Point Cloud Library (PCL)  1.10.1-dev
octree.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_
38 #define _PCL_GPU_OCTREE_
39 
40 #include <vector>
41 
42 #include <pcl/memory.h>
43 #include <pcl/point_types.h>
44 #include <pcl/pcl_macros.h>
45 #include <pcl/gpu/containers/device_array.h>
46 #include <pcl/gpu/octree/device_format.hpp>
47 
48 namespace pcl
49 {
50  namespace gpu
51  {
52  /**
53  * \brief Octree implementation on GPU. It suppors parallel building and parallel batch search as well .
54  * \author Anaoly Baksheev, Itseez, myname.mysurname@mycompany.com
55  */
56 
58  {
59  public:
60 
61  /** \brief Default constructor.*/
62  Octree();
63 
64  /** \brief Denstructor.*/
65  virtual ~Octree();
66 
67  /** \brief Types */
70 
71  /** \brief Point typwe supported */
73 
74  /** \brief Point cloud supported */
76 
77  /** \brief Point Batch query cloud type */
79 
80  /** \brief Point Radiuses for batch query */
82 
83  /** \brief Point Indices for batch query */
85 
86  /** \brief Point Sqrt distances array type */
88 
90 
91  /** \brief Sets cloud for which octree is built */
92  void setCloud(const PointCloud& cloud_arg);
93 
94  /** \brief Performs parallel octree building */
95  void build();
96 
97  /** \brief Returns true if tree has been built */
98  bool isBuilt();
99 
100  /** \brief Downloads Octree from GPU to search using CPU function. It use useful for single (not-batch) search */
101  void internalDownload();
102 
103  /** \brief Performs search of all points within given radius on CPU. It call \a internalDownload if necessary
104  * \param[in] center center of sphere
105  * \param[in] radius radious of sphere
106  * \param[out] out indeces of points within give sphere
107  * \param[in] max_nn maximum numver of results returned
108  */
109  void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out, int max_nn = INT_MAX);
110 
111  /** \brief Performs approximate nearest neighbor search on CPU. It call \a internalDownload if necessary
112  * \param[in] query 3D point for which neighbour is be fetched
113  * \param[out] out_index neighbour index
114  * \param[out] sqr_dist square distance to the neighbour returned
115  */
116  void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist);
117 
118  /** \brief Performs batch radius search on GPU
119  * \param[in] centers array of centers
120  * \param[in] radius radius for all queries
121  * \param[in] max_results max number of returned points for each querey
122  * \param[out] result results packed to single array
123  */
124  void radiusSearch(const Queries& centers, float radius, int max_results, NeighborIndices& result) const;
125 
126  /** \brief Performs batch radius search on GPU
127  * \param[in] centers array of centers
128  * \param[in] radiuses array of radiuses
129  * \param[in] max_results max number of returned points for each querey
130  * \param[out] result results packed to single array
131  */
132  void radiusSearch(const Queries& centers, const Radiuses& radiuses, int max_results, NeighborIndices& result) const;
133 
134  /** \brief Performs batch radius search on GPU
135  * \param[in] centers array of centers
136  * \param[in] indices indices for centers array (only for these points search is performed)
137  * \param[in] radius radius for all queries
138  * \param[in] max_results max number of returned points for each querey
139  * \param[out] result results packed to single array
140  */
141  void radiusSearch(const Queries& centers, const Indices& indices, float radius, int max_results, NeighborIndices& result) const;
142 
143  /** \brief Batch approximate nearest search on GPU
144  * \param[in] queries array of centers
145  * \param[out] result array of results ( one index for each query )
146  */
147  void approxNearestSearch(const Queries& queries, NeighborIndices& result) const;
148 
149  /** \brief Batch exact k-nearest search on GPU for k == 1 only!
150  * \param[in] queries array of centers
151  * \param[in] k number of neighbors (only k == 1 is supported)
152  * \param[out] results array of results
153  */
154  void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results) const;
155 
156  /** \brief Desroys octree and release all resources */
157  void clear();
158  private:
159  void *impl;
160  bool built_;
161  };
162 
163  /** \brief Performs brute force radius search on GPU
164  * \param[in] cloud cloud where to search
165  * \param[in] query query point
166  * \param[in] radius radius
167  * \param[out] result indeces of points within give sphere
168  * \param[in] buffer buffer for intermediate results. Keep reference to it between calls to eliminate internal allocations
169  */
170  PCL_EXPORTS void bruteForceRadiusSearchGPU(const Octree::PointCloud& cloud, const Octree::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);
171  }
172 }
173 
174 #endif /* _PCL_GPU_OCTREE_ */
PCL_EXPORTS void bruteForceRadiusSearchGPU(const Octree::PointCloud &cloud, const Octree::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer)
Performs brute force radius search on GPU.
Defines functions, macros and traits for allocating and using memory.
shared_ptr< const Octree > ConstPtr
Definition: octree.hpp:69
Octree implementation on GPU.
Definition: octree.hpp:57
shared_ptr< Octree > Ptr
Types.
Definition: octree.hpp:68
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates.
const PointCloud * cloud_
Definition: octree.hpp:89
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: memory.h:81
#define PCL_EXPORTS
Definition: pcl_macros.h:276
Defines all the PCL and non-PCL macros used.