Point cloud frame on GPU memory. More...

#include <point_cloud_gpu.hpp>

Inheritance diagram for gtsam_points::PointCloudGPU:

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Collaboration diagram for gtsam_points::PointCloudGPU:

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Public Types
using	Ptr = std::shared_ptr< PointCloudGPU >

using	ConstPtr = std::shared_ptr< const PointCloudGPU >

Public Types inherited from gtsam_points::PointCloudCPU
using	Ptr = std::shared_ptr< PointCloudCPU >

using	ConstPtr = std::shared_ptr< const PointCloudCPU >

Public Types inherited from gtsam_points::PointCloud
using	Ptr = std::shared_ptr< PointCloud >

using	ConstPtr = std::shared_ptr< const PointCloud >

Public Types inherited from gtsam_points::OffloadableGPU
using	Ptr = std::shared_ptr< OffloadableGPU >

using	ConstPtr = std::shared_ptr< const OffloadableGPU >

Public Member Functions
template<typename T , int D>
	PointCloudGPU (const Eigen::Matrix< T, D, 1 > *points, int num_points)

template<typename T , int D, typename Alloc >
	PointCloudGPU (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &points)

	PointCloudGPU (const PointCloudGPU &points)=delete

PointCloudGPU &	operator= (PointCloudGPU const &)=delete

template<typename T >
void	add_times (const T times, int num_points, CUstream_st stream=0)

template<typename T >
void	add_times (const std::vector< T > &times, CUstream_st *stream=0)

template<typename T >
void	add_times_gpu (const T times, int num_points, CUstream_st stream=0)

template<typename T >
void	add_times_gpu (const std::vector< T > &times, CUstream_st *stream=0)

template<typename T , int D>
void	add_points (const Eigen::Matrix< T, D, 1 > points, int num_points, CUstream_st stream=0)

template<typename T , int D, typename Alloc >
void	add_points (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &points, CUstream_st *stream=0)

template<typename T , int D>
void	add_points_gpu (const Eigen::Matrix< T, D, 1 > points, int num_points, CUstream_st stream=0)

template<typename T , int D, typename Alloc >
void	add_points_gpu (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &points, CUstream_st *stream=0)

template<typename T , int D>
void	add_normals (const Eigen::Matrix< T, D, 1 > normals, int num_points, CUstream_st stream=0)

template<typename T , int D, typename Alloc >
void	add_normals (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &normals, CUstream_st *stream=0)

template<typename T , int D>
void	add_normals_gpu (const Eigen::Matrix< T, D, 1 > normals, int num_points, CUstream_st stream=0)

template<typename T , int D, typename Alloc >
void	add_normals_gpu (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &normals, CUstream_st *stream=0)

template<typename T , int D>
void	add_covs (const Eigen::Matrix< T, D, D > covs, int num_points, CUstream_st stream=0)

template<typename T , int D, typename Alloc >
void	add_covs (const std::vector< Eigen::Matrix< T, D, D >, Alloc > &covs, CUstream_st *stream=0)

template<typename T , int D>
void	add_covs_gpu (const Eigen::Matrix< T, D, D > covs, int num_points, CUstream_st stream=0)

template<typename T , int D, typename Alloc >
void	add_covs_gpu (const std::vector< Eigen::Matrix< T, D, D >, Alloc > &covs, CUstream_st *stream=0)

template<typename T >
void	add_intensities (const T intensities, int num_points, CUstream_st stream=0)

template<typename T >
void	add_intensities (const std::vector< T > &intensities, CUstream_st *stream=0)

template<typename T >
void	add_intensities_gpu (const T intensities, int num_points, CUstream_st stream=0)

template<typename T >
void	add_intensities_gpu (const std::vector< T > &intensities, CUstream_st *stream=0)

void	download_points (CUstream_st *stream=0)

size_t	memory_usage_gpu () const override
	Memory usage in bytes on the GPU.

bool	loaded_on_gpu () const override
	Check if the data is loaded on the GPU.

bool	offload_gpu (CUstream_st *stream=0) override
	Offload data from GPU to CPU.

bool	reload_gpu (CUstream_st *stream=0) override
	Reload data from CPU to GPU.

