Point Cloud Library (PCL)  1.9.1-dev
octree_iterator.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_ITERATOR
38 #define PCL_GPU_OCTREE_ITERATOR
39 
40 namespace pcl
41 {
42  namespace device
43  {
44 
45  template<int CTA_SIZE, int STACK_DEPTH>
47  {
48  typedef int Storage[STACK_DEPTH][CTA_SIZE];
49 
50  int level;
51  Storage& storage;
52 
53  __device__ __forceinline__ OctreeIteratorDevice(Storage& storage_arg) : storage(storage_arg)
54  {
55  level = 0; // root level
56  storage[level][threadIdx.x] = (0 << 8) + 1;
57  }
58 
59  __device__ __forceinline__ void gotoNextLevel(int first, int len)
60  {
61  ++level;
62  storage[level][threadIdx.x] = (first << 8) + len;
63  }
64 
65  __device__ __forceinline__ int operator*() const
66  {
67  return storage[level][threadIdx.x] >> 8;
68  }
69 
70  __device__ __forceinline__ void operator++()
71  {
72  while(level >= 0)
73  {
74  int data = storage[level][threadIdx.x];
75 
76  if ((data & 0xFF) > 1) // there are another siblings, can goto there
77  {
78  data += (1 << 8) - 1; // +1 to first and -1 from len
79  storage[level][threadIdx.x] = data;
80  break;
81  }
82  else
83  --level; //goto parent;
84  }
85  }
86  };
87 
89  {
90  int level;
91  int node_idx;
92  int length;
94 
95  __device__ __forceinline__ OctreeIteratorDeviceNS(const OctreeGlobalWithBox& octree_arg) : octree(octree_arg)
96  {
97  node_idx = 0;
98  level = 0;
99  length = 1;
100  }
101 
102  __device__ __forceinline__ void gotoNextLevel(int first, int len)
103  {
104  node_idx = first;
105  length = len;
106  ++level;
107  }
108 
109  __device__ __forceinline__ int operator*() const
110  {
111  return node_idx;
112  }
113 
114  __device__ __forceinline__ void operator++()
115  {
116 #if 1
117  while(level >= 0)
118  {
119  if (length > 1)
120  {
121  length--;
122  node_idx++;
123  break;
124  }
125 
126  if (node_idx == 0)
127  {
128  level = -1;
129  return;
130  }
131 
132  node_idx = octree.parent[node_idx];
133  --level;
134  if (node_idx == 0)
135  {
136  level = -1;
137  return;
138  }
139 
140  int parent = octree.nodes[octree.parent[node_idx]];
141  int parent_first = parent >> 8;
142  int parent_len = __popc(parent & 0xFF);
143 
144  int pos = node_idx - parent_first;
145 
146  length = parent_len - pos;
147  }
148 #endif
149  }
150 
151  };
152  }
153 }
154 
155 #endif /* PCL_GPU_OCTREE_ITERATOR */
const OctreeGlobalWithBox & octree
__device__ __forceinline__ void operator++()
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
__device__ __forceinline__ OctreeIteratorDevice(Storage &storage_arg)
__device__ __forceinline__ void gotoNextLevel(int first, int len)
__device__ __forceinline__ void operator++()
__device__ __forceinline__ int operator*() const
__device__ __forceinline__ void gotoNextLevel(int first, int len)
__device__ __forceinline__ int operator*() const
int Storage[STACK_DEPTH][CTA_SIZE]
__device__ __forceinline__ OctreeIteratorDeviceNS(const OctreeGlobalWithBox &octree_arg)