internal.h
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#ifndef PCL_GPU_SURFACE_INTERNAL_H_
#define PCL_GPU_SURFACE_INTERNAL_H_
#include <pcl/gpu/containers/device_array.h>
#include <cuda_runtime.h>
namespace pcl
{
namespace device
{
typedef unsigned long long uint64_type;
typedef float4 PointType;
typedef pcl::gpu::DeviceArray<PointType> Cloud;
typedef DeviceArray<uint64_type> FacetsDists;
typedef DeviceArray<int> Perm;
struct InitalSimplex
{
float3 x1, x2, x3, x4;
int i1, i2, i3, i4;
float4 p1, p2, p3, p4;
};
struct FacetStream
{
public:
FacetStream(size_t buffer_size);
// indeces: in each col indeces of vertexes for sigle facet
DeviceArray2D<int> verts_inds;
DeviceArray<int> head_points;
size_t facet_count;
DeviceArray2D<int> empty_facets;
DeviceArray<int> empty_count;
DeviceArray<int> scan_buffer;
void setInitialFacets(const InitalSimplex& simplex);
void compactFacets();
bool canSplit();
void splitFacets();
private:
//for compation (double buffering)
DeviceArray2D<int> verts_inds2;
DeviceArray<float4> facet_planes2;
DeviceArray<int> head_points2;
};
struct PointStream
{
public:
PointStream(const Cloud& cloud);
const Cloud cloud;
FacetsDists facets_dists;
Perm perm;
size_t cloud_size;
InitalSimplex simplex;
float cloud_diag;
void computeInitalSimplex();
void initalClassify();
int searchFacetHeads(size_t facet_count, DeviceArray<int>& head_points);
void classify(FacetStream& fs);
};
size_t remove_duplicates(DeviceArray<int>& indeces);
void pack_hull(const DeviceArray<PointType>& points, const DeviceArray<int>& indeces, DeviceArray<PointType>& output);
}
}
#endif /* PCL_GPU_SURFACE_INTERNAL_H_ */
pcl::device::InitalSimplex::i1
int i1
Definition: internal.h:59
pcl::device::InitalSimplex::i3
int i3
Definition: internal.h:59
pcl::device::InitalSimplex::p2
float4 p2
Definition: internal.h:61
pcl
Definition: convolution.h:45
pcl::device::uint64_type
unsigned long long uint64_type
Definition: internal.h:48
pcl::gpu::DeviceArray2D
DeviceArray2D class
Definition: device_array.h:154
pcl::device::PointStream::simplex
InitalSimplex simplex
Definition: internal.h:105
pcl::device::InitalSimplex::x3
float3 x3
Definition: internal.h:58
pcl::device::InitalSimplex::x2
float3 x2
Definition: internal.h:58
pcl::device::InitalSimplex::i2
int i2
Definition: internal.h:59
pcl::device::PointStream::cloud_size
size_t cloud_size
Definition: internal.h:103
pcl::device::InitalSimplex::p3
float4 p3
Definition: internal.h:61
pcl::device::FacetStream::empty_facets
DeviceArray2D< int > empty_facets
Definition: internal.h:75
pcl::device::InitalSimplex
Definition: internal.h:56
pcl::device::InitalSimplex::p1
float4 p1
Definition: internal.h:61
pcl::device::PointType
float4 PointType
Definition: internal.hpp:58
pcl::gpu::DeviceArray< PointType >
pcl::device::PointStream::cloud
const Cloud cloud
Definition: internal.h:99
pcl::device::FacetStream::empty_count
DeviceArray< int > empty_count
Definition: internal.h:76
pcl::device::InitalSimplex::p4
float4 p4
Definition: internal.h:61
pcl::device::Cloud
DeviceArray2D< float4 > Cloud
Definition: internal.h:53
pcl::device::InitalSimplex::x1
float3 x1
Definition: internal.h:58
pcl::device::PointStream::cloud_diag
float cloud_diag
Definition: internal.h:106
pcl::device::remove_duplicates
size_t remove_duplicates(DeviceArray< int > &indeces)
pcl::device::PointStream
Definition: internal.h:94
pcl::device::FacetStream::facet_count
size_t facet_count
Definition: internal.h:73
pcl::device::FacetStream::verts_inds
DeviceArray2D< int > verts_inds
Definition: internal.h:70
pcl::device::FacetStream
Definition: internal.h:64
pcl::device::PointStream::perm
Perm perm
Definition: internal.h:101
pcl::device::pack_hull
void pack_hull(const DeviceArray< PointType > &points, const DeviceArray< int > &indeces, DeviceArray< PointType > &output)
pcl::device::InitalSimplex::x4
float3 x4
Definition: internal.h:58
pcl::device::InitalSimplex::i4
int i4
Definition: internal.h:59
pcl::device::FacetStream::scan_buffer
DeviceArray< int > scan_buffer
Definition: internal.h:78
pcl::device::Perm
DeviceArray< int > Perm
Definition: internal.h:54
pcl::device::FacetsDists
DeviceArray< uint64_type > FacetsDists
Definition: internal.h:53
pcl::device::FacetStream::head_points
DeviceArray< int > head_points
Definition: internal.h:72
pcl::device::PointStream::facets_dists
FacetsDists facets_dists
Definition: internal.h:100