Point Cloud Library (PCL) 1.14.0
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octree.hpp
1/*
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4 * Copyright (c) 2011, Willow Garage, Inc.
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35 */
36
37#ifndef _PCL_GPU_OCTREE_
38#define _PCL_GPU_OCTREE_
39
40#include <limits>
41#include <vector>
42
43#include <pcl/memory.h>
44#include <pcl/point_types.h>
45#include <pcl/pcl_macros.h>
46#include <pcl/gpu/containers/device_array.h>
47#include <pcl/gpu/octree/device_format.hpp>
48
49namespace pcl
50{
51 namespace gpu
52 {
53 /**
54 * \brief Octree implementation on GPU. It supports parallel building and parallel batch search as well .
55 * \author Anaoly Baksheev, Itseez, myname.mysurname@mycompany.com
56 */
57
58 class PCL_EXPORTS Octree
59 {
60 public:
61
62 /** \brief Default constructor.*/
64
65 /** \brief Denstructor.*/
66 virtual ~Octree();
67
68 /** \brief Types */
69 using Ptr = shared_ptr<Octree>;
70 using ConstPtr = shared_ptr<const Octree>;
71
72 /** \brief Point typwe supported */
74
75 /** \brief Point cloud supported */
77
78 /** \brief Point Batch query cloud type */
80
81 /** \brief Point Radiuses for batch query */
83
84 /** \brief Point Indices for batch query */
86
87 /** \brief Point Sqrt distances array type */
89
91
92 /** \brief Sets cloud for which octree is built */
93 void setCloud(const PointCloud& cloud_arg);
94
95 /** \brief Performs parallel octree building */
96 void build();
97
98 /** \brief Returns true if tree has been built */
99 bool isBuilt() const;
100
101 /** \brief Downloads Octree from GPU to search using CPU function. It use useful for single (not-batch) search */
103
104 /** \brief Performs search of all points within given radius on CPU. It call \a internalDownload if necessary
105 * \param[in] center center of sphere
106 * \param[in] radius radious of sphere
107 * \param[out] out indeces of points within give sphere
108 * \param[in] max_nn maximum numver of results returned
109 */
110 void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out,
111 int max_nn = std::numeric_limits<int>::max());
112
113 /** \brief Performs approximate nearest neighbor search on CPU. It call \a internalDownload if necessary
114 * \param[in] query 3D point for which neighbour is be fetched
115 * \param[out] out_index neighbour index
116 * \param[out] sqr_dist square distance to the neighbour returned
117 */
118 void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist);
119
120 /** \brief Performs batch radius search on GPU
121 * \param[in] centers array of centers
122 * \param[in] radius radius for all queries
123 * \param[in] max_results max number of returned points for each querey
124 * \param[out] result results packed to single array
125 */
126 void radiusSearch(const Queries& centers, float radius, int max_results, NeighborIndices& result) const;
127
128 /** \brief Performs batch radius search on GPU
129 * \param[in] centers array of centers
130 * \param[in] radiuses array of radiuses
131 * \param[in] max_results max number of returned points for each querey
132 * \param[out] result results packed to single array
133 */
134 void radiusSearch(const Queries& centers, const Radiuses& radiuses, int max_results, NeighborIndices& result) const;
135
136 /** \brief Performs batch radius search on GPU
137 * \param[in] centers array of centers
138 * \param[in] indices indices for centers array (only for these points search is performed)
139 * \param[in] radius radius for all queries
140 * \param[in] max_results max number of returned points for each querey
141 * \param[out] result results packed to single array
142 */
143 void radiusSearch(const Queries& centers, const Indices& indices, float radius, int max_results, NeighborIndices& result) const;
144
145 /** \brief Batch approximate nearest search on GPU
146 * \param[in] queries array of centers
147 * \param[out] result array of results ( one index for each query )
148 * \param[out] sqr_distance corresponding square distances to results from query point
149 */
150 void approxNearestSearch(const Queries& queries, NeighborIndices& result, ResultSqrDists& sqr_distance) const;
151
152 /** \brief Batch exact k-nearest search on GPU for k == 1 only!
153 * \param[in] queries array of centers
154 * \param[in] k number of neighbors (only k == 1 is supported)
155 * \param[out] results array of results
156 */
157 void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results) const;
158
159 /** \brief Batch exact k-nearest search on GPU for k == 1 only!
160 * \param[in] queries array of centers
161 * \param[in] k number of neighbors (only k == 1 is supported)
162 * \param[out] results array of results
163 * \param[out] sqr_distances square distances to results
164 */
165 void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results, ResultSqrDists& sqr_distances) const;
166
167 /** \brief Desroys octree and release all resources */
168 void clear();
169 private:
170 void *impl;
171 bool built_;
172 };
173
174 /** \brief Performs brute force radius search on GPU
175 * \param[in] cloud cloud where to search
176 * \param[in] query query point
177 * \param[in] radius radius
178 * \param[out] result indeces of points within give sphere
179 * \param[in] buffer buffer for intermediate results. Keep reference to it between calls to eliminate internal allocations
180 */
181 PCL_EXPORTS void bruteForceRadiusSearchGPU(const Octree::PointCloud& cloud, const Octree::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);
182 }
183}
184
185#endif /* _PCL_GPU_OCTREE_ */
Octree implementation on GPU.
Definition octree.hpp:59
bool isBuilt() const
Returns true if tree has been built.
void radiusSearchHost(const PointType &center, float radius, std::vector< int > &out, int max_nn=std::numeric_limits< int >::max())
Performs search of all points within given radius on CPU.
void nearestKSearchBatch(const Queries &queries, int k, NeighborIndices &results, ResultSqrDists &sqr_distances) const
Batch exact k-nearest search on GPU for k == 1 only!
shared_ptr< Octree > Ptr
Types.
Definition octree.hpp:69
virtual ~Octree()
Denstructor.
void internalDownload()
Downloads Octree from GPU to search using CPU function.
void approxNearestSearch(const Queries &queries, NeighborIndices &result, ResultSqrDists &sqr_distance) const
Batch approximate nearest search on GPU.
void setCloud(const PointCloud &cloud_arg)
Sets cloud for which octree is built.
void clear()
Desroys octree and release all resources.
shared_ptr< const Octree > ConstPtr
Definition octree.hpp:70
void radiusSearch(const Queries &centers, const Indices &indices, float radius, int max_results, NeighborIndices &result) const
Performs batch radius search on GPU.
Octree()
Default constructor.
const PointCloud * cloud_
Definition octree.hpp:90
void approxNearestSearchHost(const PointType &query, int &out_index, float &sqr_dist)
Performs approximate nearest neighbor search on CPU.
void radiusSearch(const Queries &centers, const Radiuses &radiuses, int max_results, NeighborIndices &result) const
Performs batch radius search on GPU.
void build()
Performs parallel octree building.
void nearestKSearchBatch(const Queries &queries, int k, NeighborIndices &results) const
Batch exact k-nearest search on GPU for k == 1 only!
void radiusSearch(const Queries &centers, float radius, int max_results, NeighborIndices &result) const
Performs batch radius search on GPU.
Defines all the PCL implemented PointT point type structures.
Defines functions, macros and traits for allocating and using memory.
PCL_EXPORTS void bruteForceRadiusSearchGPU(const Octree::PointCloud &cloud, const Octree::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer)
Performs brute force radius search on GPU.
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates.