#include <CudaSurface.hpp>

Public Member Functions
void	calculateNormals ()
	Starts calculation the normals on GPU. More...

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

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

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

void	freeGPU ()

void	getNormals (LBPointArray< float > &output_normals)
	Get the resulting normals of the normal calculation. After calling "start". More...

void	getNormals (floatArr output_normals)

void	interpolateNormals ()

void	setFlippoint (float v_x, float v_y, float v_z)
	Set the viewpoint to orientate the normals. More...

void	setKd (int kd)
	Set the number of k nearest neighbors k-neighborhood for distance. More...

void	setKi (int ki)
	Set the number of k nearest neighbors k-neighborhood for interpolation. More...

void	setKn (int kn)
	Set the number of k nearest neighbors k-neighborhood. More...

void	setMethod (std::string &method)
	Set Method for normal calculation. More...

void	setReconstructionMode (bool mode=true)

	~CudaSurface ()

Private Member Functions
void	calculateBlocksThreads (int n, int elements, int element_size, int max_mem_shared, int max_threads_per_block, int &out_blocks_per_grid, int &out_threads_per_block, int &needed_shared_memory)

template<typename T >
void	copyToDevicePointArray (LBPointArray< T > *m, LBPointArray< T > &D_m)

template<typename T >
void	copyToDevicePointArray (LBPointArray< T > &m, LBPointArray< T > &D_m)

void	copyToHostPointArray (LBPointArray< float > &D_m, LBPointArray< float > *m)

template<typename T >
void	generateDevicePointArray (LBPointArray< T > &D_m, int width, int dim)

void	getCudaInformation (int device)

void	GPU_NN ()

void	init ()

void	initKdTree ()

void	printSettings ()

Private Attributes
LBPointArray< unsigned char >	D_kd_tree_splits

LBPointArray< float >	D_kd_tree_values

LBPointArray< float >	D_Normals

LBPointArray< float >	D_V

boost::shared_ptr< LBKdTree >	kd_tree_gen

LBPointArray< unsigned char > *	kd_tree_splits

LBPointArray< float > *	kd_tree_values

int	m_calc_method

int	m_device

unsigned long long	m_device_global_memory

int	m_k

int	m_kd

int	m_ki

int	m_mps

bool	m_reconstruction_mode

int *	m_size_grid

int *	m_size_thread_block

int	m_threads_per_block

int	m_threads_per_mp

float	m_vx

float	m_vy

float	m_vz

LBPointArray< float >	Result_Normals

LBPointArray< float >	V

Detailed Description

Definition at line 78 of file CudaSurface.hpp.

Constructor & Destructor Documentation

◆ CudaSurface() [1/2]

lvr2::CudaSurface::CudaSurface	(	LBPointArray< float > &	points,
		int	device = `0`
	)

Constructor.

Parameters

points Input Pointcloud for kd-tree construction

◆ CudaSurface() [2/2]

lvr2::CudaSurface::CudaSurface	(	floatArr &	points,
		size_t	num_points,
		int	device = `0`
	)

◆ ~CudaSurface()

lvr2::CudaSurface::~CudaSurface ( )

Member Function Documentation

◆ calculateBlocksThreads()

void lvr2::CudaSurface::calculateBlocksThreads	(	int	n,
		int	elements,
		int	element_size,
		int	max_mem_shared,
		int	max_threads_per_block,
		int &	out_blocks_per_grid,
		int &	out_threads_per_block,
		int &	needed_shared_memory
	)

private

◆ calculateNormals()

void lvr2::CudaSurface::calculateNormals ( )

Starts calculation the normals on GPU.

◆ copyToDevicePointArray() [1/2]

template<typename T >

void lvr2::CudaSurface::copyToDevicePointArray	(	LBPointArray< T > *	m,
		LBPointArray< T > &	D_m
	)

private

◆ copyToDevicePointArray() [2/2]

template<typename T >

void lvr2::CudaSurface::copyToDevicePointArray	(	LBPointArray< T > &	m,
		LBPointArray< T > &	D_m
	)

private

◆ copyToHostPointArray()

void lvr2::CudaSurface::copyToHostPointArray	(	LBPointArray< float > &	D_m,
		LBPointArray< float > *	m
	)

private

◆ distances()

void lvr2::CudaSurface::distances	(	std::vector< QueryPoint< Vec > > &	query_points,
		float	voxel_size
	)

TODO: Implement

◆ freeGPU()

void lvr2::CudaSurface::freeGPU ( )

◆ generateDevicePointArray()

template<typename T >

void lvr2::CudaSurface::generateDevicePointArray	(	LBPointArray< T > &	D_m,
		int	width,
		int	dim
	)

private

◆ getCudaInformation()

void lvr2::CudaSurface::getCudaInformation ( int device )

private

◆ getNormals() [1/2]

void lvr2::CudaSurface::getNormals ( LBPointArray< float > & output_normals )

Get the resulting normals of the normal calculation. After calling "start".

Parameters

output_normals PointArray as return value

◆ getNormals() [2/2]

void lvr2::CudaSurface::getNormals ( floatArr output_normals )

◆ GPU_NN()

void lvr2::CudaSurface::GPU_NN ( )

private

◆ init()

void lvr2::CudaSurface::init ( )

private

◆ initKdTree()

void lvr2::CudaSurface::initKdTree ( )

private

◆ interpolateNormals()

void lvr2::CudaSurface::interpolateNormals ( )

◆ printSettings()

void lvr2::CudaSurface::printSettings ( )

private

◆ setFlippoint()

void lvr2::CudaSurface::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

◆ setKd()

void lvr2::CudaSurface::setKd ( int kd )

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

Parameters

k	The size of the used k-neighborhood

◆ setKi()

void lvr2::CudaSurface::setKi ( int ki )

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

Parameters

k	The size of the used k-neighborhood

◆ setKn()

void lvr2::CudaSurface::setKn ( int kn )

Set the number of k nearest neighbors k-neighborhood.

