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<li class="navelem"><a class="el" href="dir_296300bae62233b7924727e0c054d19e.html">octree</a></li><li class="navelem"><a class="el" href="dir_d106adb39d440c7174d3ecfffb5af887.html">src</a></li><li class="navelem"><a class="el" href="dir_db1704ad4ee45ee8a7a55d29301e749e.html">utils</a></li> </ul>
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<div class="title">boxutils.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"> * Software License Agreement (BSD License)</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"> * Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</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"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef _PCL_GPU_OCTREE_BOXUTILS_HPP_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define _PCL_GPU_OCTREE_BOXUTILS_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "utils/morton.hpp"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  {</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  __device__ __host__ __forceinline__</div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="namespacepcl_1_1device.html#a58fd2bcdb309ca440f266889533144a8"> 47</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="namespacepcl_1_1device.html#a58fd2bcdb309ca440f266889533144a8">checkIfNodeInsideSphere</a>(<span class="keyword">const</span> float3& minp, <span class="keyword">const</span> float3& maxp, <span class="keyword">const</span> float3& c, <span class="keywordtype">float</span> r)</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  {</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  r *= r;</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="keywordtype">float</span> d2_xmin = (minp.x - c.x) * (minp.x - c.x);</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordtype">float</span> d2_ymin = (minp.y - c.y) * (minp.y - c.y);</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordtype">float</span> d2_zmin = (minp.z - c.z) * (minp.z - c.z);</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="keywordflow">if</span> (d2_xmin + d2_ymin + d2_zmin > r)</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordtype">float</span> d2_zmax = (maxp.z - c.z) * (maxp.z - c.z);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">if</span> (d2_xmin + d2_ymin + d2_zmax > r)</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordtype">float</span> d2_ymax = (maxp.y - c.y) * (maxp.y - c.y);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordflow">if</span> (d2_xmin + d2_ymax + d2_zmin > r)</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</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="keywordflow">if</span> (d2_xmin + d2_ymax + d2_zmax > r)</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">float</span> d2_xmax = (maxp.x - c.x) * (maxp.x - c.x);</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">if</span> (d2_xmax + d2_ymin + d2_zmin > r)</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">return</span> <span class="keyword">false</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">if</span> (d2_xmax + d2_ymin + d2_zmax > r)</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">return</span> <span class="keyword">false</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="keywordflow">if</span> (d2_xmax + d2_ymax + d2_zmin > r)</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">if</span> (d2_xmax + d2_ymax + d2_zmax > r)</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</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>  __device__ __host__ __forceinline__</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="namespacepcl_1_1device.html#a98c1e1b868a17e43e752fbae3a226020"> 89</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="namespacepcl_1_1device.html#a98c1e1b868a17e43e752fbae3a226020">checkIfNodeOutsideSphere</a>(<span class="keyword">const</span> float3& minp, <span class="keyword">const</span> float3& maxp, <span class="keyword">const</span> float3& c, <span class="keywordtype">float</span> r)</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  {</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordflow">if</span> (maxp.x < (c.x - r) || maxp.y < (c.y - r) || maxp.z < (c.z - r))</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">if</span> ((c.x + r) < minp.x || (c.y + r) < minp.y || (c.z + r) < minp.z)</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</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>  </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  __device__ __host__ __forceinline__</div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="namespacepcl_1_1device.html#a2c9c74c869948920ab81e72634fb02fb"> 101</a></span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="namespacepcl_1_1device.html#a2c9c74c869948920ab81e72634fb02fb">calcBoundingBox</a>(<span class="keywordtype">int</span> level, <span class="keywordtype">int</span> <a class="code" href="structcode.html">code</a>, float3& res_minp, float3& res_maxp)</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  { </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordtype">int</span> cell_x, cell_y, cell_z;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="structpcl_1_1device_1_1_morton.html#a01c40d5dd133b7fca558c88e661f200e">Morton::decomposeCode</a>(<a class="code" href="structcode.html">code</a>, cell_x, cell_y, cell_z); </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="keywordtype">float</span> cell_size_x = (res_maxp.x - res_minp.x) / (1 << level);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">float</span> cell_size_y = (res_maxp.y - res_minp.y) / (1 << level);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordtype">float</span> cell_size_z = (res_maxp.z - res_minp.z) / (1 << level);</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  res_minp.x += cell_x * cell_size_x;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  res_minp.y += cell_y * cell_size_y;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  res_minp.z += cell_z * cell_size_z;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  res_maxp.x = res_minp.x + cell_size_x;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  res_maxp.y = res_minp.y + cell_size_y;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  res_maxp.z = res_minp.z + cell_size_z; </div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  }</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> }</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> <span class="preprocessor">#endif </span><span class="comment">/* _PCL_GPU_OCTREE_BOXUTILS_HPP_ */</span><span class="preprocessor"></span></div>
</div><!-- fragment --></div><!-- contents -->
<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="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="anamespacepcl_1_1device_html_a58fd2bcdb309ca440f266889533144a8"><div class="ttname"><a href="namespacepcl_1_1device.html#a58fd2bcdb309ca440f266889533144a8">pcl::device::checkIfNodeInsideSphere</a></div><div class="ttdeci">__device__ __host__ static __forceinline__ bool checkIfNodeInsideSphere(const float3 &minp, const float3 &maxp, const float3 &c, float r)</div><div class="ttdef"><b>Definition:</b> <a href="boxutils_8hpp_source.html#l00047">boxutils.hpp:47</a></div></div>
<div class="ttc" id="anamespacepcl_1_1device_html_a98c1e1b868a17e43e752fbae3a226020"><div class="ttname"><a href="namespacepcl_1_1device.html#a98c1e1b868a17e43e752fbae3a226020">pcl::device::checkIfNodeOutsideSphere</a></div><div class="ttdeci">__device__ __host__ static __forceinline__ bool checkIfNodeOutsideSphere(const float3 &minp, const float3 &maxp, const float3 &c, float r)</div><div class="ttdef"><b>Definition:</b> <a href="boxutils_8hpp_source.html#l00089">boxutils.hpp:89</a></div></div>
<div class="ttc" id="anamespacepcl_1_1device_html_a2c9c74c869948920ab81e72634fb02fb"><div class="ttname"><a href="namespacepcl_1_1device.html#a2c9c74c869948920ab81e72634fb02fb">pcl::device::calcBoundingBox</a></div><div class="ttdeci">__device__ __host__ static __forceinline__ void calcBoundingBox(int level, int code, float3 &res_minp, float3 &res_maxp)</div><div class="ttdef"><b>Definition:</b> <a href="boxutils_8hpp_source.html#l00101">boxutils.hpp:101</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>
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