Point Cloud Library (PCL) 1.13.0
internal.hpp
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35 */
36
37#ifndef PCL_GPU_OCTREE_INTERNAL_HPP_
38#define PCL_GPU_OCTREE_INTERNAL_HPP_
39
40#include <pcl/gpu/containers/device_array.h>
41#include <pcl/gpu/octree/device_format.hpp>
42#include <pcl/gpu/utils/safe_call.hpp>
43
44namespace pcl
45{
46 namespace device
47 {
49 {
50 int *nodes;
51 int *codes;
52 int *begs;
53 int *ends;
54
56
57 int *parent;
58
59 OctreeGlobal() : nodes(nullptr), codes(nullptr), begs(nullptr), ends(nullptr), nodes_num(nullptr), parent(nullptr) {}
60 };
61
63 {
64 float3 minp, maxp;
65 };
66
67
69 {
70 public:
71 using PointType = float4;
73
76
82
84
85 static void get_gpu_arch_compiled_for(int& bin, int& ptr);
86
88
89 void setCloud(const PointCloud& input_points);
90 void build();
91 void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out, int max_nn) const;
92 void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist) const;
93
94 void radiusSearch(const Queries& queries, float radius, NeighborIndices& results);
95 void radiusSearch(const Queries& queries, const Radiuses& radiuses, NeighborIndices& results);
96
97 void radiusSearch(const Queries& queries, const Indices& indices, float radius, NeighborIndices& results);
98
99 void approxNearestSearch(const Queries& queries, NeighborIndices& results, BatchResultSqrDists& sqr_distance) const;
100
101 void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results, BatchResultSqrDists& sqr_distances) const;
102
103 //just reference
105
106 // data
110
112
113 //storage
115
117 {
118 std::vector<int> nodes;
119 std::vector<int> codes;
120
121 std::vector<int> begs;
122 std::vector<int> ends;
123
124
125 std::vector<int> indices;
126
127 std::vector<float> points_sorted;
129
131
133
134
136 private:
137 template<typename BatchType>
138 void radiusSearchEx(BatchType& batch, const Queries& queries, NeighborIndices& results);
139 };
140
141 void bruteForceRadiusSearch(const OctreeImpl::PointCloud& cloud, const OctreeImpl::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);
142
143 }
144}
145
146#endif /* PCL_GPU_OCTREE_INTERNAL_HPP_ */
OctreeGlobalWithBox octreeGlobal
Definition: internal.hpp:111
struct pcl::device::OctreeImpl::OctreeDataHost host_octree
void radiusSearch(const Queries &queries, float radius, NeighborIndices &results)
DeviceArray2D< float > points_sorted
Definition: internal.hpp:107
DeviceArray< int > codes
Definition: internal.hpp:108
static void get_gpu_arch_compiled_for(int &bin, int &ptr)
void nearestKSearchBatch(const Queries &queries, int k, NeighborIndices &results, BatchResultSqrDists &sqr_distances) const
void radiusSearchHost(const PointType &center, float radius, std::vector< int > &out, int max_nn) const
DeviceArray2D< int > storage
Definition: internal.hpp:114
void setCloud(const PointCloud &input_points)
DeviceArray< int > indices
Definition: internal.hpp:109
void approxNearestSearchHost(const PointType &query, int &out_index, float &sqr_dist) const
void radiusSearch(const Queries &queries, const Radiuses &radiuses, NeighborIndices &results)
DeviceArray< PointType > PointArray
Definition: internal.hpp:72
void radiusSearch(const Queries &queries, const Indices &indices, float radius, NeighborIndices &results)
void approxNearestSearch(const Queries &queries, NeighborIndices &results, BatchResultSqrDists &sqr_distance) const
DeviceArray2D class
Definition: device_array.h:188
DeviceArray class
Definition: device_array.h:54
void bruteForceRadiusSearch(const OctreeImpl::PointCloud &cloud, const OctreeImpl::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer)