std vector interface

neka-nat · Oct 5, 2024 · cd43856 · cd43856
1 parent daadbf9
commit cd43856
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Showing 54 changed files with 656 additions and 384 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -160,6 +160,7 @@ elseif (UNIX)
 endif ()
 
 find_package(CUDA REQUIRED)
+enable_language(CUDA)
 if(NOT CMAKE_CUDA_ARCHITECTURES)
   set(CMAKE_CUDA_ARCHITECTURES 86)
 endif()

diff --git a/src/cupoch/geometry/down_sample.cu b/src/cupoch/geometry/down_sample.cu
@@ -167,6 +167,16 @@ std::shared_ptr<PointCloud> PointCloud::SelectByMask(
     return output;
 }
 
+std::shared_ptr<PointCloud> PointCloud::SelectByIndex(
+        const std::vector<size_t> &indices, bool invert) const {
+    return SelectByIndex(utility::device_vector<size_t>(indices), invert);
+}
+
+std::shared_ptr<PointCloud> PointCloud::SelectByMask(
+        const std::vector<bool> &mask, bool invert) const {
+    return SelectByMask(utility::device_vector<bool>(mask), invert);
+}
+
 std::shared_ptr<PointCloud> PointCloud::VoxelDownSample(
         float voxel_size) const {
     auto output = std::make_shared<PointCloud>();

diff --git a/src/cupoch/geometry/graph.cu b/src/cupoch/geometry/graph.cu
@@ -177,8 +177,9 @@ Graph<Dim>::Graph(const Graph &other)
       is_directed_(other.is_directed_) {}
 
 template <int Dim>
-thrust::host_vector<int> Graph<Dim>::GetEdgeIndexOffsets() const {
-    thrust::host_vector<int> edge_index_offsets = edge_index_offsets_;
+std::vector<int> Graph<Dim>::GetEdgeIndexOffsets() const {
+    std::vector<int> edge_index_offsets;
+    copy_device_to_host(edge_index_offsets_, edge_index_offsets);
     return edge_index_offsets;
 }
 
@@ -189,8 +190,9 @@ void Graph<Dim>::SetEdgeIndexOffsets(
 }
 
 template <int Dim>
-thrust::host_vector<float> Graph<Dim>::GetEdgeWeights() const {
-    thrust::host_vector<float> edge_weights = edge_weights_;
+std::vector<float> Graph<Dim>::GetEdgeWeights() const {
+    std::vector<float> edge_weights;
+    copy_device_to_host(edge_weights_, edge_weights);
     return edge_weights;
 }
 

diff --git a/src/cupoch/geometry/graph.h b/src/cupoch/geometry/graph.h
@@ -55,10 +55,10 @@ class Graph : public LineSet<Dim> {
     Graph(const Graph &other);
     ~Graph();
 
-    thrust::host_vector<int> GetEdgeIndexOffsets() const;
+    std::vector<int> GetEdgeIndexOffsets() const;
     void SetEdgeIndexOffsets(
             const thrust::host_vector<int> &edge_index_offsets);
-    thrust::host_vector<float> GetEdgeWeights() const;
+    std::vector<float> GetEdgeWeights() const;
     void SetEdgeWeights(const thrust::host_vector<float> &edge_weights);
 
     bool HasWeights() const {

diff --git a/src/cupoch/geometry/image.cu b/src/cupoch/geometry/image.cu
@@ -389,13 +389,19 @@ Eigen::Vector2f Image::GetCenter() const {
     return Eigen::Vector2f(width_ / 2, height_ / 2);
 }
 
-thrust::host_vector<uint8_t> Image::GetData() const {
-    thrust::host_vector<uint8_t> data = data_;
+std::vector<uint8_t> Image::GetData() const {
+    std::vector<uint8_t> data(data_.size());
+    copy_device_to_host(data_, data);
     return data;
 }
 
 void Image::SetData(const thrust::host_vector<uint8_t> &data) { data_ = data; }
 
+void Image::SetData(const std::vector<uint8_t> &data) {
+    data_.resize(data.size());
+    copy_host_to_device(data, data_);
+}
+
 bool Image::TestImageBoundary(float u,
                               float v,
                               float inner_margin /* = 0.0 */) const {
@@ -519,6 +525,13 @@ std::shared_ptr<Image> Image::FilterHorizontal(
     return output;
 }
 
