Octree implementation on GPU. More...

#include </__w/1/s/gpu/octree/include/pcl/gpu/octree/octree.hpp>

Collaboration diagram for pcl::gpu::Octree:

Public Types
using	Ptr = shared_ptr< Octree >
	Types. More...

using	ConstPtr = shared_ptr< const Octree >

using	PointType = pcl::PointXYZ
	Point typwe supported. More...

using	PointCloud = DeviceArray< PointType >
	Point cloud supported. More...

using	Queries = DeviceArray< PointType >
	Point Batch query cloud type. More...

using	Radiuses = DeviceArray< float >
	Point Radiuses for batch query More...

using	Indices = DeviceArray< int >
	Point Indices for batch query More...

using	ResultSqrDists = DeviceArray< float >
	Point Sqrt distances array type. More...

Public Member Functions
	Octree ()
	Default constructor. More...

virtual	~Octree ()
	Denstructor. More...

void	setCloud (const PointCloud &cloud_arg)
	Sets cloud for which octree is built. More...

void	build ()
	Performs parallel octree building. More...

bool	isBuilt () const
	Returns true if tree has been built. More...

void	internalDownload ()
	Downloads Octree from GPU to search using CPU function. More...

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. More...

void	approxNearestSearchHost (const PointType &query, int &out_index, float &sqr_dist)
	Performs approximate nearest neighbor search on CPU. More...

void	radiusSearch (const Queries &centers, float radius, int max_results, NeighborIndices &result) const
	Performs batch radius search on GPU. More...

void	radiusSearch (const Queries &centers, const Radiuses &radiuses, int max_results, NeighborIndices &result) const
	Performs batch radius search on GPU. More...

void	radiusSearch (const Queries &centers, const Indices &indices, float radius, int max_results, NeighborIndices &result) const
	Performs batch radius search on GPU. More...

void	approxNearestSearch (const Queries &queries, NeighborIndices &result, ResultSqrDists &sqr_distance) const
	Batch approximate nearest search on GPU. More...

void	nearestKSearchBatch (const Queries &queries, int k, NeighborIndices &results) const
	Batch exact k-nearest search on GPU for k == 1 only! More...

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...

void	clear ()
	Destroys octree and release all resources. More...

Public Attributes
const PointCloud *	cloud_

Detailed Description

Octree implementation on GPU.

It supports parallel building and parallel batch search as well .

Author: Anaoly Baksheev, Itseez, mynam.nosp@m.e.my.nosp@m.surna.nosp@m.me@m.nosp@m.ycomp.nosp@m.any..nosp@m.com

Definition at line 58 of file octree.hpp.

Member Typedef Documentation

◆ ConstPtr

using pcl::gpu::Octree::ConstPtr = shared_ptr<const Octree>

Definition at line 70 of file octree.hpp.

◆ Indices

using pcl::gpu::Octree::Indices = DeviceArray<int>

Point Indices for batch query

Definition at line 85 of file octree.hpp.

◆ PointCloud

using pcl::gpu::Octree::PointCloud = DeviceArray<PointType>

Point cloud supported.

Definition at line 76 of file octree.hpp.

◆ PointType

using pcl::gpu::Octree::PointType = pcl::PointXYZ

Point typwe supported.

Definition at line 73 of file octree.hpp.

◆ Ptr

using pcl::gpu::Octree::Ptr = shared_ptr<Octree>

Types.

Definition at line 69 of file octree.hpp.

◆ Queries

using pcl::gpu::Octree::Queries = DeviceArray<PointType>

Point Batch query cloud type.

Definition at line 79 of file octree.hpp.

◆ Radiuses

using pcl::gpu::Octree::Radiuses = DeviceArray<float>

Point Radiuses for batch query

Definition at line 82 of file octree.hpp.

◆ ResultSqrDists

using pcl::gpu::Octree::ResultSqrDists = DeviceArray<float>

Point Sqrt distances array type.

Definition at line 88 of file octree.hpp.

Constructor & Destructor Documentation

◆ Octree()

pcl::gpu::Octree::Octree ( )

Default constructor.

◆ ~Octree()

virtual pcl::gpu::Octree::~Octree ( )

virtual

Denstructor.

Member Function Documentation

◆ approxNearestSearch()

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 ( )

Destroys 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 = `std::numeric_limits< 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 90 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

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Indices

◆ PointCloud

◆ PointType

◆ Ptr

◆ Queries

◆ Radiuses

◆ ResultSqrDists

Constructor & Destructor Documentation

◆ Octree()

◆ ~Octree()

Member Function Documentation

◆ approxNearestSearch()

◆ approxNearestSearchHost()

◆ build()

◆ clear()

◆ internalDownload()

◆ isBuilt()

◆ nearestKSearchBatch() [1/2]

◆ nearestKSearchBatch() [2/2]

◆ radiusSearch() [1/3]

◆ radiusSearch() [2/3]

◆ radiusSearch() [3/3]

◆ radiusSearchHost()

◆ setCloud()

Member Data Documentation

◆ cloud_