37 #ifndef PCL_GPU_OCTREE_INTERNAL_HPP_
38 #define PCL_GPU_OCTREE_INTERNAL_HPP_
40 #include <pcl/gpu/containers/device_array.h>
41 #include <pcl/gpu/octree/device_format.hpp>
42 #include <pcl/gpu/utils/safe_call.hpp>
59 OctreeGlobal() : nodes(nullptr), codes(nullptr), begs(nullptr), ends(nullptr), nodes_num(nullptr), parent(nullptr) {}
137 template<
typename BatchType>
void radiusSearch(const Queries &queries, float radius, NeighborIndices &results)
DeviceArray< float > BatchResultSqrDists
void approxNearestSearchHost(const PointType &query, int &out_index, float &sqr_dist) const
struct pcl::device::OctreeImpl::OctreeDataHost host_octree
std::vector< float > points_sorted
void approxNearestSearch(const Queries &queries, NeighborIndices &results, BatchResultSqrDists &sqr_distance) const
void radiusSearchHost(const PointType ¢er, float radius, std::vector< int > &out, int max_nn) const
DeviceArray< PointType > PointArray
std::vector< int > indices
DeviceArray2D< int > storage
OctreeGlobalWithBox octreeGlobal
void bruteForceRadiusSearch(const OctreeImpl::PointCloud &cloud, const OctreeImpl::PointType &query, float radius, DeviceArray< int > &result, DeviceArray< int > &buffer)
DeviceArray2D< float > points_sorted
void setCloud(const PointCloud &input_points)
static void get_gpu_arch_compiled_for(int &bin, int &ptr)
DeviceArray< int > indices
DeviceArray< float > Radiuses
void nearestKSearchBatch(const Queries &queries, int k, NeighborIndices &results, BatchResultSqrDists &sqr_distances) const