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device_format.hpp
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
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* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#ifndef _PCL_GPU_OCTREE_DEVICE_FORMAT_HPP_
#define _PCL_GPU_OCTREE_DEVICE_FORMAT_HPP_
#include <pcl/gpu/containers/device_array.h>
namespace pcl
{
namespace gpu
{
struct NeighborIndices
{
DeviceArray<int> data;
DeviceArray<int> sizes;
int max_elems;
NeighborIndices() {}
NeighborIndices(int query_number, int max_elements) : max_elems(0)
{
create(query_number, max_elements);
}
void create(int query_number, int max_elements)
{
max_elems = max_elements;
data.create (static_cast<std::size_t>(query_number) * static_cast<std::size_t>(max_elems));
if (max_elems != 1)
sizes.create(query_number);
}
void upload(const std::vector<int>& data, const std::vector<int>& sizes, int max_elements)
{
this->data.upload(data);
this->sizes.upload(sizes);
max_elems = max_elements;
}
bool validate(std::size_t cloud_size) const
{
return (sizes.size() == cloud_size) && (cloud_size * max_elems == data.size());
}
operator PtrStep<int>() const
{
return {(int*)data.ptr(), max_elems * sizeof(int)};
}
std::size_t neighboors_size() const { return data.size()/max_elems; }
};
}
}
#endif /* _PCL_GPU_OCTREE_DEVICE_FORMAT_HPP_ */
pcl::gpu::DeviceArray
DeviceArray class
Definition device_array.h:54
pcl::gpu
Definition device_array.h:45
pcl
Definition convolution.h:46
pcl::device::NeighborIndices::NeighborIndices
NeighborIndices()
Definition device_format.hpp:52
pcl::gpu::NeighborIndices::NeighborIndices
NeighborIndices(int query_number, int max_elements)
Definition device_format.hpp:53
pcl::gpu::NeighborIndices::upload
void upload(const std::vector< int > &data, const std::vector< int > &sizes, int max_elements)
Definition device_format.hpp:67
pcl::gpu::NeighborIndices::NeighborIndices
NeighborIndices()
Definition device_format.hpp:52
pcl::gpu::NeighborIndices::validate
bool validate(std::size_t cloud_size) const
Definition device_format.hpp:74
pcl::gpu::NeighborIndices::create
void create(int query_number, int max_elements)
Definition device_format.hpp:58
pcl::gpu::NeighborIndices::max_elems
int max_elems
Definition device_format.hpp:50
pcl::gpu::NeighborIndices::neighboors_size
std::size_t neighboors_size() const
Definition device_format.hpp:84
pcl::gpu::NeighborIndices::sizes
DeviceArray< int > sizes
Definition device_format.hpp:49
pcl::gpu::NeighborIndices::data
DeviceArray< int > data
Definition device_format.hpp:48
pcl::gpu::PtrStep
Definition kernel_containers.h:85