Public Member Functions inherited from gtsam_points::PointCloudCPU
template<typename T , int D>
	PointCloudCPU (const Eigen::Matrix< T, D, 1 > *points, int num_points)
	Constructor.

template<typename T , int D, typename Alloc >
	PointCloudCPU (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &points)
	Constructor.

	PointCloudCPU (const PointCloudCPU &points)=delete

PointCloudCPU &	operator= (PointCloudCPU const &)=delete

template<typename T >
void	add_times (const T *times, int num_points)

template<typename T >
void	add_times (const std::vector< T > &times)

template<typename T , int D>
void	add_points (const Eigen::Matrix< T, D, 1 > *points, int num_points)

template<typename T , int D, typename Alloc >
void	add_points (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &points)

template<typename T , int D>
void	add_normals (const Eigen::Matrix< T, D, 1 > *normals, int num_points)

template<typename T , int D, typename Alloc >
void	add_normals (const std::vector< Eigen::Matrix< T, D, 1 >, Alloc > &normals)

template<typename T , int D>
void	add_covs (const Eigen::Matrix< T, D, D > *covs, int num_points)

template<typename T , int D, typename Alloc >
void	add_covs (const std::vector< Eigen::Matrix< T, D, D >, Alloc > &covs)

template<typename T >
void	add_intensities (const T *intensities, int num_points)

template<typename T >
void	add_intensities (const std::vector< T > &intensities)

template<typename T >
void	add_aux_attribute (const std::string &attrib_name, const T *values, int num_points)

template<typename T , typename Alloc >
void	add_aux_attribute (const std::string &attrib_name, const std::vector< T, Alloc > &values)

size_t	memory_usage () const
	Memory usage in bytes.

Public Member Functions inherited from gtsam_points::PointCloud
	PointCloud (const PointCloud &)=delete

PointCloud &	operator= (PointCloud const &)=delete

size_t	size () const
	Number of points.

bool	has_times () const
	Check if the point cloud has per-point timestamps.

bool	has_points () const
	Check if the point cloud has points.

bool	has_normals () const
	Check if the point cloud has point normals.

bool	has_covs () const
	Check if the point cloud has point covariances.

bool	has_intensities () const
	Check if the point cloud has point intensities.

bool	check_times () const
	Warn if the point cloud doesn't have times.

bool	check_points () const
	Warn if the point cloud doesn't have points.

bool	check_normals () const
	Warn if the point cloud doesn't have normals.

bool	check_covs () const
	Warn if the point cloud doesn't have covs.

bool	check_intensities () const
	Warn if the point cloud doesn't have intensities.

bool	has_times_gpu () const
	Check if the point cloud has per-point timestamps on GPU.

bool	has_points_gpu () const
	Check if the point cloud has points on GPU.

bool	has_normals_gpu () const
	Check if the point cloud has point normals on GPU.

bool	has_covs_gpu () const
	Check if the point cloud has point covariances on GPU.

bool	has_intensities_gpu () const
	Check if the point cloud has point intensities on GPU.

bool	check_times_gpu () const
	Warn if the point cloud doesn't have times on GPU.

bool	check_points_gpu () const
	Warn if the point cloud doesn't have points on GPU.

bool	check_normals_gpu () const
	Warn if the point cloud doesn't have normals on GPU.

bool	check_covs_gpu () const
	Warn if the point cloud doesn't have covs on GPU.

bool	check_intensities_gpu () const
	Warn if the point cloud doesn't have intensities on GPU.

template<typename T >
const T *	aux_attribute (const std::string &attrib) const
	Get the pointer to an aux attribute.

void	save (const std::string &path) const
	Save the point cloud data.

void	save_compact (const std::string &path) const
	Save the point cloud data with a compact representation without unnecessary fields (e.g., the last element of homogeneous coordinates).

