Point Cloud Library (PCL)  1.9.1-dev
predicate.h
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37 
38 #pragma once
39 
40 //#if THRUST_DEVICE_COMPILER == THRUST_DEVICE_COMPILER_NVCC
41 //#undef __MMX__
42 #include <pcl/cuda/point_cloud.h>
43 #include <pcl/cuda/point_types.h>
44 //#else
45 //#endif
46 
47 
48 namespace pcl
49 {
50 namespace cuda
51 {
52  template <class T>
53  struct isNotZero
54  {
55  __inline__ __host__ __device__ bool
56  operator()(T x) { return (x != 0); }
57  };
58 
59  struct isInlier
60  {
61  __inline__ __host__ __device__ bool
62  operator()(int x) { return (x != -1); }
63  };
64 
65  struct isNotInlier
66  {
67  __inline__ __host__ __device__ bool
68  operator()(int x) { return (x == -1); }
69  };
70 
71  struct SetColor
72  {
73  SetColor (const OpenNIRGB& color) : color_(color) {}
74  __inline__ __host__ __device__ void
75  operator()(PointXYZRGB& point) { point.rgb.r = color_.r; point.rgb.g = color_.g; point.rgb.b = color_.b;}
77  };
78 
79  struct ChangeColor
80  {
81  ChangeColor (const OpenNIRGB& color) : color_(color) {}
82  __inline__ __host__ __device__ PointXYZRGB&
84  {
85  point.rgb.r = color_.r; point.rgb.g = color_.g; point.rgb.b = color_.b;
86  return point;
87  }
89  };
90 
91 } // namespace
92 } // namespace
__inline__ __host__ __device__ bool operator()(T x)
Definition: predicate.h:56
OpenNIRGB color_
Definition: predicate.h:76
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
__inline__ __host__ __device__ bool operator()(int x)
Definition: predicate.h:68
__inline__ __host__ __device__ PointXYZRGB & operator()(PointXYZRGB &point)
Definition: predicate.h:83
__inline__ __host__ __device__ bool operator()(int x)
Definition: predicate.h:62
SetColor(const OpenNIRGB &color)
Definition: predicate.h:73
__inline__ __host__ __device__ void operator()(PointXYZRGB &point)
Definition: predicate.h:75
Check if a certain tuple is a point inlier.
Definition: predicate.h:59
ChangeColor(const OpenNIRGB &color)
Definition: predicate.h:81
Default point xyz-rgb structure.
Definition: point_types.h:48
Simple structure holding RGB data.
Definition: point_cloud.h:55