void
pcl::gpu::KinfuTracker::getLastFrameNormals (DeviceArray2D<NormalType>& normals) const
{
normals.create (rows_, cols_);
DeviceArray2D<float8>& n = (DeviceArray2D<float8>&)normals;
device::convert (nmaps_g_prev_[0], n);
}
void
pcl::gpu::KinfuTracker::getLastFrameCloud (DeviceArray2D<PointType>& cloud) const
{
cloud.create (rows_, cols_);
DeviceArray2D<float4>& c = (DeviceArray2D<float4>&)cloud;
device::convert (vmaps_g_prev_[0], c);
}
template<> PCL_EXPORTS void
convertMapToOranizedCloud<pcl::Normal> (const RayCaster::MapArr& map, DeviceArray2D<pcl::Normal>& cloud)
{
cloud.create (map.rows()/3, map.cols());
DeviceArray2D<float8>& n = (DeviceArray2D<float8>&)cloud;
device::convert(map, n);
}
void pcl::gpu::people::colorizeLabels(const DeviceArray<pcl::RGB>& color_map, const DeviceArray2D<unsigned char>& labels, DeviceArray2D<pcl::RGB>& color_labels)
{
color_labels.create(labels.rows(), labels.cols());
const DeviceArray<uchar4>& map = (const DeviceArray<uchar4>&)color_map;
device::Image& img = (device::Image&)color_labels;
device::colorLMap(labels, map, img);
}
void
pcl::gpu::PseudoConvexHull3D::reconstruct (const Cloud &cloud, DeviceArray2D<int>& vertexes)
{
const device::Cloud& c = (const device::Cloud&)cloud;
device::FacetStream& fs = impl_->fs;
device::PointStream ps(c);
ps.computeInitalSimplex();
device::InitalSimplex simplex = ps.simplex;
fs.setInitialFacets(ps.simplex);
ps.initalClassify();
for(;;)
{
//new external points number
ps.cloud_size = ps.searchFacetHeads(fs.facet_count, fs.head_points);
if (ps.cloud_size == 0)
break;
fs.compactFacets();
ps.classify(fs);
if (!fs.canSplit())
throw PCLException("Can't split facets, please enlarge default buffer", __FILE__, "", __LINE__);
fs.splitFacets();
}
int ecount;
int fcount = fs.facet_count;
fs.empty_count.download(&ecount);
vertexes.create(3, fcount + ecount);
DeviceArray2D<int> subf(3, fcount, vertexes.ptr(), vertexes.step());
DeviceArray2D<int> sube(3, ecount, vertexes.ptr()+fcount, vertexes.step());
DeviceArray2D<int>(3, fcount, fs.verts_inds.ptr(), fs.verts_inds.step()).copyTo(subf);
DeviceArray2D<int>(3, ecount, fs.empty_facets.ptr(), fs.empty_facets.step()).copyTo(sube);
}
void MulticamFusion::getLastFrameCloud (DeviceArray2D<PointXYZ>& cloud) const{
cloud.create (rows, cols);
DeviceArray2D<float4>& c = (DeviceArray2D<float4>&)cloud;
device::convert (vmaps_g_prev_, c);
}