Point Cloud Library (PCL)
1.11.1
io
include
pcl
cuda
io
cloud_to_pcl.h
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/cuda/point_cloud.h>
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#include <pcl/pcl_exports.h>
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namespace
pcl
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{
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template
<
typename
T>
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class
PointCloud
;
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struct
PointXYZRGB
;
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struct
PointXYZRGBNormal;
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namespace
cuda
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{
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// convert point cloud with color and normals
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PCL_EXPORTS
void
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toPCL
(
const
PointCloudAOS<Host>
&input,
const
thrust::host_vector<float4> &normals,
pcl::PointCloud<pcl::PointXYZRGBNormal>
&output);
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PCL_EXPORTS
void
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toPCL
(
const
PointCloudAOS<Device>
&input,
const
thrust::device_vector<float4> &normals,
pcl::PointCloud<pcl::PointXYZRGBNormal>
&output);
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// convert point cloud with color
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PCL_EXPORTS
void
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toPCL
(
const
PointCloudAOS<Host>
&input,
pcl::PointCloud<pcl::PointXYZRGB>
&output);
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PCL_EXPORTS
void
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toPCL
(
const
PointCloudAOS<Device>
&input,
pcl::PointCloud<pcl::PointXYZRGB>
&output);
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// convert pcl point cloud with color to pcl::cuda cloud
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PCL_EXPORTS
void
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fromPCL
(
const
pcl::PointCloud<pcl::PointXYZRGB>
&input,
PointCloudAOS<Host>
&output);
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PCL_EXPORTS
void
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fromPCL
(
const
pcl::PointCloud<pcl::PointXYZRGB>
&input,
PointCloudAOS<Device>
&output);
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}
// namespace
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}
// namespace
pcl
Definition:
convolution.h:46
pcl::cuda::PointCloudAOS
PointCloudAOS represents an AOS (Array of Structs) PointCloud implementation for CUDA processing.
Definition:
point_cloud.h:133
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition:
distances.h:55
pcl::cuda::fromPCL
PCL_EXPORTS void fromPCL(const pcl::PointCloud< pcl::PointXYZRGB > &input, PointCloudAOS< Host > &output)
pcl::device::PointXYZRGB
float4 PointXYZRGB
Definition:
internal.hpp:60
pcl::cuda::toPCL
PCL_EXPORTS void toPCL(const PointCloudAOS< Host > &input, const thrust::host_vector< float4 > &normals, pcl::PointCloud< pcl::PointXYZRGBNormal > &output)
PCL_EXPORTS
#define PCL_EXPORTS
Definition:
pcl_macros.h:328