Point Cloud Library (PCL)  1.9.1-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/point_types.h>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/gpu/containers/device_array.h>
45 #include <pcl/gpu/octree/device_format.hpp>
46 
47 namespace pcl
48 {
49  namespace gpu
50  {
51  /**
52  * \brief Octree implementation on GPU. It suppors parallel building and parallel batch search as well .
53  * \author Anaoly Baksheev, Itseez, myname.mysurname@mycompany.com
54  */
55 
57  {
58  public:
59 
60  /** \brief Default constructor.*/
61  Octree();
62 
63  /** \brief Denstructor.*/
64  virtual ~Octree();
65 
66  /** \brief Types */
67  using Ptr = boost::shared_ptr<Octree>;
68  using ConstPtr = boost::shared_ptr<const Octree>;
69 
70  /** \brief Point typwe supported */
72 
73  /** \brief Point cloud supported */
75 
76  /** \brief Point Batch query cloud type */
78 
79  /** \brief Point Radiuses for batch query */
81 
82  /** \brief Point Indices for batch query */
84 
85  /** \brief Point Sqrt distances array type */
87 
89 
90  /** \brief Sets cloud for which octree is built */
91  void setCloud(const PointCloud& cloud_arg);
92 
93  /** \brief Performs parallel octree building */
94  void build();
95 
96  /** \brief Returns true if tree has been built */
97  bool isBuilt();
98 
99  /** \brief Downloads Octree from GPU to search using CPU function. It use useful for single (not-batch) search */
100  void internalDownload();
101 
102  /** \brief Performs search of all points within given radius on CPU. It call \a internalDownload if necessary
103  * \param[in] center center of sphere
104  * \param[in] radius radious of sphere
105  * \param[out] out indeces of points within give sphere
106  * \param[in] max_nn maximum numver of results returned
107  */
108  void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out, int max_nn = INT_MAX);
109 
110  /** \brief Performs approximate nearest neighbor search on CPU. It call \a internalDownload if necessary
111  * \param[in] query 3D point for which neighbour is be fetched
112  * \param[out] out_index neighbour index
113  * \param[out] sqr_dist square distance to the neighbour returned
114  */
115  void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist);
116 
117  /** \brief Performs batch radius search on GPU
118  * \param[in] centers array of centers
119  * \param[in] radius radius for all queries
120  * \param[in] max_results max number of returned points for each querey
121  * \param[out] result results packed to single array
122  */
123  void radiusSearch(const Queries& centers, float radius, int max_results, NeighborIndices& result) const;
124 
125  /** \brief Performs batch radius search on GPU
126  * \param[in] centers array of centers
127  * \param[in] radiuses array of radiuses
128  * \param[in] max_results max number of returned points for each querey
129  * \param[out] result results packed to single array
130  */
131  void radiusSearch(const Queries& centers, const Radiuses& radiuses, int max_results, NeighborIndices& result) const;
132 
133  /** \brief Performs batch radius search on GPU
134  * \param[in] centers array of centers
135  * \param[in] indices indices for centers array (only for these points search is performed)
136  * \param[in] radius radius for all queries
137  * \param[in] max_results max number of returned points for each querey
138  * \param[out] result results packed to single array
139  */
140  void radiusSearch(const Queries& centers, const Indices& indices, float radius, int max_results, NeighborIndices& result) const;
141 
142  /** \brief Batch approximate nearest search on GPU
143  * \param[in] queries array of centers
144  * \param[out] result array of results ( one index for each query )
145  */
146  void approxNearestSearch(const Queries& queries, NeighborIndices& result) const;
147 
148  /** \brief Batch exact k-nearest search on GPU for k == 1 only!
149  * \param[in] queries array of centers
150  * \param[in] k number of neighbors (only k == 1 is supported)
151  * \param[out] results array of results
152  */
153  void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results) const;
154 
155  /** \brief Desroys octree and release all resources */
156  void clear();
157  private:
158  void *impl;
159  bool built_;
160  };
161 
162  /** \brief Performs brute force radius search on GPU
163  * \param[in] cloud cloud where to search
164  * \param[in] query query point
165  * \param[in] radius radius
166  * \param[out] result indeces of points within give sphere
167  * \param[in] buffer buffer for intermediate results. Keep reference to it between calls to eliminate internal allocations
168  */
169  PCL_EXPORTS void bruteForceRadiusSearchGPU(const Octree::PointCloud& cloud, const Octree::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);
170  }
171 }
172 
173 #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.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Octree implementation on GPU.
Definition: octree.hpp:56
boost::shared_ptr< const Octree > ConstPtr
Definition: octree.hpp:68
boost::shared_ptr< Octree > Ptr
Types.
Definition: octree.hpp:67
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates.
const PointCloud * cloud_
Definition: octree.hpp:88
#define PCL_EXPORTS
Definition: pcl_macros.h:241
Defines all the PCL and non-PCL macros used.