internal.hpp

/*
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 *  Copyright (c) 2011, Willow Garage, Inc.
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 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
 */
 
#ifndef PCL_GPU_OCTREE_INTERNAL_HPP_
#define PCL_GPU_OCTREE_INTERNAL_HPP_
 
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/octree/device_format.hpp>
#include <pcl/gpu/utils/safe_call.hpp>
 
namespace pcl
{
    namespace device
    {   
        struct OctreeGlobal
        {             
            int *nodes;
            int *codes;
            int *begs;
            int *ends;
 
            int *nodes_num;
 
            int *parent;
 
            OctreeGlobal() : nodes(nullptr), codes(nullptr), begs(nullptr), ends(nullptr), nodes_num(nullptr), parent(nullptr) {}
        };
 
        struct OctreeGlobalWithBox : public OctreeGlobal
        {    
            float3 minp, maxp;    
        };
 
 
        class OctreeImpl
        {
        public:
            using PointType = float4;
            using PointArray = DeviceArray<PointType>;
 
            using PointCloud = PointArray;
            using Queries = PointArray;
                       
            using Radiuses = DeviceArray<float>;
            using BatchResult = DeviceArray<int>;            
            using BatchResultSizes = DeviceArray<int>;
            using BatchResultSqrDists = DeviceArray<float>;
            using Indices = DeviceArray<int>;
 
            using NeighborIndices = pcl::gpu::NeighborIndices;
 
            static void get_gpu_arch_compiled_for(int& bin, int& ptr);
 
            OctreeImpl() {};
 
            void setCloud(const PointCloud& input_points);           
            void build();
            void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out, int max_nn) const;
            void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist) const;
            
            void radiusSearch(const Queries& queries, float radius, NeighborIndices& results);
            void radiusSearch(const Queries& queries, const Radiuses& radiuses, NeighborIndices& results);
 
            void radiusSearch(const Queries& queries, const Indices& indices, float radius, NeighborIndices& results);
 
            void approxNearestSearch(const Queries& queries, NeighborIndices& results, BatchResultSqrDists& sqr_distance) const;
            
            void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results, BatchResultSqrDists& sqr_distances) const;
            
            //just reference 
            PointCloud points;
 
            // data
            DeviceArray2D<float> points_sorted;
            DeviceArray<int> codes;
            DeviceArray<int> indices;
                        
            OctreeGlobalWithBox octreeGlobal;    
 
            //storage
            DeviceArray2D<int> storage;            
 
            struct OctreeDataHost
            {
                std::vector<int> nodes;
                std::vector<int> codes; 
 
                std::vector<int> begs;
                std::vector<int> ends;  
                
 
                std::vector<int> indices; 
                
                std::vector<float> points_sorted;
                int points_sorted_step;
 
                int downloaded;
 
            } host_octree;
 
                        
            void internalDownload(); 
        private:
            template<typename BatchType>
            void radiusSearchEx(BatchType& batch, const Queries& queries, NeighborIndices& results);
        };
 
        void bruteForceRadiusSearch(const OctreeImpl::PointCloud& cloud, const OctreeImpl::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);
 
    }
}
 
#endif /* PCL_GPU_OCTREE_INTERNAL_HPP_ */