Point Cloud Library (PCL)  1.14.1-dev
boxutils.hpp
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34  * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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36 
37 #ifndef _PCL_GPU_OCTREE_BOXUTILS_HPP_
38 #define _PCL_GPU_OCTREE_BOXUTILS_HPP_
39 
40 #include "utils/morton.hpp"
41 
42 namespace pcl
43 {
44  namespace device
45  {
46  __device__ __host__ __forceinline__
47  static bool checkIfNodeInsideSphere(const float3& minp, const float3& maxp, const float3& c, float r)
48  {
49  r *= r;
50 
51  float d2_xmin = (minp.x - c.x) * (minp.x - c.x);
52  float d2_ymin = (minp.y - c.y) * (minp.y - c.y);
53  float d2_zmin = (minp.z - c.z) * (minp.z - c.z);
54 
55  if (d2_xmin + d2_ymin + d2_zmin > r)
56  return false;
57 
58  float d2_zmax = (maxp.z - c.z) * (maxp.z - c.z);
59 
60  if (d2_xmin + d2_ymin + d2_zmax > r)
61  return false;
62 
63  float d2_ymax = (maxp.y - c.y) * (maxp.y - c.y);
64 
65  if (d2_xmin + d2_ymax + d2_zmin > r)
66  return false;
67 
68  if (d2_xmin + d2_ymax + d2_zmax > r)
69  return false;
70 
71  float d2_xmax = (maxp.x - c.x) * (maxp.x - c.x);
72 
73  if (d2_xmax + d2_ymin + d2_zmin > r)
74  return false;
75 
76  if (d2_xmax + d2_ymin + d2_zmax > r)
77  return false;
78 
79  if (d2_xmax + d2_ymax + d2_zmin > r)
80  return false;
81 
82  if (d2_xmax + d2_ymax + d2_zmax > r)
83  return false;
84 
85  return true;
86  }
87 
88  __device__ __host__ __forceinline__
89  static bool checkIfNodeOutsideSphere(const float3& minp, const float3& maxp, const float3& c, float r)
90  {
91  if (maxp.x < (c.x - r) || maxp.y < (c.y - r) || maxp.z < (c.z - r))
92  return true;
93 
94  if ((c.x + r) < minp.x || (c.y + r) < minp.y || (c.z + r) < minp.z)
95  return true;
96 
97  return false;
98  }
99 
100  __device__ __host__ __forceinline__
101  static void calcBoundingBox(int level, int code, float3& res_minp, float3& res_maxp)
102  {
103  int cell_x, cell_y, cell_z;
104  Morton::decomposeCode(code, cell_x, cell_y, cell_z);
105 
106  float cell_size_x = (res_maxp.x - res_minp.x) / (1 << level);
107  float cell_size_y = (res_maxp.y - res_minp.y) / (1 << level);
108  float cell_size_z = (res_maxp.z - res_minp.z) / (1 << level);
109 
110  res_minp.x += cell_x * cell_size_x;
111  res_minp.y += cell_y * cell_size_y;
112  res_minp.z += cell_z * cell_size_z;
113 
114  res_maxp.x = res_minp.x + cell_size_x;
115  res_maxp.y = res_minp.y + cell_size_y;
116  res_maxp.z = res_minp.z + cell_size_z;
117  }
118  }
119 }
120 
121 #endif /* _PCL_GPU_OCTREE_BOXUTILS_HPP_ */
__device__ __host__ static __forceinline__ void calcBoundingBox(int level, int code, float3 &res_minp, float3 &res_maxp)
Definition: boxutils.hpp:101
__device__ __host__ static __forceinline__ bool checkIfNodeInsideSphere(const float3 &minp, const float3 &maxp, const float3 &c, float r)
Definition: boxutils.hpp:47
__device__ __host__ static __forceinline__ bool checkIfNodeOutsideSphere(const float3 &minp, const float3 &maxp, const float3 &c, float r)
Definition: boxutils.hpp:89
Definition: inftrees.h:24
__device__ __host__ static __forceinline__ void decomposeCode(code_t code, int &cell_x, int &cell_y, int &cell_z)
Definition: morton.hpp:84