예제 #1
0
void vm::scanner::cuda::computePointNormals(const Intr& intr, const Depth& depth, Cloud& points, Normals& normals)
{
  points.create(depth.rows(), depth.cols());
  normals.create(depth.rows(), depth.cols());

  device::Reprojector reproj(intr.fx, intr.fy, intr.cx, intr.cy);

  device::Points& p = (device::Points&)points;
  device::Normals& n = (device::Normals&)normals;
  device::computePointNormals(reproj, depth, p, n);
}
예제 #2
0
void vm::scanner::cuda::resizePointsNormals(const Cloud& points, const Normals& normals, Cloud& points_out, Normals& normals_out)
{
  points_out.create (points.rows()/2, points.cols()/2);
  normals_out.create (normals.rows()/2, normals.cols()/2);

  device::Points& pi = (device::Points&)points;
  device::Normals& ni= (device::Normals&)normals;

  device::Points& po = (device::Points&)points_out;
  device::Normals& no = (device::Normals&)normals_out;

  device::resizePointsNormals(pi, ni, po, no);
}
예제 #3
0
파일: convex_hull.cpp 프로젝트: Razlaw/pcl 
void
pcl::gpu::PseudoConvexHull3D::reconstruct (const Cloud &points, Cloud &output)
{
    DeviceArray2D<int> vertexes;
    reconstruct(points, vertexes);

    DeviceArray<int> cont(vertexes.cols() * vertexes.rows());
    DeviceArray2D<int> buf(3, vertexes.cols(), cont.ptr(), vertexes.cols() * sizeof(int));
    vertexes.copyTo(buf);


    size_t new_size = device::remove_duplicates(cont);
    DeviceArray<int> new_cont(cont.ptr(), new_size);
    output.create(new_size);

    const device::Cloud& c = (const device::Cloud&)points;
    device::Cloud& o = (device::Cloud&)output;

    device::pack_hull(c, new_cont, o);
}