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<div class="title">approx_nearest_utils.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * SPDX-License-Identifier: BSD-3-Clause</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2020-, Open Perception</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "morton.hpp"</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <assert.h></span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <cstdint></span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <limits></span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <tuple></span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <bitset></span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a> {</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">namespace </span>device {</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> __device__ __host__ __forceinline__ <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="namespacepcl_1_1device.html#a8ae495106f81cc56857cabf2937b2141"> 24</a></span> <a class="code" href="namespacepcl_1_1device.html#a8ae495106f81cc56857cabf2937b2141">getBitsNum</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> integer)</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> {</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor"> #ifdef __CUDA_ARCH__</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordflow">return</span> __popc(integer);</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor"> #else</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordflow">return</span> std::bitset<8*sizeof(integer)> (integer).count();</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor"> #endif</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> }</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> __host__ __device__ __forceinline__ std::pair<uint3, std::uint8_t></div>
<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="namespacepcl_1_1device.html#af640af8977a0a8870b2c0182259373b5"> 34</a></span> <a class="code" href="namespacepcl_1_1device.html#af640af8977a0a8870b2c0182259373b5">nearestVoxel</a>(<span class="keyword">const</span> float3 query,</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span>& level,</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">const</span> std::uint8_t& mask,</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">const</span> float3& minp,</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">const</span> float3& maxp,</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">const</span> uint3& index)</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> {</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  assert(mask != 0);</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="comment">// identify closest voxel</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordtype">float</span> closest_distance = std::numeric_limits<float>::max();</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">unsigned</span> closest_index = 0;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  uint3 closest = make_uint3(0, 0, 0);</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> i = 0; i < 8; ++i) {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">if</span> ((mask & (1 << i)) == 0) <span class="comment">// no child</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">const</span> uint3 child = make_uint3((index.x << 1) + (i & 1),</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  (index.y << 1) + ((i >> 1) & 1),</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  (index.z << 1) + ((i >> 2) & 1));</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="comment">// find center of child cell</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> voxel_width_scale_factor = 1 << (level + 2);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">const</span> float3 voxel_center =</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  make_float3(minp.x + (maxp.x - minp.x) * (2 * child.x + 1) / voxel_width_scale_factor,</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  minp.y + (maxp.y - minp.y) * (2 * child.y + 1) / voxel_width_scale_factor,</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  minp.z + (maxp.z - minp.z) * (2 * child.z + 1) / voxel_width_scale_factor);</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="comment">// compute distance to centroid</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">const</span> float3 dist = make_float3(</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  voxel_center.x - query.x, voxel_center.y - query.y, voxel_center.z - query.z);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> distance_to_query = dist.x * dist.x + dist.y * dist.y + dist.z * dist.z;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="comment">// compare distance</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">if</span> (distance_to_query < closest_distance) {</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  closest_distance = distance_to_query;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  closest_index = i;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  closest = child;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  }</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">return</span> {closest, 1 << closest_index};</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> }</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="preprocessor">#pragma hd_warning_disable</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> __device__ __host__ <span class="keywordtype">int</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="namespacepcl_1_1device.html#a7289a2916491f0e6dace4ecd1d894c76"> 82</a></span> <a class="code" href="namespacepcl_1_1device.html#a7289a2916491f0e6dace4ecd1d894c76">findNode</a>(<span class="keyword">const</span> float3 minp, <span class="keyword">const</span> float3 maxp, <span class="keyword">const</span> float3 query, <span class="keyword">const</span> T nodes)</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> {</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordtype">size_t</span> node_idx = 0;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">const</span> <span class="keyword">auto</span> <a class="code" href="structcode.html">code</a> = <a class="code" href="structpcl_1_1device_1_1_calc_morton.html">CalcMorton</a>(minp, maxp)(query);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordtype">unsigned</span> level = 0;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordtype">bool</span> voxel_traversal = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  uint3 index = <a class="code" href="structpcl_1_1device_1_1_morton.html#a01c40d5dd133b7fca558c88e661f200e">Morton::decomposeCode</a>(<a class="code" href="structcode.html">code</a>);</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  