+std::shared_ptr<Image> Image::FilterHorizontal(
+        const std::vector<float> &kernel) const {
+    utility::device_vector<float> d_kernel(kernel.size());
+    copy_host_to_device(kernel, d_kernel);
+    return FilterHorizontal(d_kernel);
+}
+
 std::shared_ptr<Image> Image::Filter(Image::FilterType type) const {
     auto output = std::make_shared<Image>();
     if (num_of_channels_ != 1 || bytes_per_channel_ != 4) {

diff --git a/src/cupoch/geometry/image.h b/src/cupoch/geometry/image.h
@@ -85,8 +85,9 @@ class Image : public GeometryBaseNoTrans2D {
     Eigen::Vector2f GetMaxBound() const override;
     Eigen::Vector2f GetCenter() const override;
 
-    thrust::host_vector<uint8_t> GetData() const;
+    std::vector<uint8_t> GetData() const;
     void SetData(const thrust::host_vector<uint8_t> &data);
+    void SetData(const std::vector<uint8_t> &data);
 
     /// \brief Test if coordinate `(u, v)` is located in the inner_marge of the
     /// image.
@@ -171,6 +172,9 @@ class Image : public GeometryBaseNoTrans2D {
     std::shared_ptr<Image> FilterHorizontal(
             const utility::device_vector<float> &kernel) const;
 
+    std::shared_ptr<Image> FilterHorizontal(
+            const std::vector<float> &kernel) const;
+
     std::shared_ptr<Image> BilateralFilter(int diameter,
                                            float sigma_color,
                                            float sigma_space) const;

diff --git a/src/cupoch/geometry/laserscanbuffer.cu b/src/cupoch/geometry/laserscanbuffer.cu
@@ -137,8 +137,8 @@ LaserScanBuffer::LaserScanBuffer(const LaserScanBuffer& other)
       max_angle_(other.max_angle_),
       origins_(other.origins_) {}
 
-thrust::host_vector<float> LaserScanBuffer::GetRanges() const {
-    thrust::host_vector<float> ranges;
+std::vector<float> LaserScanBuffer::GetRanges() const {
+    std::vector<float> ranges;
     if (top_ == bottom_) {
         return ranges;
     }
@@ -161,8 +161,8 @@ thrust::host_vector<float> LaserScanBuffer::GetRanges() const {
     }
 }
 
-thrust::host_vector<float> LaserScanBuffer::GetIntensities() const {
-    thrust::host_vector<float> intensities;
+std::vector<float> LaserScanBuffer::GetIntensities() const {
+    std::vector<float> intensities;
     if (top_ == bottom_) {
         return intensities;
     }
@@ -303,6 +303,11 @@ template LaserScanBuffer& LaserScanBuffer::AddRanges(
         const Eigen::Matrix4f& transformation,
         const thrust::host_vector<float>& intensities);
 
+template LaserScanBuffer& LaserScanBuffer::AddRanges(
+        const std::vector<float>& ranges,
+        const Eigen::Matrix4f& transformation,
+        const std::vector<float>& intensities);
+
 
 class ContainerLikePtr {
 public:

diff --git a/src/cupoch/geometry/laserscanbuffer.h b/src/cupoch/geometry/laserscanbuffer.h
@@ -48,8 +48,8 @@ class LaserScanBuffer : public GeometryBase3D {
     ~LaserScanBuffer();
     LaserScanBuffer(const LaserScanBuffer &other);
 
-    thrust::host_vector<float> GetRanges() const;
-    thrust::host_vector<float> GetIntensities() const;
+    std::vector<float> GetRanges() const;
+    std::vector<float> GetIntensities() const;
 
     LaserScanBuffer &Clear() override;
     bool IsEmpty() const override;

diff --git a/src/cupoch/geometry/lineset.cu b/src/cupoch/geometry/lineset.cu
@@ -68,6 +68,13 @@ LineSet<Dim>::LineSet(
       points_(points),
       lines_(lines) {}
 
+template <int Dim>
+LineSet<Dim>::LineSet(const std::vector<Eigen::Matrix<float, Dim, 1>> &points,
+                     const std::vector<Eigen::Vector2i> &lines)
+    : GeometryBaseXD<Dim>(Geometry::GeometryType::LineSet),
+      points_(points),
+      lines_(lines) {}
+
 template <int Dim>
 LineSet<Dim>::LineSet(const std::vector<Eigen::Matrix<float, Dim, 1>> &path)
     : GeometryBaseXD<Dim>(Geometry::GeometryType::LineSet) {
@@ -101,6 +108,13 @@ void LineSet<Dim>::SetPoints(
     points_ = points;
 }
 
