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probability_processor.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
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* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* @author: Koen Buys
*/
#pragma once
#include <pcl/point_types.h>
#include <pcl/console/print.h>
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/people/label_common.h>
#include <fstream>
#include <iostream>
#include <memory>
#include <sstream>
namespace pcl
{
namespace device
{
class ProbabilityProc;
}
namespace gpu
{
namespace people
{
class PCL_EXPORTS ProbabilityProcessor
{
public:
using Ptr = shared_ptr<ProbabilityProcessor>;
using ConstPtr = shared_ptr<const ProbabilityProcessor>;
using Depth = DeviceArray2D<unsigned short>;
using Labels = DeviceArray2D<unsigned char>;
ProbabilityProcessor();
/** \brief This will merge the votes from the different trees into one final vote, including probabilistic's **/
void
SelectLabel (const Depth& depth, Labels& labels, pcl::device::LabelProbability& probabilities);
/** \brief This will combine two probabilities according their weight **/
void
CombineProb ( const Depth& depth,
pcl::device::LabelProbability& probIn1,
float weight1,
pcl::device::LabelProbability& probIn2,
float weight2,
pcl::device::LabelProbability& probOut);
/** \brief This will sum a probability multiplied with it's weight **/
void
WeightedSumProb ( const Depth& depth, pcl::device::LabelProbability& probIn, float weight, pcl::device::LabelProbability& probOut);
/** \brief This will create a Gaussian Kernel **/
float*
CreateGaussianKernel ( float sigma,
int kernelSize);
/** \brief This will do a GaussianBlur over the LabelProbability **/
int
GaussianBlur( const Depth& depth,
pcl::device::LabelProbability& probIn,
DeviceArray<float>& kernel,
pcl::device::LabelProbability& probOut);
/** \brief This will do a GaussianBlur over the LabelProbability **/
int
GaussianBlur( const Depth& depth,
pcl::device::LabelProbability& probIn,
DeviceArray<float>& kernel,
pcl::device::LabelProbability& probTemp,
pcl::device::LabelProbability& probOut);
private:
std::shared_ptr<pcl::device::ProbabilityProc> impl_;
};
}
}
}
pcl::gpu::DeviceArray2D< unsigned short >
pcl::gpu::DeviceArray
DeviceArray class
Definition device_array.h:54
pcl::gpu::people::ProbabilityProcessor
Definition probability_processor.h:61
pcl::gpu::people::ProbabilityProcessor::ConstPtr
shared_ptr< const ProbabilityProcessor > ConstPtr
Definition probability_processor.h:64
pcl::gpu::people::ProbabilityProcessor::GaussianBlur
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.
pcl::gpu::people::ProbabilityProcessor::SelectLabel
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.
pcl::gpu::people::ProbabilityProcessor::GaussianBlur
int GaussianBlur(const Depth &depth, pcl::device::LabelProbability &probIn, DeviceArray< float > &kernel, pcl::device::LabelProbability &probOut)
This will do a GaussianBlur over the LabelProbability.
pcl::gpu::people::ProbabilityProcessor::CreateGaussianKernel
float * CreateGaussianKernel(float sigma, int kernelSize)
This will create a Gaussian Kernel.
pcl::gpu::people::ProbabilityProcessor::CombineProb
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.
pcl::gpu::people::ProbabilityProcessor::WeightedSumProb
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.
pcl::gpu::people::ProbabilityProcessor::ProbabilityProcessor
ProbabilityProcessor()
pcl::gpu::people::ProbabilityProcessor::Ptr
shared_ptr< ProbabilityProcessor > Ptr
Definition probability_processor.h:63
pcl::kernel
Definition kernel.h:46
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl
Definition convolution.h:46