std::uint8_t mask_pos;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">while</span> (<span class="keyword">true</span>) {</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keyword">const</span> <span class="keyword">auto</span> node = nodes[node_idx];</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keyword">const</span> std::uint8_t mask = node & 0xFF;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordflow">if</span> (!mask) <span class="comment">// leaf</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">return</span> node_idx;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">if</span> (voxel_traversal) <span class="comment">// empty voxel already encountered, performing nearest-centroid</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="comment">// based traversal</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  {</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">const</span> <span class="keyword">auto</span> nearest_voxel = <a class="code" href="namespacepcl_1_1device.html#af640af8977a0a8870b2c0182259373b5">nearestVoxel</a>(query, level, mask, minp, maxp, index);</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  index = nearest_voxel.first;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  mask_pos = nearest_voxel.second;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  }</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  mask_pos = 1 << <a class="code" href="structpcl_1_1device_1_1_morton.html#a1fa3902d059a60f2d2590366c3567050">Morton::extractLevelCode</a>(<a class="code" href="structcode.html">code</a>, level);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">if</span> (!(mask & mask_pos)) <span class="comment">// child doesn't exist</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  {</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keyword">const</span> <span class="keyword">auto</span> remaining_depth = <a class="code" href="structpcl_1_1device_1_1_morton.html#a5bf88f8311e7cd8fd4c0fcf852ec8eee">Morton::levels</a> - level;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  index.x >>= remaining_depth;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  index.y >>= remaining_depth;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  index.z >>= remaining_depth;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  voxel_traversal = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keyword">const</span> <span class="keyword">auto</span> nearest_voxel = <a class="code" href="namespacepcl_1_1device.html#af640af8977a0a8870b2c0182259373b5">nearestVoxel</a>(query, level, mask, minp, maxp, index);</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  index = nearest_voxel.first;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  mask_pos = nearest_voxel.second;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  }</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  node_idx = (node >> 8) + <a class="code" href="namespacepcl_1_1device.html#a8ae495106f81cc56857cabf2937b2141">getBitsNum</a>(mask & (mask_pos - 1));</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  ++level;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  }</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> }</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> } <span class="comment">// namespace device</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> } <span class="comment">// namespace pcl</span></div>
<div class="ttc" id="anamespacepcl_1_1device_html_a7289a2916491f0e6dace4ecd1d894c76"><div class="ttname"><a href="namespacepcl_1_1device.html#a7289a2916491f0e6dace4ecd1d894c76">pcl::device::findNode</a></div><div class="ttdeci">__device__ __host__ int findNode(const float3 minp, const float3 maxp, const float3 query, const T nodes)</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__utils_8hpp_source.html#l00082">approx_nearest_utils.hpp:82</a></div></div>
<div class="ttc" id="anamespacepcl_1_1device_html_a8ae495106f81cc56857cabf2937b2141"><div class="ttname"><a href="namespacepcl_1_1device.html#a8ae495106f81cc56857cabf2937b2141">pcl::device::getBitsNum</a></div><div class="ttdeci">__device__ __host__ __forceinline__ unsigned getBitsNum(const unsigned integer)</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__utils_8hpp_source.html#l00024">approx_nearest_utils.hpp:24</a></div></div>
<div class="ttc" id="anamespacepcl_1_1device_html_af640af8977a0a8870b2c0182259373b5"><div class="ttname"><a href="namespacepcl_1_1device.html#af640af8977a0a8870b2c0182259373b5">pcl::device::nearestVoxel</a></div><div class="ttdeci">__host__ __device__ __forceinline__ std::pair< uint3, std::uint8_t > nearestVoxel(const float3 query, const unsigned &level, const std::uint8_t &mask, const float3 &minp, const float3 &maxp, const uint3 &index)</div><div class="ttdef"><b>Definition:</b> <a href="approx__nearest__utils_8hpp_source.html#l00034">approx_nearest_utils.hpp:34</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="astructcode_html"><div class="ttname"><a href="structcode.html">code</a></div><div class="ttdef"><b>Definition:</b> <a href="inftrees_8h_source.html#l00024">inftrees.h:24</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_calc_morton_html"><div class="ttname"><a href="structpcl_1_1device_1_1_calc_morton.html">pcl::device::CalcMorton</a></div><div class="ttdef"><b>Definition:</b> <a href="morton_8hpp_source.html#l00110">morton.hpp:111</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_morton_html_a01c40d5dd133b7fca558c88e661f200e"><div class="ttname"><a href="structpcl_1_1device_1_1_morton.html#a01c40d5dd133b7fca558c88e661f200e">pcl::device::Morton::decomposeCode</a></div><div class="ttdeci">__device__ __host__ static __forceinline__ void decomposeCode(code_t code, int &cell_x, int &cell_y, int &cell_z)</div><div class="ttdef"><b>Definition:</b> <a href="morton_8hpp_source.html#l00084">morton.hpp:84</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_morton_html_a1fa3902d059a60f2d2590366c3567050"><div class="ttname"><a href="structpcl_1_1device_1_1_morton.html#a1fa3902d059a60f2d2590366c3567050">pcl::device::Morton::extractLevelCode</a></div><div class="ttdeci">__host__ __device__ static __forceinline__ code_t extractLevelCode(code_t code, int level)</div><div class="ttdef"><b>Definition:</b> <a href="morton_8hpp_source.html#l00098">morton.hpp:98</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_morton_html_a5bf88f8311e7cd8fd4c0fcf852ec8eee"><div class="ttname"><a href="structpcl_1_1device_1_1_morton.html#a5bf88f8311e7cd8fd4c0fcf852ec8eee">pcl::device::Morton::levels</a></div><div class="ttdeci">static const int levels</div><div class="ttdef"><b>Definition:</b> <a href="morton_8hpp_source.html#l00047">morton.hpp:47</a></div></div>
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