+template <int Dim>
+void LineSet<Dim>::SetPoints(
+        const std::vector<Eigen::Matrix<float, Dim, 1>> &points) {
+    points_.resize(points.size());
+    copy_host_to_device(points, points_);
+}
+
 template <int Dim>
 thrust::host_vector<Eigen::Matrix<float, Dim, 1>> LineSet<Dim>::GetPoints()
         const {
@@ -113,6 +127,12 @@ void LineSet<Dim>::SetLines(const thrust::host_vector<Eigen::Vector2i> &lines) {
     lines_ = lines;
 }
 
+template <int Dim>
+void LineSet<Dim>::SetLines(const std::vector<Eigen::Vector2i> &lines) {
+    lines_.resize(lines.size());
+    copy_host_to_device(lines, lines_);
+}
+
 template <int Dim>
 thrust::host_vector<Eigen::Vector2i> LineSet<Dim>::GetLines() const {
     thrust::host_vector<Eigen::Vector2i> lines = lines_;
@@ -125,6 +145,12 @@ void LineSet<Dim>::SetColors(
     colors_ = colors;
 }
 
+template <int Dim>
+void LineSet<Dim>::SetColors(const std::vector<Eigen::Vector3f> &colors) {
+    colors_.resize(colors.size());
+    copy_host_to_device(colors, colors_);
+}
+
 template <int Dim>
 thrust::host_vector<Eigen::Vector3f> LineSet<Dim>::GetColors() const {
     thrust::host_vector<Eigen::Vector3f> colors = colors_;

diff --git a/src/cupoch/geometry/lineset.h b/src/cupoch/geometry/lineset.h
@@ -58,18 +58,24 @@ class LineSet : public GeometryBaseXD<Dim> {
             const utility::pinned_host_vector<Eigen::Vector2i> &lines);
     LineSet(const thrust::host_vector<Eigen::Matrix<float, Dim, 1>> &points,
             const thrust::host_vector<Eigen::Vector2i> &lines);
+    LineSet(const std::vector<Eigen::Matrix<float, Dim, 1>> &points,
+            const std::vector<Eigen::Vector2i> &lines);
     LineSet(const std::vector<Eigen::Matrix<float, Dim, 1>> &path);
     LineSet(const LineSet &other);
     ~LineSet();
 
     void SetPoints(
             const thrust::host_vector<Eigen::Matrix<float, Dim, 1>> &points);
+    void SetPoints(
+            const std::vector<Eigen::Matrix<float, Dim, 1>> &points);
     thrust::host_vector<Eigen::Matrix<float, Dim, 1>> GetPoints() const;
 
     void SetLines(const thrust::host_vector<Eigen::Vector2i> &lines);
+    void SetLines(const std::vector<Eigen::Vector2i> &lines);
     thrust::host_vector<Eigen::Vector2i> GetLines() const;
 
     void SetColors(const thrust::host_vector<Eigen::Vector3f> &colors);
+    void SetColors(const std::vector<Eigen::Vector3f> &colors);
     thrust::host_vector<Eigen::Vector3f> GetColors() const;
 
 public:

diff --git a/src/cupoch/geometry/meshbase.cu b/src/cupoch/geometry/meshbase.cu
@@ -41,8 +41,9 @@ MeshBase &MeshBase::operator=(const MeshBase &other) {
     return *this;
 }
 
-thrust::host_vector<Eigen::Vector3f> MeshBase::GetVertices() const {
-    thrust::host_vector<Eigen::Vector3f> vertices = vertices_;
+std::vector<Eigen::Vector3f> MeshBase::GetVertices() const {
+    std::vector<Eigen::Vector3f> vertices(vertices_.size());
+    copy_device_to_host(vertices_, vertices);
     return vertices;
 }
 
@@ -51,8 +52,14 @@ void MeshBase::SetVertices(
     vertices_ = vertices;
 }
 
-thrust::host_vector<Eigen::Vector3f> MeshBase::GetVertexNormals() const {
-    thrust::host_vector<Eigen::Vector3f> vertex_normals = vertex_normals_;
+void MeshBase::SetVertices(const std::vector<Eigen::Vector3f> &vertices) {
+    vertices_.resize(vertices.size());
+    copy_host_to_device(vertices, vertices_);
+}
+
+std::vector<Eigen::Vector3f> MeshBase::GetVertexNormals() const {
+    std::vector<Eigen::Vector3f> vertex_normals(vertex_normals_.size());
+    copy_device_to_host(vertex_normals_, vertex_normals);
     return vertex_normals;
 }
 