Parameters

k	The size of the used k-neighborhood

◆ setMethod()

void lvr2::CudaSurface::setMethod ( std::string & method )

Set Method for normal calculation.

Parameters

method "PCA","RANSAC"

◆ setReconstructionMode()

void lvr2::CudaSurface::setReconstructionMode ( bool mode = true )

Reconstuction Mode: Points stay in gpu until reconstruction is finished

Member Data Documentation

◆ D_kd_tree_splits

LBPointArray<unsigned char> lvr2::CudaSurface::D_kd_tree_splits

private

Definition at line 223 of file CudaSurface.hpp.

◆ D_kd_tree_values

LBPointArray<float> lvr2::CudaSurface::D_kd_tree_values

private

Definition at line 222 of file CudaSurface.hpp.

◆ D_Normals

LBPointArray<float> lvr2::CudaSurface::D_Normals

private

Definition at line 224 of file CudaSurface.hpp.

◆ D_V

LBPointArray<float> lvr2::CudaSurface::D_V

private

Definition at line 221 of file CudaSurface.hpp.

◆ kd_tree_gen

boost::shared_ptr<LBKdTree> lvr2::CudaSurface::kd_tree_gen

private

Definition at line 203 of file CudaSurface.hpp.

◆ kd_tree_splits

LBPointArray<unsigned char>* lvr2::CudaSurface::kd_tree_splits

private

Definition at line 200 of file CudaSurface.hpp.

◆ kd_tree_values

LBPointArray<float>* lvr2::CudaSurface::kd_tree_values

private

Definition at line 199 of file CudaSurface.hpp.

◆ m_calc_method

int lvr2::CudaSurface::m_calc_method

private

Definition at line 209 of file CudaSurface.hpp.

◆ m_device

int lvr2::CudaSurface::m_device

private

Definition at line 213 of file CudaSurface.hpp.

◆ m_device_global_memory

unsigned long long lvr2::CudaSurface::m_device_global_memory

private

Definition at line 219 of file CudaSurface.hpp.

◆ m_k

int lvr2::CudaSurface::m_k

private

Definition at line 206 of file CudaSurface.hpp.

◆ m_kd

int lvr2::CudaSurface::m_kd

private

Definition at line 206 of file CudaSurface.hpp.

◆ m_ki

int lvr2::CudaSurface::m_ki

private

Definition at line 206 of file CudaSurface.hpp.

◆ m_mps

int lvr2::CudaSurface::m_mps

private

Definition at line 214 of file CudaSurface.hpp.

◆ m_reconstruction_mode

bool lvr2::CudaSurface::m_reconstruction_mode

private

Definition at line 210 of file CudaSurface.hpp.

◆ m_size_grid

int* lvr2::CudaSurface::m_size_grid

private

Definition at line 218 of file CudaSurface.hpp.

◆ m_size_thread_block

int* lvr2::CudaSurface::m_size_thread_block

private

Definition at line 217 of file CudaSurface.hpp.

◆ m_threads_per_block

int lvr2::CudaSurface::m_threads_per_block

private

Definition at line 216 of file CudaSurface.hpp.

◆ m_threads_per_mp

int lvr2::CudaSurface::m_threads_per_mp

private

Definition at line 215 of file CudaSurface.hpp.

◆ m_vx

float lvr2::CudaSurface::m_vx

private

Definition at line 205 of file CudaSurface.hpp.

◆ m_vy

float lvr2::CudaSurface::m_vy

private

Definition at line 205 of file CudaSurface.hpp.

◆ m_vz

float lvr2::CudaSurface::m_vz

private

Definition at line 205 of file CudaSurface.hpp.

◆ Result_Normals

LBPointArray<float> lvr2::CudaSurface::Result_Normals

private

Definition at line 202 of file CudaSurface.hpp.

◆ V

LBPointArray<float> lvr2::CudaSurface::V

private

Definition at line 198 of file CudaSurface.hpp.

The documentation for this class was generated from the following file:

CudaSurface.hpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CudaSurface() [1/2]

◆ CudaSurface() [2/2]

◆ ~CudaSurface()

Member Function Documentation

◆ calculateBlocksThreads()

◆ calculateNormals()

◆ copyToDevicePointArray() [1/2]

◆ copyToDevicePointArray() [2/2]

◆ copyToHostPointArray()

◆ distances()

◆ freeGPU()

◆ generateDevicePointArray()

◆ getCudaInformation()

◆ getNormals() [1/2]

◆ getNormals() [2/2]

◆ GPU_NN()

◆ init()

◆ initKdTree()

◆ interpolateNormals()

◆ printSettings()

◆ setFlippoint()

◆ setKd()

◆ setKi()

◆ setKn()

◆ setMethod()

◆ setReconstructionMode()

Member Data Documentation

◆ D_kd_tree_splits

◆ D_kd_tree_values

◆ D_Normals

◆ D_V

◆ kd_tree_gen

◆ kd_tree_splits

◆ kd_tree_values

◆ m_calc_method

◆ m_device

◆ m_device_global_memory

◆ m_k

◆ m_kd

◆ m_ki

◆ m_mps

◆ m_reconstruction_mode

◆ m_size_grid

◆ m_size_thread_block

◆ m_threads_per_block

◆ m_threads_per_mp

◆ m_vx

◆ m_vy

◆ m_vz

◆ Result_Normals

◆ V