repacks.hpp
/*
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* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#ifndef __PCL_GPU_UTILS_REPACKS_HPP__
#define __PCL_GPU_UTILS_REPACKS_HPP__
#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>
#include <pcl/gpu/containers/device_array.h>
namespace pcl
{
namespace gpu
{
///////////////////////////////////////
/// This is an experimental code ///
///////////////////////////////////////
const int NoCP = 0xFFFFFFFF;
/** \brief Returns field copy operation code. */
inline int cp(int from, int to)
{
return ((to & 0xF) << 4) + (from & 0xF);
}
/* Combines several field copy operations to one int (called rule) */
inline int rule(int cp1, int cp2 = NoCP, int cp3 = NoCP, int cp4 = NoCP)
{
return (cp1 & 0xFF) + ((cp2 & 0xFF) << 8) + ((cp3 & 0xFF) << 16) + ((cp4 & 0xFF) << 24);
}
/* Combines performs all field copy operations in given rule array (can be 0, 1, or 16 copies) */
void copyFieldsImpl(int in_size, int out_size, int rules[4], int size, const void* input, void* output);
template<typename PointIn, typename PointOut>
void copyFieldsEx(const DeviceArray<PointIn>& src, DeviceArray<PointOut>& dst, int rule1, int rule2 = NoCP, int rule3 = NoCP, int rule4 = NoCP)
{
int rules[4] = { rule1, rule2, rule3, rule4 };
dst.create(src.size());
copyFieldsImpl(sizeof(PointIn)/sizeof(int), sizeof(PointOut)/sizeof(int), rules, (int)src.size(), src.ptr(), dst.ptr());
}
void copyFields(const DeviceArray<PointXYZ>& src, DeviceArray<PointNormal>& dst)
{
//PointXYZ.x (0) -> PointNormal.x (0)
//PointXYZ.y (1) -> PointNormal.y (1)
//PointXYZ.z (2) -> PointNormal.z (2)
copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2)));
};
void copyFields(const DeviceArray<Normal>& src, DeviceArray<PointNormal>& dst)
{
//PointXYZ.normal_x (0) -> PointNormal.normal_x (4)
//PointXYZ.normal_y (1) -> PointNormal.normal_y (5)
//PointXYZ.normal_z (2) -> PointNormal.normal_z (6)
//PointXYZ.curvature (4) -> PointNormal.curvature (8)
copyFieldsEx(src, dst, rule(cp(0, 4), cp(1, 5), cp(2, 6), cp(4,8)));
};
void copyFields(const DeviceArray<PointXYZRGBL>& src, DeviceArray<PointXYZ>& dst)
{
//PointXYZRGBL.x (0) -> PointXYZ.x (0)
//PointXYZRGBL.y (1) -> PointXYZ.y (1)
//PointXYZRGBL.z (2) -> PointXYZ.z (2)
copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2)));
};
void copyFields(const DeviceArray<PointXYZRGB>& src, DeviceArray<PointXYZ>& dst)
{
//PointXYZRGB.x (0) -> PointXYZ.x (0)
//PointXYZRGB.y (1) -> PointXYZ.y (1)
//PointXYZRGB.z (2) -> PointXYZ.z (2)
copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2)));
};
void copyFields(const DeviceArray<PointXYZRGBA>& src, DeviceArray<PointXYZ>& dst)
{
//PointXYZRGBA.x (0) -> PointXYZ.x (0)
//PointXYZRGBA.y (1) -> PointXYZ.y (1)
//PointXYZRGBA.z (2) -> PointXYZ.z (2)
copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2)));
};
void copyFieldsZ(const DeviceArray<PointXYZ>& src, DeviceArray<float>& dst)
{
//PointXYZRGBL.z (2) -> float (1)
copyFieldsEx(src, dst, rule(cp(2, 0)));
};
void copyFieldsZ(const DeviceArray<PointXYZRGB>& src, DeviceArray<float>& dst)
{
//PointXYZRGBL.z (2) -> float (1)
copyFieldsEx(src, dst, rule(cp(2, 0)));
};
}
}
#endif /* __PCL_GPU_UTILS_REPACKS_HPP__ */
pcl::gpu::NoCP
const int NoCP
This is an experimental code ///.
Definition: repacks.hpp:53
pcl::gpu::copyFieldsEx
void copyFieldsEx(const DeviceArray< PointIn > &src, DeviceArray< PointOut > &dst, int rule1, int rule2=NoCP, int rule3=NoCP, int rule4=NoCP)
Definition: repacks.hpp:71
pcl
Definition: convolution.h:45
pcl::gpu::copyFieldsImpl
void copyFieldsImpl(int in_size, int out_size, int rules[4], int size, const void *input, void *output)
pcl::gpu::DeviceArray
DeviceArray class
Definition: device_array.h:57
pcl::gpu::DeviceArray::create
void create(size_t size)
Allocates internal buffer in GPU memory.
Definition: device_array.hpp:50
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl::gpu::cp
int cp(int from, int to)
Returns field copy operation code.
Definition: repacks.hpp:56
pcl::gpu::DeviceArray::size
size_t size() const
Returns size in elements.
Definition: device_array.hpp:66
pcl::gpu::rule
int rule(int cp1, int cp2=NoCP, int cp3=NoCP, int cp4=NoCP)
Definition: repacks.hpp:62
pcl::gpu::DeviceArray::ptr
T * ptr()
Returns pointer for internal buffer in GPU memory.
Definition: device_array.hpp:68
pcl::gpu::copyFields
void copyFields(const DeviceArray< PointXYZ > &src, DeviceArray< PointNormal > &dst)
Definition: repacks.hpp:78
pcl::gpu::copyFieldsZ
void copyFieldsZ(const DeviceArray< PointXYZ > &src, DeviceArray< float > &dst)
Definition: repacks.hpp:119