62 lines
1.3 KiB
Text
62 lines
1.3 KiB
Text
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/*
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* File: icp_gpu_cuda.h
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* Author: shams
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*
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* Created on April 17, 2010, 6:48 PM
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*/
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#ifndef _ICP6DCUDA_H__
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#define _ICP6DCUDA_H__
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#include <dlfcn.h>
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#include "slam6d/cuda/CIcpGpuCuda.cuh"
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#include "slam6d/icp6D.h"
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class icp6Dcuda : public icp6D {
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private:
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CIcpGpuCuda* icp;
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double** h_idata;
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float** fHstScn;
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float max_radius; // 0.3 */
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float min_radius; //0.05 */
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int iteration;
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int max_iteration; // 120 Must be greater than 5 */
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int max_proctime;
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float max_deviation;
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int width;
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int height;
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unsigned int max_scnSize;
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// Default resolution for Slam6D software
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public:
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icp6Dcuda(icp6Dminimizer *my_icp6Dminimizer,
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double max_dist_match = 25.0,
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int max_num_iterations = 50,
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bool quiet = false,
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bool meta = false,
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int rnd = 1,
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bool eP = true,
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int anim = -1,
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double epsilonICP = 0.0000001,
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int nns_method = simpleKD,
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bool cuda_enabled = false);
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/**
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* Destructor (empty, but needed, because virtual)
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*/
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virtual ~icp6Dcuda() {};
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int match(Scan* PreviousScan, Scan* CurrentScan);
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void initGPUicp(float max_rad, float min_rad, int iter, int max_iter,
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int max_proctime, float max_dev, const double trans[], const double trans_inv[]);
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};
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#endif /* _ICP_GPU_CUDA_H */
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