Point Cloud Library (PCL)  1.9.1-dev
device_format.hpp
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34  * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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36 
37 #ifndef _PCL_GPU_OCTREE_DEVICE_FORMAT_HPP_
38 #define _PCL_GPU_OCTREE_DEVICE_FORMAT_HPP_
39 
40 #include <pcl/gpu/containers/device_array.h>
41 
42 namespace pcl
43 {
44  namespace gpu
45  {
47  {
50  int max_elems;
51 
53  NeighborIndices(int query_number, int max_elements) : max_elems(0)
54  {
55  create(query_number, max_elements);
56  }
57 
58  void create(int query_number, int max_elements)
59  {
60  max_elems = max_elements;
61  data.create (query_number * max_elems);
62 
63  if (max_elems != 1)
64  sizes.create(query_number);
65  }
66 
67  void upload(const std::vector<int>& data, const std::vector<int>& sizes, int max_elements)
68  {
69  this->data.upload(data);
70  this->sizes.upload(sizes);
71  max_elems = max_elements;
72  }
73 
74  bool validate(size_t cloud_size) const
75  {
76  return (sizes.size() == cloud_size) && (cloud_size * max_elems == data.size());
77  }
78 
79  operator PtrStep<int>() const
80  {
81  return {(int*)data.ptr(), max_elems * sizeof(int)};
82  }
83 
84  size_t neighboors_size() const { return data.size()/max_elems; }
85  };
86  }
87 }
88 
89 #endif /* _PCL_GPU_OCTREE_DEVICE_FORMAT_HPP_ */
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
size_t neighboors_size() const
void create(int query_number, int max_elements)
void create(size_t size)
Allocates internal buffer in GPU memory.
DeviceArray< int > data
NeighborIndices(int query_number, int max_elements)
size_t size() const
Returns size in elements.
DeviceArray< int > sizes
T * ptr()
Returns pointer for internal buffer in GPU memory.
bool validate(size_t cloud_size) const
void upload(const std::vector< int > &data, const std::vector< int > &sizes, int max_elements)