Point Cloud Library (PCL) 1.12.1
octree.hpp
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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36
37#ifndef _PCL_GPU_OCTREE_
38#define _PCL_GPU_OCTREE_
39
40#include <vector>
41
42#include <pcl/memory.h>
43#include <pcl/point_types.h>
44#include <pcl/pcl_macros.h>
45#include <pcl/gpu/containers/device_array.h>
46#include <pcl/gpu/octree/device_format.hpp>
47
48namespace pcl
49{
50 namespace gpu
51 {
52 /**
53 * \brief Octree implementation on GPU. It suppors parallel building and parallel batch search as well .
54 * \author Anaoly Baksheev, Itseez, myname.mysurname@mycompany.com
55 */
56
58 {
59 public:
60
61 /** \brief Default constructor.*/
63
64 /** \brief Denstructor.*/
65 virtual ~Octree();
66
67 /** \brief Types */
68 using Ptr = shared_ptr<Octree>;
69 using ConstPtr = shared_ptr<const Octree>;
70
71 /** \brief Point typwe supported */
73
74 /** \brief Point cloud supported */
76
77 /** \brief Point Batch query cloud type */
79
80 /** \brief Point Radiuses for batch query */
82
83 /** \brief Point Indices for batch query */
85
86 /** \brief Point Sqrt distances array type */
88
90
91 /** \brief Sets cloud for which octree is built */
92 void setCloud(const PointCloud& cloud_arg);
93
94 /** \brief Performs parallel octree building */
95 void build();
96
97 /** \brief Returns true if tree has been built */
98 bool isBuilt() const;
99
100 /** \brief Downloads Octree from GPU to search using CPU function. It use useful for single (not-batch) search */
102
103 /** \brief Performs search of all points within given radius on CPU. It call \a internalDownload if necessary
104 * \param[in] center center of sphere
105 * \param[in] radius radious of sphere
106 * \param[out] out indeces of points within give sphere
107 * \param[in] max_nn maximum numver of results returned
108 */
109 void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out, int max_nn = INT_MAX);
110
111 /** \brief Performs approximate nearest neighbor search on CPU. It call \a internalDownload if necessary
112 * \param[in] query 3D point for which neighbour is be fetched
113 * \param[out] out_index neighbour index
114 * \param[out] sqr_dist square distance to the neighbour returned
115 */
116 void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist);
117
118 /** \brief Performs batch radius search on GPU
119 * \param[in] centers array of centers
120 * \param[in] radius radius for all queries
121 * \param[in] max_results max number of returned points for each querey
122 * \param[out] result results packed to single array
123 */
124 void radiusSearch(const Queries& centers, float radius, int max_results, NeighborIndices& result) const;
125
126 /** \brief Performs batch radius search on GPU
127 * \param[in] centers array of centers
128 * \param[in] radiuses array of radiuses
129 * \param[in] max_results max number of returned points for each querey
130 * \param[out] result results packed to single array
131 */
132 void radiusSearch(const Queries& centers, const Radiuses& radiuses, int max_results, NeighborIndices& result) const;
133
134 /** \brief Performs batch radius search on GPU
135 * \param[in] centers array of centers
136 * \param[in] indices indices for centers array (only for these points search is performed)
137 * \param[in] radius radius for all queries
138 * \param[in] max_results max number of returned points for each querey
139 * \param[out] result results packed to single array
140 */
141 void radiusSearch(const Queries& centers, const Indices& indices, float radius, int max_results, NeighborIndices& result) const;
142
143 /** \brief Batch approximate nearest search on GPU
144 * \param[in] queries array of centers
145 * \param[out] result array of results ( one index for each query )
146 */
147 PCL_DEPRECATED(1, 14, "use approxNearestSearch() which returns square distances instead")
148 void approxNearestSearch(const Queries& queries, NeighborIndices& result) const;
149
150 /** \brief Batch approximate nearest search on GPU
151 * \param[in] queries array of centers
152 * \param[out] result array of results ( one index for each query )
153 * \param[out] sqr_distance corresponding square distances to results from query point
154 */
155 void approxNearestSearch(const Queries& queries, NeighborIndices& result, ResultSqrDists& sqr_distance) const;
156
157 /** \brief Batch exact k-nearest search on GPU for k == 1 only!
158 * \param[in] queries array of centers
159 * \param[in] k number of neighbors (only k == 1 is supported)
160 * \param[out] results array of results
161 */
162 void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results) const;
163
164 /** \brief Batch exact k-nearest search on GPU for k == 1 only!
165 * \param[in] queries array of centers
166 * \param[in] k number of neighbors (only k == 1 is supported)
167 * \param[out] results array of results
168 * \param[out] sqr_distances square distances to results
169 */
170 void nearestKSearchBatch(const Queries& queries, int k, NeighborIndices& results, ResultSqrDists& sqr_distances) const;
171
172 /** \brief Desroys octree and release all resources */
173 void clear();
174 private:
175 void *impl;
176 bool built_;
177 };
178
179 /** \brief Performs brute force radius search on GPU
180 * \param[in] cloud cloud where to search
181 * \param[in] query query point
182 * \param[in] radius radius
183 * \param[out] result indeces of points within give sphere
184 * \param[in] buffer buffer for intermediate results. Keep reference to it between calls to eliminate internal allocations
185 */
186 PCL_EXPORTS void bruteForceRadiusSearchGPU(const Octree::PointCloud& cloud, const Octree::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);
187 }
188}
189
190#endif /* _PCL_GPU_OCTREE_ */
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
Octree implementation on GPU.
Definition: octree.hpp:58
bool isBuilt() const
Returns true if tree has been built.
shared_ptr< Octree > Ptr
Types.
Definition: octree.hpp:68
virtual ~Octree()
Denstructor.
void internalDownload()
Downloads Octree from GPU to search using CPU function.
void setCloud(const PointCloud &cloud_arg)
Sets cloud for which octree is built.
shared_ptr< const Octree > ConstPtr
Definition: octree.hpp:69
void radiusSearch(const Queries &centers, const Indices &indices, float radius, int max_results, NeighborIndices &result) const
Performs batch radius search on GPU.
void 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.
Octree()
Default constructor.
const PointCloud * cloud_
Definition: octree.hpp:89
void approxNearestSearchHost(const PointType &query, int &out_index, float &sqr_dist)
Performs approximate nearest neighbor search on CPU.
void radiusSearch(const Queries &centers, const Radiuses &radiuses, int max_results, NeighborIndices &result) const
Performs batch radius search on GPU.
void build()
Performs parallel octree building.
void radiusSearch(const Queries &centers, float radius, int max_results, NeighborIndices &result) const
Performs batch radius search on GPU.
Defines all the PCL implemented PointT point type structures.
Defines functions, macros and traits for allocating and using memory.
PCL_EXPORTS void bruteForceRadiusSearchGPU(const Octree::PointCloud &cloud, const Octree::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer)
Performs brute force radius search on GPU.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
#define PCL_DEPRECATED(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated items for the Major....
Definition: pcl_macros.h:156
A point structure representing Euclidean xyz coordinates.