Point Cloud Library (PCL) 1.15.0
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predicate.h
1/*
2 * Software License Agreement (BSD License)
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4 * Copyright (c) 2011, Willow Garage, Inc.
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37
38#pragma once
39
40//#if THRUST_DEVICE_COMPILER == THRUST_DEVICE_COMPILER_NVCC
41//#undef __MMX__
42#include <pcl/cuda/point_cloud.h>
43#include <pcl/cuda/point_types.h>
44//#else
45//#endif
46
47
48namespace pcl
49{
50namespace cuda
51{
52 template <class T>
53 struct isNotZero
54 {
55 __inline__ __host__ __device__ bool
56 operator()(T x) { return (x != 0); }
57 };
58
59 struct isInlier
60 {
61 __inline__ __host__ __device__ bool
62 operator()(int x) { return (x != -1); }
63 };
64
66 {
67 __inline__ __host__ __device__ bool
68 operator()(int x) { return (x == -1); }
69 };
70
71 struct SetColor
72 {
73 SetColor (const OpenNIRGB& color) : color_(color) {}
74 __inline__ __host__ __device__ void
75 operator()(PointXYZRGB& point) { point.rgb.r = color_.r; point.rgb.g = color_.g; point.rgb.b = color_.b;}
77 };
78
80 {
81 ChangeColor (const OpenNIRGB& color) : color_(color) {}
82 __inline__ __host__ __device__ PointXYZRGB&
84 {
85 point.rgb.r = color_.r; point.rgb.g = color_.g; point.rgb.b = color_.b;
86 return point;
87 }
89 };
90
91} // namespace
92} // namespace
ChangeColor(const OpenNIRGB &color)
Definition predicate.h:81
__inline__ __host__ __device__ PointXYZRGB & operator()(PointXYZRGB &point)
Definition predicate.h:83
Simple structure holding RGB data.
Definition point_cloud.h:56
unsigned char b
Definition point_cloud.h:57
unsigned char r
Definition point_cloud.h:57
unsigned char g
Definition point_cloud.h:57
Default point xyz-rgb structure.
Definition point_types.h:49
__inline__ __host__ __device__ void operator()(PointXYZRGB &point)
Definition predicate.h:75
SetColor(const OpenNIRGB &color)
Definition predicate.h:73
Check if a certain tuple is a point inlier.
Definition predicate.h:60
__inline__ __host__ __device__ bool operator()(int x)
Definition predicate.h:62
__inline__ __host__ __device__ bool operator()(int x)
Definition predicate.h:68
__inline__ __host__ __device__ bool operator()(T x)
Definition predicate.h:56