Point Cloud Library (PCL) 1.13.0
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internal.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Willow Garage, Inc.
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7 * All rights reserved.
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36 */
37
38#pragma once
39
40#include <cstdint>
41#include <cuda_runtime.h>
42
43#include <pcl/gpu/containers/device_array.h>
44
45namespace pcl
46{
47 namespace device
48 {
49 using PointType = float4;
51
54
56 {
57 float3 x1, x2, x3, x4;
58 int i1, i2, i3, i4;
59
60 float4 p1, p2, p3, p4;
61 };
62
64 {
65 public:
66 FacetStream(std::size_t buffer_size);
67
68 // indeces: in each col indeces of vertexes for single facet
70
72 std::size_t facet_count;
73
76
78
79 void setInitialFacets(const InitalSimplex& simplex);
80
82
83 bool canSplit() const;
85 private:
86
87 //for compation (double buffering)
88 DeviceArray2D<int> verts_inds2;
89 DeviceArray<float4> facet_planes2;
90 DeviceArray<int> head_points2;
91 };
92
94 {
95 public:
97
98 const Cloud cloud;
101
102 std::size_t cloud_size;
103
106
108
110
111
112 int searchFacetHeads(std::size_t facet_count, DeviceArray<int>& head_points);
113
115 };
116
117
118 std::size_t remove_duplicates(DeviceArray<int>& indeces);
119 void pack_hull(const DeviceArray<PointType>& points, const DeviceArray<int>& indeces, DeviceArray<PointType>& output);
120 }
121}
DeviceArray2D class
DeviceArray class
float4 PointType
Definition internal.hpp:58
void pack_hull(const DeviceArray< PointType > &points, const DeviceArray< int > &indeces, DeviceArray< PointType > &output)
DeviceArray2D< float4 > Cloud
Definition internal.h:52
DeviceArray< std::uint64_t > FacetsDists
Definition internal.h:52
std::size_t remove_duplicates(DeviceArray< int > &indeces)
DeviceArray< int > head_points
Definition internal.h:71
DeviceArray< int > scan_buffer
Definition internal.h:77
DeviceArray2D< int > verts_inds
Definition internal.h:69
DeviceArray< int > empty_count
Definition internal.h:75
void setInitialFacets(const InitalSimplex &simplex)
DeviceArray2D< int > empty_facets
Definition internal.h:74
std::size_t facet_count
Definition internal.h:72
FacetStream(std::size_t buffer_size)
PointStream(const Cloud &cloud)
int searchFacetHeads(std::size_t facet_count, DeviceArray< int > &head_points)
FacetsDists facets_dists
Definition internal.h:99
void classify(FacetStream &fs)
InitalSimplex simplex
Definition internal.h:104