Point Cloud Library (PCL) 1.15.0
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cloud_to_pcl.h
1/*
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37
38#pragma once
39
40#include <pcl/cuda/point_cloud.h>
41
42#include <pcl/pcl_exports.h>
43
44namespace pcl
45{
46 template <typename T>
47 class PointCloud;
48
49 struct PointXYZRGB;
50 struct PointXYZRGBNormal;
51
52 namespace cuda
53 {
54 // convert point cloud with color and normals
55 PCL_EXPORTS void
56 toPCL (const PointCloudAOS<Host> &input, const thrust::host_vector<float4> &normals, pcl::PointCloud<pcl::PointXYZRGBNormal> &output);
57 PCL_EXPORTS void
58 toPCL (const PointCloudAOS<Device> &input, const thrust::device_vector<float4> &normals, pcl::PointCloud<pcl::PointXYZRGBNormal> &output);
59
60 // convert point cloud with color
61 PCL_EXPORTS void
63 PCL_EXPORTS void
65
66 // convert pcl point cloud with color to pcl::cuda cloud
67 PCL_EXPORTS void
69 PCL_EXPORTS void
71 } // namespace
72} // namespace
PointCloud represents the base class in PCL for storing collections of 3D points.
PointCloudAOS represents an AOS (Array of Structs) PointCloud implementation for CUDA processing.
PCL_EXPORTS void fromPCL(const pcl::PointCloud< pcl::PointXYZRGB > &input, PointCloudAOS< Host > &output)
PCL_EXPORTS void toPCL(const PointCloudAOS< Host > &input, const thrust::host_vector< float4 > &normals, pcl::PointCloud< pcl::PointXYZRGBNormal > &output)
float4 PointXYZRGB
Definition internal.hpp:60