Point Cloud Library (PCL)  1.8.1
predicate.h
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37 
38 #ifndef PCL_CUDA_PREDICATE_H_
39 #define PCL_CUDA_PREDICATE_H_
40 
41 //#if THRUST_DEVICE_COMPILER == THRUST_DEVICE_COMPILER_NVCC
42 //#undef __MMX__
43 #include <pcl/cuda/point_cloud.h>
44 #include <pcl/cuda/point_types.h>
45 //#else
46 //#endif
47 
48 
49 namespace pcl
50 {
51 namespace cuda
52 {
53  template <class T>
54  struct isNotZero
55  {
56  __inline__ __host__ __device__ bool
57  operator()(T x) { return (x != 0); }
58  };
59 
60  struct isInlier
61  {
62  __inline__ __host__ __device__ bool
63  operator()(int x) { return (x != -1); }
64  };
65 
66  struct isNotInlier
67  {
68  __inline__ __host__ __device__ bool
69  operator()(int x) { return (x == -1); }
70  };
71 
72  struct SetColor
73  {
74  SetColor (const OpenNIRGB& color) : color_(color) {}
75  __inline__ __host__ __device__ void
76  operator()(PointXYZRGB& point) { point.rgb.r = color_.r; point.rgb.g = color_.g; point.rgb.b = color_.b;}
78  };
79 
80  struct ChangeColor
81  {
82  ChangeColor (const OpenNIRGB& color) : color_(color) {}
83  __inline__ __host__ __device__ PointXYZRGB&
85  {
86  point.rgb.r = color_.r; point.rgb.g = color_.g; point.rgb.b = color_.b;
87  return point;
88  }
90  };
91 
92 } // namespace
93 } // namespace
94 
95 #endif //#ifndef PCL_CUDA_PREDICATE_H_
96 
97 
__inline__ __host__ __device__ bool operator()(T x)
Definition: predicate.h:57
OpenNIRGB color_
Definition: predicate.h:77
__inline__ __host__ __device__ bool operator()(int x)
Definition: predicate.h:69
__inline__ __host__ __device__ PointXYZRGB & operator()(PointXYZRGB &point)
Definition: predicate.h:84
__inline__ __host__ __device__ bool operator()(int x)
Definition: predicate.h:63
SetColor(const OpenNIRGB &color)
Definition: predicate.h:74
__inline__ __host__ __device__ void operator()(PointXYZRGB &point)
Definition: predicate.h:76
Check if a certain tuple is a point inlier.
Definition: predicate.h:60
ChangeColor(const OpenNIRGB &color)
Definition: predicate.h:82
Default point xyz-rgb structure.
Definition: point_types.h:49
Simple structure holding RGB data.
Definition: point_cloud.h:56