Octree implementation on GPU. More...
#include </__w/1/s/gpu/octree/include/pcl/gpu/octree/octree.hpp>
Public Types |
|
| using | Ptr = shared_ptr< Octree > |
| Types. More... |
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| using | ConstPtr = shared_ptr< const Octree > |
| using | PointType = pcl::PointXYZ |
| Point typwe supported. More... |
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| using | PointCloud = DeviceArray< PointType > |
| Point cloud supported. More... |
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| using | Queries = DeviceArray< PointType > |
| Point Batch query cloud type. More... |
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| using | Radiuses = DeviceArray< float > |
| Point Radiuses for batch query More... |
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| using | Indices = DeviceArray< int > |
| Point Indices for batch query More... |
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| using | ResultSqrDists = DeviceArray< float > |
| Point Sqrt distances array type. More... |
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Public Member Functions |
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| Octree () | |
| Default constructor. More... |
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| virtual | ~Octree () |
| Denstructor. More... |
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| void | setCloud (const PointCloud &cloud_arg) |
| Sets cloud for which octree is built. More... |
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| void | build () |
| Performs parallel octree building. More... |
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| bool | isBuilt () const |
| Returns true if tree has been built. More... |
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| void | internalDownload () |
| Downloads Octree from GPU to search using CPU function. More... |
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| void | radiusSearchHost (const PointType ¢er, float radius, std::vector< int > &out, int max_nn=INT_MAX) |
| Performs search of all points within given radius on CPU. More... |
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| void | approxNearestSearchHost (const PointType &query, int &out_index, float &sqr_dist) |
| Performs approximate nearest neighbor search on CPU. More... |
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| void | radiusSearch (const Queries ¢ers, float radius, int max_results, NeighborIndices &result) const |
| Performs batch radius search on GPU. More... |
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| void | radiusSearch (const Queries ¢ers, const Radiuses &radiuses, int max_results, NeighborIndices &result) const |
| Performs batch radius search on GPU. More... |
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| void | radiusSearch (const Queries ¢ers, const Indices &indices, float radius, int max_results, NeighborIndices &result) const |
| Performs batch radius search on GPU. More... |
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| void | approxNearestSearch (const Queries &queries, NeighborIndices &result) const |
| Batch approximate nearest search on GPU. More... |
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| void | approxNearestSearch (const Queries &queries, NeighborIndices &result, ResultSqrDists &sqr_distance) const |
| Batch approximate nearest search on GPU. More... |
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| void | nearestKSearchBatch (const Queries &queries, int k, NeighborIndices &results) const |
| Batch exact k-nearest search on GPU for k == 1 only! More... |
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| void | nearestKSearchBatch (const Queries &queries, int k, NeighborIndices &results, ResultSqrDists &sqr_distances) const |
| Batch exact k-nearest search on GPU for k == 1 only! More... |
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| void | clear () |
| Desroys octree and release all resources. More... |
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Public Attributes |
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| const PointCloud * | cloud_ |
Detailed Description
Octree implementation on GPU.
It suppors parallel building and parallel batch search as well .
Definition at line 57 of file octree.hpp.
Member Typedef Documentation
ConstPtr
| using pcl::gpu::Octree::ConstPtr = shared_ptr<const Octree> |
Definition at line 69 of file octree.hpp.
Indices
| using pcl::gpu::Octree::Indices = DeviceArray<int> |
Point Indices for batch query
Definition at line 84 of file octree.hpp.
PointCloud
Point cloud supported.
Definition at line 75 of file octree.hpp.
PointType
Point typwe supported.
Definition at line 72 of file octree.hpp.
Ptr
| using pcl::gpu::Octree::Ptr = shared_ptr<Octree> |
Types.
Definition at line 68 of file octree.hpp.
Queries
Point Batch query cloud type.
Definition at line 78 of file octree.hpp.
Radiuses
| using pcl::gpu::Octree::Radiuses = DeviceArray<float> |
Point Radiuses for batch query
Definition at line 81 of file octree.hpp.
ResultSqrDists
| using pcl::gpu::Octree::ResultSqrDists = DeviceArray<float> |
Point Sqrt distances array type.
Definition at line 87 of file octree.hpp.
Constructor & Destructor Documentation
Octree()
| pcl::gpu::Octree::Octree | ( | ) |
Default constructor.
~Octree()
|
virtual |
Denstructor.
Member Function Documentation
approxNearestSearch() [1/2]
| void pcl::gpu::Octree::approxNearestSearch | ( | const Queries & | queries, |
| NeighborIndices & | result | ||
| ) | const |
Batch approximate nearest search on GPU.
