__global__
void kernelInsertMetaPointCloud(Voxel* voxelmap, const MetaPointCloudStruct* meta_point_cloud,
VoxelType* voxel_types, const Vector3ui *map_dim,
const float voxel_side_length)
{
const Vector3ui dimensions = (*map_dim);
for (uint32_t i = blockIdx.x * blockDim.x + threadIdx.x; i < meta_point_cloud->accumulated_cloud_size;
i += blockDim.x * gridDim.x)
{
uint32_t voxel_type_index = i / meta_point_cloud->cloud_sizes[0];
const Vector3ui integer_coordinates = mapToVoxels(voxel_side_length,
meta_point_cloud->clouds_base_addresses[0][i]);
// printf("Point @(%f,%f,%f)\n",
// meta_point_cloud->clouds_base_addresses[0][i].x,
// meta_point_cloud->clouds_base_addresses[0][i].y,
// meta_point_cloud->clouds_base_addresses[0][i].z);
//check if point is in the range of the voxel map
if ((integer_coordinates.x < dimensions.x) && (integer_coordinates.y < dimensions.y)
&& (integer_coordinates.z < dimensions.z))
{
Voxel* voxel = &voxelmap[getVoxelIndex(map_dim, integer_coordinates.x, integer_coordinates.y,
integer_coordinates.z)];
voxel->insert(voxel_types[voxel_type_index]);
// printf("Inserted Point @(%u,%u,%u) with type %u into the voxel map \n",
// integer_coordinates.x,
// integer_coordinates.y,
// integer_coordinates.z,
// voxel_types[voxel_type_index]);
}
else
{
printf("Point (%f,%f,%f) is not in the range of the voxel map \n",
meta_point_cloud->clouds_base_addresses[0][i].x, meta_point_cloud->clouds_base_addresses[0][i].y,
meta_point_cloud->clouds_base_addresses[0][i].z);
}
}
}
__global__
void kernelInsertGlobalPointCloud(Voxel* voxelmap, const Vector3ui *map_dim, const float voxel_side_length,
Vector3f* points, const std::size_t sizePoints, const uint32_t voxel_type)
{
const Vector3ui dimensions = (*map_dim);
for (uint32_t i = blockIdx.x * blockDim.x + threadIdx.x; i < sizePoints; i += blockDim.x * gridDim.x)
{
const Vector3ui integer_coordinates = mapToVoxels(voxel_side_length, points[i]);
//check if point is in the range of the voxel map
if ((integer_coordinates.x < dimensions.x) && (integer_coordinates.y < dimensions.y)
&& (integer_coordinates.z < dimensions.z))
{
Voxel* voxel = &voxelmap[getVoxelIndex(map_dim, integer_coordinates.x, integer_coordinates.y,
integer_coordinates.z)];
voxel->insert(voxel_type);
}
else
{
printf("Point (%u,%u,%u) is not in the range of the voxel map \n", points[i].x, points[i].y,
points[i].z);
}
}
}