Public Member Functions inherited from gtsam_points::OffloadableGPU
std::uint64_t	last_accessed_time () const
	Time of the last access to this object.

virtual bool	touch (CUstream_st *stream=0)
	Reload data from CPU to GPU (if necessary) and update the last access time.

Static Public Member Functions
static PointCloudGPU::Ptr	clone (const PointCloud &frame, CUstream_st *stream=0)

Static Public Member Functions inherited from gtsam_points::PointCloudCPU
static PointCloudCPU::Ptr	clone (const PointCloud &points)
	Deep copy.

static PointCloudCPU::Ptr	load (const std::string &path)

Static Public Member Functions inherited from gtsam_points::OffloadableGPU
static std::uint64_t	current_access_time ()
	Current global access time counter.

Additional Inherited Members
Public Attributes inherited from gtsam_points::PointCloudCPU
std::vector< double >	times_storage

std::vector< Eigen::Vector4d >	points_storage

std::vector< Eigen::Vector4d >	normals_storage

std::vector< Eigen::Matrix4d >	covs_storage

std::vector< double >	intensities_storage

std::unordered_map< std::string, std::shared_ptr< void > >	aux_attributes_storage

Public Attributes inherited from gtsam_points::PointCloud
size_t	num_points
	Number of points.

double *	times
	Per-point timestamp w.r.t. the first point (should be sorted)

Eigen::Vector4d *	points
	Point coordinates (x, y, z, 1)

Eigen::Vector4d *	normals
	Point normals (nx, ny, nz, 0)

Eigen::Matrix4d *	covs
	Point covariances cov(3, 3) = 0.

double *	intensities
	Point intensities.

std::unordered_map< std::string, std::pair< size_t, void * > >	aux_attributes
	Aux attributes <attribute_name, pair<element_size, data_ptr>>

float *	times_gpu
	Per-point timestamp on GPU.

Eigen::Vector3f *	points_gpu
	Point coordinates on GPU.

Eigen::Vector3f *	normals_gpu
	Point normals on GPU.

Eigen::Matrix3f *	covs_gpu
	Point covariances on GPU.

float *	intensities_gpu
	Point intensities on GPU.

Protected Attributes inherited from gtsam_points::OffloadableGPU
std::uint64_t	last_access
	Last access time of this object.

Static Protected Attributes inherited from gtsam_points::OffloadableGPU
static std::atomic_uint64_t	access_counter
	Global counter for the last access time.

Detailed Description

Point cloud frame on GPU memory.

Member Function Documentation

◆ loaded_on_gpu()

bool gtsam_points::PointCloudGPU::loaded_on_gpu ( ) const

overridevirtual

Check if the data is loaded on the GPU.

Implements gtsam_points::OffloadableGPU.

◆ memory_usage_gpu()

size_t gtsam_points::PointCloudGPU::memory_usage_gpu ( ) const

overridevirtual

Memory usage in bytes on the GPU.

Reimplemented from gtsam_points::OffloadableGPU.

◆ offload_gpu()

bool gtsam_points::PointCloudGPU::offload_gpu ( CUstream_st * stream = 0 )

overridevirtual

Offload data from GPU to CPU.

Returns: true if the data offload is conducted, false if the data is already on the CPU

Implements gtsam_points::OffloadableGPU.

◆ reload_gpu()

bool gtsam_points::PointCloudGPU::reload_gpu ( CUstream_st * stream = 0 )

overridevirtual

Reload data from CPU to GPU.

Returns: true if the data upload is conducted, false if the data is already on the GPU

Implements gtsam_points::OffloadableGPU.

The documentation for this struct was generated from the following file:

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/types/point_cloud_gpu.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ loaded_on_gpu()

◆ memory_usage_gpu()

◆ offload_gpu()

◆ reload_gpu()