- Parameters
-
[in] queries array of centers [out] result array of results ( one index for each query )
- Deprecated:
-
Scheduled for removal in version 1 . 14 : "use approxNearestSearch() which returns square distances instead"
approxNearestSearch() [2/2]
| void pcl::gpu::Octree::approxNearestSearch | ( | const Queries & | queries, |
| NeighborIndices & | result, | ||
| ResultSqrDists & | sqr_distance | ||
| ) | const |
Batch approximate nearest search on GPU.
- Parameters
-
[in] queries array of centers [out] result array of results ( one index for each query ) [out] sqr_distance corresponding square distances to results from query point
approxNearestSearchHost()
| void pcl::gpu::Octree::approxNearestSearchHost | ( | const PointType & | query, |
| int & | out_index, | ||
| float & | sqr_dist | ||
| ) |
Performs approximate nearest neighbor search on CPU.
It call internalDownload if necessary
- Parameters
-
[in] query 3D point for which neighbour is be fetched
[out] out_index neighbour index [out] sqr_dist square distance to the neighbour returned
build()
| void pcl::gpu::Octree::build | ( | ) |
Performs parallel octree building.
clear()
| void pcl::gpu::Octree::clear | ( | ) |
Desroys octree and release all resources.
internalDownload()
| void pcl::gpu::Octree::internalDownload | ( | ) |
Downloads Octree from GPU to search using CPU function.
It use useful for single (not-batch) search
isBuilt()
| bool pcl::gpu::Octree::isBuilt | ( | ) | const |
Returns true if tree has been built.
nearestKSearchBatch() [1/2]
| void pcl::gpu::Octree::nearestKSearchBatch | ( | const Queries & | queries, |
| int | k, | ||
| NeighborIndices & | results | ||
| ) | const |
Batch exact k-nearest search on GPU for k == 1 only!
- Parameters
-
[in] queries array of centers [in] k number of neighbors (only k == 1 is supported) [out] results array of results
nearestKSearchBatch() [2/2]
| void pcl::gpu::Octree::nearestKSearchBatch | ( | const Queries & | queries, |
| int | k, | ||
| NeighborIndices & | results, | ||
| ResultSqrDists & | sqr_distances | ||
| ) | const |
Batch exact k-nearest search on GPU for k == 1 only!
- Parameters
-
[in] queries array of centers [in] k number of neighbors (only k == 1 is supported) [out] results array of results [out] sqr_distances square distances to results
radiusSearch() [1/3]
| void pcl::gpu::Octree::radiusSearch | ( | const Queries & | centers, |
| const Indices & | indices, | ||
| float | radius, | ||
| int | max_results, | ||
| NeighborIndices & | result | ||
| ) | const |
Performs batch radius search on GPU.
- Parameters
-
[in] centers array of centers
[in] indices indices for centers array (only for these points search is performed) [in] radius radius for all queries [in] max_results max number of returned points for each querey [out] result results packed to single array
radiusSearch() [2/3]
| void pcl::gpu::Octree::radiusSearch | ( | const Queries & | centers, |
| const Radiuses & | radiuses, | ||
| int | max_results, | ||
| NeighborIndices & | result | ||
| ) | const |
Performs batch radius search on GPU.
- Parameters
-
[in] centers array of centers [in] radiuses array of radiuses [in] max_results max number of returned points for each querey [out] result results packed to single array
radiusSearch() [3/3]
| void pcl::gpu::Octree::radiusSearch | ( | const Queries & | centers, |
| float | radius, | ||
| int | max_results, | ||
| NeighborIndices & | result | ||
| ) | const |
Performs batch radius search on GPU.
- Parameters
-
[in] centers array of centers [in] radius radius for all queries [in] max_results max number of returned points for each querey [out] result results packed to single array
radiusSearchHost()
| void pcl::gpu::Octree::radiusSearchHost | ( | const PointType & | center, |
| float | radius, | ||
| std::vector< int > & | out, | ||
| int | max_nn = INT_MAX |
||
| ) |
Performs search of all points within given radius on CPU.
It call internalDownload if necessary
- Parameters
-
[in] center center of sphere [in] radius radious of sphere [out] out indeces of points within give sphere [in] max_nn maximum numver of results returned
setCloud()
| void pcl::gpu::Octree::setCloud | ( | const PointCloud & | cloud_arg | ) |
Sets cloud for which octree is built.
Member Data Documentation
cloud_
| const PointCloud* pcl::gpu::Octree::cloud_ |
Definition at line 89 of file octree.hpp.
The documentation for this class was generated from the following file:
- /__w/1/s/gpu/octree/include/pcl/gpu/octree/octree.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1gpu_1_1_octree.html
