Point Cloud Library (PCL)  1.12.1-dev
pcl_cuda_base.h
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35 
36 #pragma once
37 
38 #include <pcl/memory.h>
39 #include <pcl/cuda/point_cloud.h>
40 
41 
42 namespace pcl
43 {
44 namespace cuda
45 {
46  ///////////////////////////////////////////////////////////////////////////////////////////
47  /** \brief PCL base class. Implements methods that are used by all PCL objects.
48  */
49  template <typename CloudT>
51  {
52  public:
53  using PointCloud = CloudT;
54  using PointCloudPtr = typename PointCloud::Ptr;
56 
57  /** \brief Empty constructor. */
58  PCLCUDABase () : input_() {};
59 
60  /** \brief Provide a pointer to the input dataset
61  * \param cloud the const boost shared pointer to a PointCloud message
62  */
63  virtual inline void
65  {
66  input_ = cloud;
67  }
68 
69  /** \brief Get a pointer to the input host point cloud dataset. */
70  inline PointCloudConstPtr const
72  {
73  return (input_);
74  }
75 
76  protected:
77  /** \brief The input point cloud dataset. */
79 
80  /** \brief This method should get called before starting the actual computation. */
81  bool
83  {
84  // Check if input was set
85  if (!input_)
86  return (false);
87  return (true);
88  }
89 
90  /** \brief This method should get called after finishing the actual computation. */
91  bool
93  {
94  return (true);
95  }
96  };
97 } // namespace
98 } // namespace
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
PCL base class.
Definition: pcl_cuda_base.h:51
PointCloudConstPtr const getInputCloud()
Get a pointer to the input host point cloud dataset.
Definition: pcl_cuda_base.h:71
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Definition: pcl_cuda_base.h:64
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition: pcl_cuda_base.h:92
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_cuda_base.h:54
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_cuda_base.h:55
PCLCUDABase()
Empty constructor.
Definition: pcl_cuda_base.h:58
bool initCompute()
This method should get called before starting the actual computation.
Definition: pcl_cuda_base.h:82
PointCloudConstPtr input_
The input point cloud dataset.
Definition: pcl_cuda_base.h:78
Defines functions, macros and traits for allocating and using memory.