@@ -61,8 +68,14 @@ void MeshBase::SetVertexNormals(
     vertex_normals_ = vertex_normals;
 }
 
-thrust::host_vector<Eigen::Vector3f> MeshBase::GetVertexColors() const {
-    thrust::host_vector<Eigen::Vector3f> vertex_colors = vertex_colors_;
+void MeshBase::SetVertexNormals(const std::vector<Eigen::Vector3f> &vertex_normals) {
+    vertex_normals_.resize(vertex_normals.size());
+    copy_host_to_device(vertex_normals, vertex_normals_);
+}
+
+std::vector<Eigen::Vector3f> MeshBase::GetVertexColors() const {
+    std::vector<Eigen::Vector3f> vertex_colors(vertex_colors_.size());
+    copy_device_to_host(vertex_colors_, vertex_colors);
     return vertex_colors;
 }
 
@@ -71,6 +84,11 @@ void MeshBase::SetVertexColors(
     vertex_colors_ = vertex_colors;
 }
 
+void MeshBase::SetVertexColors(const std::vector<Eigen::Vector3f> &vertex_colors) {
+    vertex_colors_.resize(vertex_colors.size());
+    copy_host_to_device(vertex_colors, vertex_colors_);
+}
+
 MeshBase &MeshBase::Clear() {
     vertices_.clear();
     vertex_normals_.clear();

diff --git a/src/cupoch/geometry/meshbase.h b/src/cupoch/geometry/meshbase.h
@@ -59,17 +59,19 @@ class MeshBase : public GeometryBase3D {
     MeshBase(const MeshBase &other);
     MeshBase &operator=(const MeshBase &other);
 
-    thrust::host_vector<Eigen::Vector3f> GetVertices() const;
+    std::vector<Eigen::Vector3f> GetVertices() const;
     void SetVertices(const thrust::host_vector<Eigen::Vector3f> &vertices);
+    void SetVertices(const std::vector<Eigen::Vector3f> &vertices);
 
-    thrust::host_vector<Eigen::Vector3f> GetVertexNormals() const;
+    std::vector<Eigen::Vector3f> GetVertexNormals() const;
     void SetVertexNormals(
             const thrust::host_vector<Eigen::Vector3f> &vertex_normals);
+    void SetVertexNormals(const std::vector<Eigen::Vector3f> &vertex_normals);
 
-    thrust::host_vector<Eigen::Vector3f> GetVertexColors() const;
+    std::vector<Eigen::Vector3f> GetVertexColors() const;
     void SetVertexColors(
             const thrust::host_vector<Eigen::Vector3f> &vertex_colors);
-
+    void SetVertexColors(const std::vector<Eigen::Vector3f> &vertex_colors);
 public:
     virtual MeshBase &Clear() override;
     virtual bool IsEmpty() const override;

diff --git a/src/cupoch/geometry/occupancygrid.cu b/src/cupoch/geometry/occupancygrid.cu
@@ -537,6 +537,14 @@ OccupancyGrid& OccupancyGrid::Insert(
     return Insert(dev_points, viewpoint, max_range);
 }
 
+OccupancyGrid& OccupancyGrid::Insert(const std::vector<Eigen::Vector3f>& points,
+                                     const Eigen::Vector3f& viewpoint,
+                                     float max_range) {
+    utility::device_vector<Eigen::Vector3f> dev_points(points.size());
+    copy_host_to_device(points, dev_points);
+    return Insert(dev_points, viewpoint, max_range);
+}
+
 OccupancyGrid& OccupancyGrid::Insert(const geometry::PointCloud& pointcloud,
                                      const Eigen::Vector3f& viewpoint,
                                      float max_range) {

diff --git a/src/cupoch/geometry/occupancygrid.h b/src/cupoch/geometry/occupancygrid.h
@@ -112,6 +112,9 @@ class OccupancyGrid : public DenseGrid<OccupancyVoxel> {
             const thrust::host_vector<Eigen::Vector3f>& points,
             const Eigen::Vector3f& viewpoint,
             float max_range = -1.0);
+    OccupancyGrid& Insert(const std::vector<Eigen::Vector3f>& points,
+                          const Eigen::Vector3f& viewpoint,
+                          float max_range = -1.0);
     OccupancyGrid& Insert(const PointCloud& pointcloud,
                           const Eigen::Vector3f& viewpoint,
                           float max_range = -1.0);