 >	dst,
		float	colors_weight = `0.5f`
	)

Paints 3D view with color map.

Parameters

[in]	colors	rgb color frame from OpenNI
[out]	dst	output 3D view
[in]	colors_weight	weight for colors

◆ prepareForeGroundDepth()

void pcl::device::prepareForeGroundDepth	(	const Depth &	depth1,
		Mask &	inverse_mask,
		Depth &	depth2
	)

◆ printFuncAttrib()

template<class Func >

void pcl::device::printFuncAttrib ( Func & func )

Definition at line 47 of file funcattrib.hpp.

◆ pyrDown()

void pcl::device::pyrDown	(	const DepthMap &	src,
		DepthMap &	dst
	)

Computes depth pyramid.

Parameters

[in]	src	source
[out]	dst	destination

◆ raycast()

void pcl::device::raycast	(	const Intr &	intr,
		const Mat33 &	Rcurr,
		const float3 &	tcurr,
		float	tranc_dist,
		const float3 &	volume_size,
		const PtrStep< short2 > &	volume,
		MapArr &	vmap,
		MapArr &	nmap
	)

Generation vertex and normal maps from volume for current camera pose.

Parameters

[in]	intr	camera intrinsices
[in]	Rcurr	current rotation
[in]	tcurr	current translation
[in]	tranc_dist	volume truncation distance
[in]	volume_size	volume size in mm
[in]	volume	tsdf volume
[out]	vmap	output vertex map
[out]	nmap	output normals map

◆ reduce_block()

template<unsigned int CTA_SIZE, typename T , typename BinaryFunction >

__device__ __forceinline__ void pcl::device::reduce_block	(	volatile T *	data,
		BinaryFunction	op,
		unsigned int	tid = `threadIdx.x`
	)

Definition at line 45 of file reduce.hpp.

◆ remove_duplicates()

std::size_t pcl::device::remove_duplicates ( DeviceArray< int > & indeces )

◆ repackToAosForPfh()

void pcl::device::repackToAosForPfh	(	const PointCloud &	cloud,
		const Normals &	normals,
		const NeighborIndices &	neighbours,
		DeviceArray2D< float > &	data_rpk,
		int &	max_elems_rpk
	)

◆ repackToAosForPfhRgb()

void pcl::device::repackToAosForPfhRgb	(	const PointCloud &	cloud,
		const Normals &	normals,
		const NeighborIndices &	neighbours,
		DeviceArray2D< float > &	data_rpk,
		int &	max_elems_rpk
	)

◆ resizeNMap()

void pcl::device::resizeNMap	(	const MapArr &	input,
		MapArr &	output
	)

Performs resize of vertex map to next pyramid level by averaging each four normals.

Parameters

[in]	input	normal map
[out]	output	vertex map

◆ resizeVMap()

void pcl::device::resizeVMap	(	const MapArr &	input,
		MapArr &	output
	)

Performs resize of vertex map to next pyramid level by averaging each four points.

Parameters

[in]	input	vertext map
[out]	output	resized vertex map

◆ Rodrigues()

__device__ __host__ __forceinline__ void pcl::device::Rodrigues	(	const float3 &	rvec,
		float3 &	row1,
		float3 &	row2,
		float3 &	row3
	)

Definition at line 65 of file rodrigues.hpp.

References AngleAxisf(), and norm().

◆ scan_block()

template<ScanKind Kind, class T >

__device__ __forceinline__ T pcl::device::scan_block	(	volatile T *	ptr,
		const unsigned int	idx = `threadIdx.x`
	)

Definition at line 65 of file scan_block.hpp.

◆ scan_warp()

template<ScanKind Kind, class T >

__device__ __forceinline__ T pcl::device::scan_warp	(	volatile T *	ptr,
		const unsigned int	idx = `threadIdx.x`
	)

Definition at line 87 of file device.hpp.

References inclusive.

◆ setZero()

void pcl::device::setZero ( Mask & mask )

◆ smoothLabelImage()

void pcl::device::smoothLabelImage	(	const Labels &	src,
		const Depth &	depth,
		Labels &	dst,
		int	num_parts,
		int	patch_size,
		int	depthThres
	)

◆ sqnorm()

template<typename Point >

__device__ __forceinline__ float pcl::device::sqnorm	(	const Point &	p1,
		const Point &	p2
	)

Definition at line 50 of file device.h.

◆ swap() [1/2]

template<class T >

__device__ __host__ __forceinline__ void pcl::device::swap	(	T &	a,
		T &	b
	)

Definition at line 53 of file utils.hpp.

Referenced by bitonicSortWarp(), and computeRoots3().

◆ swap() [2/2]

template<typename T >

__device__ __forceinline__ void pcl::device::swap	(	T &	a,
		T &	b
	)

Definition at line 45 of file bitonic_sort.hpp.

◆ sync()

void pcl::device::sync ( )

inline

synchronizes CUDA execution

Definition at line 397 of file internal.h.

◆ tr() [1/2]

__device__ __host__ __forceinline__ float3 pcl::device::tr ( const PointType & p )

Definition at line 69 of file device.h.

◆ tr() [2/2]

template<typename T >

__device__ __forceinline__ float3 pcl::device::tr ( const T & v )

Definition at line 68 of file vector_operations.hpp.

◆ tranformMaps()

void pcl::device::tranformMaps	(	const MapArr &	vmap_src,
		const MapArr &	nmap_src,
		const Mat33 &	Rmat,
		const float3 &	tvec,
		MapArr &	vmap_dst,
		MapArr &	nmap_dst
	)

Performs affine transform of vertex and normal maps.

