internal.h

/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Willow Garage, Inc.
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 *     contributors may be used to endorse or promote products derived
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#pragma once
 
#include <cstdint>
#include <cuda_runtime.h>
 
#include <pcl/gpu/containers/device_array.h>
 
namespace pcl
{
  namespace device
  {
    using PointType = float4;
    using Cloud = pcl::gpu::DeviceArray<PointType>;
 
    using FacetsDists = DeviceArray<std::uint64_t>;
    using Perm = DeviceArray<int>;
 
    struct InitalSimplex
    {
      float3 x1, x2, x3, x4;
      int i1, i2, i3, i4;
 
      float4 p1, p2, p3, p4;
    };
 
    struct FacetStream
    { 
    public:
      FacetStream(std::size_t buffer_size);
 
          // indeces: in each col indeces of vertexes for single facet
      DeviceArray2D<int>  verts_inds;     
 
      DeviceArray<int> head_points;     
      std::size_t facet_count;
 
      DeviceArray2D<int>  empty_facets;
      DeviceArray<int> empty_count;
      
      DeviceArray<int>  scan_buffer;
 
      void setInitialFacets(const InitalSimplex& simplex);
 
      void compactFacets();
 
      bool canSplit() const;
      void splitFacets();
    private:
      
          //for compation (double buffering)
      DeviceArray2D<int>  verts_inds2;
      DeviceArray<float4> facet_planes2;
      DeviceArray<int> head_points2;      
    };  
   
    struct PointStream
    {
    public:
      PointStream(const Cloud& cloud);
      
      const Cloud cloud;
      FacetsDists facets_dists;
      Perm perm;
 
      std::size_t cloud_size;
 
      InitalSimplex simplex;
      float cloud_diag;
 
      void computeInitalSimplex();
 
      void initalClassify();
      
 
      int searchFacetHeads(std::size_t facet_count, DeviceArray<int>& head_points);
 
      void classify(FacetStream& fs);         
    };        
 
 
    std::size_t remove_duplicates(DeviceArray<int>& indeces);
    void pack_hull(const DeviceArray<PointType>& points, const DeviceArray<int>& indeces, DeviceArray<PointType>& output);
  }
}