device_format.hpp

/*
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 *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
 */
 
#ifndef _PCL_GPU_OCTREE_DEVICE_FORMAT_HPP_
#define _PCL_GPU_OCTREE_DEVICE_FORMAT_HPP_
 
#include <pcl/gpu/containers/device_array.h>
 
namespace pcl
{
    namespace gpu
    {
        struct NeighborIndices
        {
            DeviceArray<int> data;
            DeviceArray<int> sizes;
            int max_elems;  
 
            NeighborIndices() {}
            NeighborIndices(int query_number, int max_elements) : max_elems(0)
            {
                create(query_number, max_elements);
            }
 
            void create(int query_number, int max_elements)
            {
                max_elems = max_elements;
                data.create (static_cast<std::size_t>(query_number) * static_cast<std::size_t>(max_elems));
 
                if (max_elems != 1)
                    sizes.create(query_number);                
            }
 
            void upload(const std::vector<int>& data, const std::vector<int>& sizes, int max_elements)
            {
                this->data.upload(data);
                this->sizes.upload(sizes);
                max_elems = max_elements;
            }
 
            bool validate(std::size_t cloud_size) const
            {
                return (sizes.size() == cloud_size) && (cloud_size * max_elems == data.size());
            }
 
            operator PtrStep<int>() const
            {
                return {(int*)data.ptr(), max_elems * sizeof(int)};
            }            
 
            std::size_t neighboors_size() const { return data.size()/max_elems; }
        };
    }
}
 
#endif /* _PCL_GPU_OCTREE_DEVICE_FORMAT_HPP_ */