37 #ifndef PCL_GPU_OCTREE_INTERNAL_HPP_
38 #define PCL_GPU_OCTREE_INTERNAL_HPP_
40 #include <pcl/gpu/containers/device_array.h>
41 #include <pcl/gpu/octree/device_format.hpp>
42 #include <pcl/gpu/utils/safe_call.hpp>
59 OctreeGlobal() : nodes(0), codes(0), begs(0), ends(0), nodes_num(0), parent(0) {}
90 void setCloud(
const PointCloud& input_points);
92 void radiusSearchHost(
const PointType& center,
float radius, std::vector<int>& out,
int max_nn)
const;
95 void radiusSearch(
const Queries& queries,
float radius, NeighborIndices& results);
96 void radiusSearch(
const Queries& queries,
const Radiuses& radiuses, NeighborIndices& results);
98 void radiusSearch(
const Queries& queries,
const Indices&
indices,
float radius, NeighborIndices& results);
138 template<
typename BatchType>
139 void radiusSearchEx(BatchType& batch,
const Queries& queries, NeighborIndices& results);
void radiusSearch(const Queries &queries, float radius, NeighborIndices &results)
This file defines compatibility wrappers for low level I/O functions.
void approxNearestSearchHost(const PointType &query, int &out_index, float &sqr_dist) const
struct pcl::device::OctreeImpl::OctreeDataHost host_octree
DeviceArray< int > BatchResult
void approxNearestSearch(const Queries &queries, NeighborIndices &results) const
std::vector< float > points_sorted
void radiusSearchHost(const PointType ¢er, float radius, std::vector< int > &out, int max_nn) const
DeviceArray< int > Indices
void nearestKSearchBatch(const Queries &queries, int k, NeighborIndices &results) const
std::vector< int > indices
pcl::gpu::NeighborIndices NeighborIndices
DeviceArray2D< int > storage
DeviceArray< int > BatchResultSizes
OctreeGlobalWithBox octreeGlobal
void bruteForceRadiusSearch(const OctreeImpl::PointCloud &cloud, const OctreeImpl::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer)
DeviceArray2D< float > points_sorted
void setCloud(const PointCloud &input_points)
static void get_gpu_arch_compiled_for(int &bin, int &ptr)
DeviceArray< float > Radiuses
DeviceArray< int > indices
DeviceArray< PointType > PointArray
DeviceArray< float > BatchResultSqrDists