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boxutils.hpp
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*
* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#ifndef _PCL_GPU_OCTREE_BOXUTILS_HPP_
#define _PCL_GPU_OCTREE_BOXUTILS_HPP_
#include "utils/morton.hpp"
namespace pcl
{
namespace device
{
__device__ __host__ __forceinline__
static bool checkIfNodeInsideSphere(const float3& minp, const float3& maxp, const float3& c, float r)
{
r *= r;
float d2_xmin = (minp.x - c.x) * (minp.x - c.x);
float d2_ymin = (minp.y - c.y) * (minp.y - c.y);
float d2_zmin = (minp.z - c.z) * (minp.z - c.z);
if (d2_xmin + d2_ymin + d2_zmin > r)
return false;
float d2_zmax = (maxp.z - c.z) * (maxp.z - c.z);
if (d2_xmin + d2_ymin + d2_zmax > r)
return false;
float d2_ymax = (maxp.y - c.y) * (maxp.y - c.y);
if (d2_xmin + d2_ymax + d2_zmin > r)
return false;
if (d2_xmin + d2_ymax + d2_zmax > r)
return false;
float d2_xmax = (maxp.x - c.x) * (maxp.x - c.x);
if (d2_xmax + d2_ymin + d2_zmin > r)
return false;
if (d2_xmax + d2_ymin + d2_zmax > r)
return false;
if (d2_xmax + d2_ymax + d2_zmin > r)
return false;
if (d2_xmax + d2_ymax + d2_zmax > r)
return false;
return true;
}
__device__ __host__ __forceinline__
static bool checkIfNodeOutsideSphere(const float3& minp, const float3& maxp, const float3& c, float r)
{
if (maxp.x < (c.x - r) || maxp.y < (c.y - r) || maxp.z < (c.z - r))
return true;
if ((c.x + r) < minp.x || (c.y + r) < minp.y || (c.z + r) < minp.z)
return true;
return false;
}
__device__ __host__ __forceinline__
static void calcBoundingBox(int level, int code, float3& res_minp, float3& res_maxp)
{
int cell_x, cell_y, cell_z;
Morton::decomposeCode(code, cell_x, cell_y, cell_z);
float cell_size_x = (res_maxp.x - res_minp.x) / (1 << level);
float cell_size_y = (res_maxp.y - res_minp.y) / (1 << level);
float cell_size_z = (res_maxp.z - res_minp.z) / (1 << level);
res_minp.x += cell_x * cell_size_x;
res_minp.y += cell_y * cell_size_y;
res_minp.z += cell_z * cell_size_z;
res_maxp.x = res_minp.x + cell_size_x;
res_maxp.y = res_minp.y + cell_size_y;
res_maxp.z = res_minp.z + cell_size_z;
}
}
}
#endif /* _PCL_GPU_OCTREE_BOXUTILS_HPP_ */
pcl::device
Definition device_array.h:315
pcl::device::calcBoundingBox
__device__ __host__ static __forceinline__ void calcBoundingBox(int level, int code, float3 &res_minp, float3 &res_maxp)
Definition boxutils.hpp:101
pcl::device::checkIfNodeInsideSphere
__device__ __host__ static __forceinline__ bool checkIfNodeInsideSphere(const float3 &minp, const float3 &maxp, const float3 &c, float r)
Definition boxutils.hpp:47
pcl::device::checkIfNodeOutsideSphere
__device__ __host__ static __forceinline__ bool checkIfNodeOutsideSphere(const float3 &minp, const float3 &maxp, const float3 &c, float r)
Definition boxutils.hpp:89
pcl
Definition convolution.h:46
pcl::device::Morton::decomposeCode
__device__ __host__ static __forceinline__ void decomposeCode(code_t code, int &cell_x, int &cell_y, int &cell_z)
Definition morton.hpp:84