Point Cloud Library (PCL) 1.14.0
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probability_processor.h
1/*
2 * Software License Agreement (BSD License)
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4 * Copyright (c) 2011, Willow Garage, Inc.
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19 * from this software without specific prior written permission.
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21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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34 * @author: Koen Buys
35 */
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
49namespace pcl
50{
51 namespace device
52 {
53 class ProbabilityProc;
54 }
55
56 namespace gpu
57 {
58 namespace people
59 {
60 class PCL_EXPORTS ProbabilityProcessor
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}
DeviceArray class
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.
int GaussianBlur(const Depth &depth, pcl::device::LabelProbability &probIn, DeviceArray< float > &kernel, pcl::device::LabelProbability &probOut)
This will do a GaussianBlur over the LabelProbability.
float * CreateGaussianKernel(float sigma, int kernelSize)
This will create a Gaussian Kernel.
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.