Parameters

[in]	vmap_src	source vertex map
[in]	nmap_src	source vertex map
[in]	Rmat	Rotation mat
[in]	tvec	translation
[out]	vmap_dst	destination vertex map
[out]	nmap_dst	destination vertex map

◆ truncateDepth()

void pcl::device::truncateDepth	(	DepthMap &	depth,
		float	max_distance
	)

Performs depth truncation.

Parameters

[out]	depth	depth map to truncation
[in]	max_distance	truncation threshold, values that are higher than the threshold are reset to zero (means not measurement)

◆ unbindTextures()

void pcl::device::unbindTextures ( )

Unbinds.

◆ unpack_tsdf() [1/2]

__device__ __forceinline__ float pcl::device::unpack_tsdf ( short2 value )

Definition at line 67 of file device.hpp.

References DIVISOR.

◆ unpack_tsdf() [2/2]

__device__ __forceinline__ void pcl::device::unpack_tsdf	(	short2	value,
		float &	tsdf,
		int &	weight
	)

Definition at line 60 of file device.hpp.

References DIVISOR.

◆ updateColorVolume()

void pcl::device::updateColorVolume	(	const Intr &	intr,
		float	tranc_dist,
		const Mat33 &	R_inv,
		const float3 &	t,
		const MapArr &	vmap,
		const PtrStepSz< uchar3 > &	colors,
		const float3 &	volume_size,
		PtrStep< uchar4 >	color_volume,
		int	max_weight = `1`
	)

Performs integration in color volume.

Parameters

[in]	intr	Depth camera intrionsics structure
[in]	tranc_dist	tsdf truncation distance
[in]	R_inv	Inverse camera rotation
[in]	t	camera translation
[in]	vmap	Raycasted vertex map
[in]	colors	RGB colors for current frame
[in]	volume_size	volume size in meters
[in]	color_volume	color volume to be integrated
[in]	max_weight	max weight for running color average. Zero means not average, one means average with prev value, etc.

◆ valid_host()

bool pcl::device::valid_host ( float value )

inline

Check for qnan (unused now)

Parameters

[in] value

Definition at line 389 of file internal.h.

◆ warp_reduce()

template<class T >

__device__ __forceinline__ T pcl::device::warp_reduce	(	volatile T *	ptr,
		const unsigned int	tid = `threadIdx.x`
	)

Definition at line 46 of file warp_reduce.hpp.

Variable Documentation

◆ DIVISOR

constexpr int pcl::device::DIVISOR = std::numeric_limits<short>::max()

constexpr

Definition at line 56 of file internal.h.

Referenced by pack_tsdf(), and unpack_tsdf().

◆ VOLUME_SIZE

constexpr float pcl::device::VOLUME_SIZE = 3.0f

constexpr

Definition at line 64 of file internal.h.

◆ VOLUME_X

constexpr int pcl::device::VOLUME_X = 512

constexpr

Definition at line 59 of file internal.h.

◆ VOLUME_Y

constexpr int pcl::device::VOLUME_Y = 512

constexpr

Definition at line 60 of file internal.h.

◆ VOLUME_Z

constexpr int pcl::device::VOLUME_Z = 512

constexpr

Definition at line 61 of file internal.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ Cloud

◆ Depth

◆ DepthMap

◆ FacetsDists

◆ FPFHSignature33

◆ HueImage

◆ Image

◆ Indices

◆ LabelProbability

◆ Labels

◆ MapArr

◆ Mask

◆ MultiLabels

◆ Normals

◆ NormalType

◆ Perm

◆ PFHRGBSignature250

◆ PFHSignature125

◆ PixelRGB

◆ PointCloud

◆ PointType

◆ PointXYZRGB

◆ PointXYZRGBCloud

◆ StateType

◆ ushort

◆ VFHSignature308

Enumeration Type Documentation

◆ ScanKind [1/2]

◆ ScanKind [2/2]

Function Documentation

◆ AngleAxisf()

◆ bilateralFilter()

◆ bindTextures()

◆ bitonicSortWarp()

◆ bruteForceRadiusSearch()

◆ calcBoundingBox()

◆ checkIfNodeInsideSphere()

◆ checkIfNodeOutsideSphere()

◆ colorLMap()

◆ compue_inv_normal_norm()

◆ compute3DCentroid() [1/2]

◆ compute3DCentroid() [2/2]

◆ compute_plane()

◆ computeAlfaM()

◆ computeCloud()

◆ computeFPFH() [1/2]

◆ computeFPFH() [2/2]

◆ computeHue()

◆ computeHueWithNans()

◆ computeMask()

◆ computeNormals()

◆ computeNormalsEigen()

◆ computeOffsetsAndTotalVertexes()

◆ computePairFeatures()

◆ computePfh125()

◆ computePfhRgb250()

◆ computePoint()

◆ computePointPrincipalCurvatures()

◆ computePPF()

◆ computePPFPairFeature()

◆ computePPFRGB()

◆ computePPFRGBRegion()

◆ computeRGBPairFeatures()

◆ computeRGBPairFeatures_RGBOnly()

◆ computeRoots2()

◆ computeRoots3()

◆ computeSPFH()

◆ computeSpinImagesCustomAxes()

◆ computeSpinImagesCustomAxesCloud()

◆ computeSpinImagesOrigigNormal()

◆ computeTracking()

◆ computeUniqueIndices()

◆ convert()