Point Cloud Library (PCL)  1.9.1-dev
internal.h
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37 
38 #pragma once
39 
40 #include <cstdint>
41 #include <cuda_runtime.h>
42 
43 #include <pcl/gpu/containers/device_array.h>
44 
45 namespace pcl
46 {
47  namespace device
48  {
49  using PointType = float4;
51 
54 
56  {
57  float3 x1, x2, x3, x4;
58  int i1, i2, i3, i4;
59 
60  float4 p1, p2, p3, p4;
61  };
62 
63  struct FacetStream
64  {
65  public:
66  FacetStream(std::size_t buffer_size);
67 
68  // indeces: in each col indeces of vertexes for single facet
70 
72  std::size_t facet_count;
73 
76 
78 
79  void setInitialFacets(const InitalSimplex& simplex);
80 
81  void compactFacets();
82 
83  bool canSplit();
84  void splitFacets();
85  private:
86 
87  //for compation (double buffering)
88  DeviceArray2D<int> verts_inds2;
89  DeviceArray<float4> facet_planes2;
90  DeviceArray<int> head_points2;
91  };
92 
93  struct PointStream
94  {
95  public:
96  PointStream(const Cloud& cloud);
97 
98  const Cloud cloud;
101 
102  std::size_t cloud_size;
103 
105  float cloud_diag;
106 
107  void computeInitalSimplex();
108 
109  void initalClassify();
110 
111 
112  int searchFacetHeads(std::size_t facet_count, DeviceArray<int>& head_points);
113 
114  void classify(FacetStream& fs);
115  };
116 
117 
118  std::size_t remove_duplicates(DeviceArray<int>& indeces);
119  void pack_hull(const DeviceArray<PointType>& points, const DeviceArray<int>& indeces, DeviceArray<PointType>& output);
120  }
121 }
std::size_t remove_duplicates(DeviceArray< int > &indeces)
std::size_t facet_count
Definition: internal.h:72
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
DeviceArray2D class
Definition: device_array.h:153
InitalSimplex simplex
Definition: internal.h:104
DeviceArray2D< int > empty_facets
Definition: internal.h:74
std::size_t cloud_size
Definition: internal.h:102
float4 PointType
Definition: internal.hpp:58
DeviceArray< int > empty_count
Definition: internal.h:75
DeviceArray2D< float4 > Cloud
Definition: internal.h:52
DeviceArray2D< int > verts_inds
Definition: internal.h:69
void pack_hull(const DeviceArray< PointType > &points, const DeviceArray< int > &indeces, DeviceArray< PointType > &output)
DeviceArray< int > scan_buffer
Definition: internal.h:77
DeviceArray< std::uint64_t > FacetsDists
Definition: internal.h:52
DeviceArray< int > head_points
Definition: internal.h:71
FacetsDists facets_dists
Definition: internal.h:99