Point Cloud Library (PCL)
1.11.1
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37 #ifndef _PCL_GPU_OCTREE_
38 #define _PCL_GPU_OCTREE_
45 #include <pcl/gpu/containers/device_array.h>
46 #include <pcl/gpu/octree/device_format.hpp>
68 using Ptr = shared_ptr<Octree>;
void nearestKSearchBatch(const Queries &queries, int k, NeighborIndices &results) const
Batch exact k-nearest search on GPU for k == 1 only!
Defines all the PCL and non-PCL macros used.
void internalDownload()
Downloads Octree from GPU to search using CPU function.
Defines all the PCL implemented PointT point type structures.
void clear()
Desroys octree and release all resources.
void radiusSearch(const Queries ¢ers, const Radiuses &radiuses, int max_results, NeighborIndices &result) const
Performs batch radius search on GPU.
Octree implementation on GPU.
void approxNearestSearch(const Queries &queries, NeighborIndices &result) const
Batch approximate nearest search on GPU.
void radiusSearch(const Queries ¢ers, float radius, int max_results, NeighborIndices &result) const
Performs batch radius search on GPU.
shared_ptr< const Octree > ConstPtr
void radiusSearch(const Queries ¢ers, const Indices &indices, float radius, int max_results, NeighborIndices &result) const
Performs batch radius search on GPU.
void setCloud(const PointCloud &cloud_arg)
Sets cloud for which octree is built.
virtual ~Octree()
Denstructor.
A point structure representing Euclidean xyz coordinates.
void approxNearestSearchHost(const PointType &query, int &out_index, float &sqr_dist)
Performs approximate nearest neighbor search on CPU.
Octree()
Default constructor.
bool isBuilt() const
Returns true if tree has been built.
const PointCloud * cloud_
void build()
Performs parallel octree building.
void radiusSearchHost(const PointType ¢er, float radius, std::vector< int > &out, int max_nn=INT_MAX)
Performs search of all points within given radius on CPU.
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.
shared_ptr< Octree > Ptr
Types.
Defines functions, macros and traits for allocating and using memory.