Class CudaSurface

Class Documentation

class CudaSurface

Public Functions

CudaSurface(LBPointArray<float> &points, int device = 0)

Constructor.

Parameters:

points – Input Pointcloud for kd-tree construction

CudaSurface(floatArr &points, size_t num_points, int device = 0)
~CudaSurface()
void calculateNormals()

Starts calculation the normals on GPU.

void interpolateNormals()
void getNormals(LBPointArray<float> &output_normals)

Get the resulting normals of the normal calculation. After calling “start”.

Parameters:

output_normals – PointArray as return value

void getNormals(floatArr output_normals)
void setKn(int kn)

Set the number of k nearest neighbors k-neighborhood.

Parameters:

k – The size of the used k-neighborhood

void setKi(int ki)

Set the number of k nearest neighbors k-neighborhood for interpolation.

Parameters:

k – The size of the used k-neighborhood

void setKd(int kd)

Set the number of k nearest neighbors k-neighborhood for distance.

Parameters:

k – The size of the used k-neighborhood

void setFlippoint(float v_x, float v_y, float v_z)

Set the viewpoint to orientate the normals.

Parameters:

  • v_x – Coordinate X axis

  • v_y – Coordinate Y axis

  • v_z – Coordinate Z axis

void setMethod(std::string &method)

Set Method for normal calculation.

Parameters:

method – “PCA”,”RANSAC”

void setReconstructionMode(bool mode = true)

Reconstuction Mode: Points stay in gpu until reconstruction is finished

void distances(std::vector<QueryPoint<Vec>> &query_points, float voxel_size)

TODO: Implement

void freeGPU()