Point Cloud Library (PCL)  1.12.1-dev
probability_processor.h
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36 
37 #pragma once
38 
39 #include <pcl/point_types.h>
40 #include <pcl/console/print.h>
41 #include <pcl/gpu/containers/device_array.h>
42 #include <pcl/gpu/people/label_common.h>
43 
44 #include <fstream>
45 #include <iostream>
46 #include <memory>
47 #include <sstream>
48 
49 namespace pcl
50 {
51  namespace device
52  {
53  class ProbabilityProc;
54  }
55 
56  namespace gpu
57  {
58  namespace people
59  {
61  {
62  public:
63  using Ptr = shared_ptr<ProbabilityProcessor>;
64  using ConstPtr = shared_ptr<const ProbabilityProcessor>;
67 
69 
70  /** \brief This will merge the votes from the different trees into one final vote, including probabilistic's **/
71  void
72  SelectLabel (const Depth& depth, Labels& labels, pcl::device::LabelProbability& probabilities);
73 
74  /** \brief This will combine two probabilities according their weight **/
75  void
76  CombineProb ( const Depth& depth,
78  float weight1,
80  float weight2,
82 
83  /** \brief This will sum a probability multiplied with it's weight **/
84  void
85  WeightedSumProb ( const Depth& depth, pcl::device::LabelProbability& probIn, float weight, pcl::device::LabelProbability& probOut);
86 
87  /** \brief This will create a Gaussian Kernel **/
88  float*
89  CreateGaussianKernel ( float sigma,
90  int kernelSize);
91 
92  /** \brief This will do a GaussianBlur over the LabelProbability **/
93  int
94  GaussianBlur( const Depth& depth,
98 
99  /** \brief This will do a GaussianBlur over the LabelProbability **/
100  int
101  GaussianBlur( const Depth& depth,
106 
107  private:
108  std::shared_ptr<pcl::device::ProbabilityProc> impl_;
109 
110  };
111  }
112  }
113 }
shared_ptr< const ProbabilityProcessor > ConstPtr
int GaussianBlur(const Depth &depth, pcl::device::LabelProbability &probIn, DeviceArray< float > &kernel, pcl::device::LabelProbability &probTemp, pcl::device::LabelProbability &probOut)
This will do a GaussianBlur over the LabelProbability.
void SelectLabel(const Depth &depth, Labels &labels, pcl::device::LabelProbability &probabilities)
This will merge the votes from the different trees into one final vote, including probabilistic's.
float * CreateGaussianKernel(float sigma, int kernelSize)
This will create a Gaussian Kernel.
int GaussianBlur(const Depth &depth, pcl::device::LabelProbability &probIn, DeviceArray< float > &kernel, pcl::device::LabelProbability &probOut)
This will do a GaussianBlur over the LabelProbability.
void CombineProb(const Depth &depth, pcl::device::LabelProbability &probIn1, float weight1, pcl::device::LabelProbability &probIn2, float weight2, pcl::device::LabelProbability &probOut)
This will combine two probabilities according their weight.
void WeightedSumProb(const Depth &depth, pcl::device::LabelProbability &probIn, float weight, pcl::device::LabelProbability &probOut)
This will sum a probability multiplied with it's weight.
shared_ptr< ProbabilityProcessor > Ptr
Defines all the PCL implemented PointT point type structures.
#define PCL_EXPORTS
Definition: pcl_macros.h:323