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pcl_cuda_base.h
/*
* Software License Agreement (BSD License)
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#pragma once
#include <pcl/memory.h>
#include <pcl/cuda/point_cloud.h>
namespace pcl
{
namespace cuda
{
///////////////////////////////////////////////////////////////////////////////////////////
/** \brief PCL base class. Implements methods that are used by all PCL objects.
*/
template <typename CloudT>
class PCLCUDABase
{
public:
using PointCloud = CloudT;
using PointCloudPtr = typename PointCloud::Ptr;
using PointCloudConstPtr = typename PointCloud::ConstPtr;
/** \brief Empty constructor. */
PCLCUDABase () : input_() {};
/** \brief Provide a pointer to the input dataset
* \param cloud the const boost shared pointer to a PointCloud message
*/
virtual inline void
setInputCloud (const PointCloudConstPtr &cloud)
{
input_ = cloud;
}
/** \brief Get a pointer to the input host point cloud dataset. */
inline PointCloudConstPtr const
getInputCloud ()
{
return (input_);
}
protected:
/** \brief The input point cloud dataset. */
PointCloudConstPtr input_;
/** \brief This method should get called before starting the actual computation. */
bool
initCompute ()
{
// Check if input was set
if (!input_)
return (false);
return (true);
}
/** \brief This method should get called after finishing the actual computation. */
bool
deinitCompute ()
{
return (true);
}
};
} // namespace
} // namespace
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition point_cloud.h:414
pcl::cuda::PCLCUDABase
PCL base class.
Definition pcl_cuda_base.h:51
pcl::cuda::PCLCUDABase::PointCloud
CloudT PointCloud
Definition pcl_cuda_base.h:53
pcl::cuda::PCLCUDABase::getInputCloud
PointCloudConstPtr const getInputCloud()
Get a pointer to the input host point cloud dataset.
Definition pcl_cuda_base.h:71
pcl::cuda::PCLCUDABase::setInputCloud
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Definition pcl_cuda_base.h:64
pcl::cuda::PCLCUDABase::deinitCompute
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition pcl_cuda_base.h:92
pcl::cuda::PCLCUDABase::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition pcl_cuda_base.h:54
pcl::cuda::PCLCUDABase::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition pcl_cuda_base.h:55
pcl::cuda::PCLCUDABase::PCLCUDABase
PCLCUDABase()
Empty constructor.
Definition pcl_cuda_base.h:58
pcl::cuda::PCLCUDABase::initCompute
bool initCompute()
This method should get called before starting the actual computation.
Definition pcl_cuda_base.h:82
pcl::cuda::PCLCUDABase::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_cuda_base.h:78
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl
Definition convolution.h:46