Program Listing for File internal.h

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#ifndef PCL_GPU_SURFACE_INTERNAL_H_
#define PCL_GPU_SURFACE_INTERNAL_H_

#include <pcl/gpu/containers/device_array.h>
#include <cuda_runtime.h>

namespace pcl
{
  namespace device
  {
    typedef unsigned long long uint64_type;

    typedef float4 PointType;
    typedef pcl::gpu::DeviceArray<PointType> Cloud;

    typedef DeviceArray<uint64_type> FacetsDists;
    typedef DeviceArray<int> Perm;

    struct InitalSimplex
    {
      float3 x1, x2, x3, x4;
      int i1, i2, i3, i4;

      float4 p1, p2, p3, p4;
    };

    struct FacetStream
    {
    public:
      FacetStream(size_t buffer_size);

          // indeces: in each col indeces of vertexes for single facet
      DeviceArray2D<int>  verts_inds;

      DeviceArray<int> head_points;
      size_t facet_count;

      DeviceArray2D<int>  empty_facets;
      DeviceArray<int> empty_count;

      DeviceArray<int>  scan_buffer;

      void setInitialFacets(const InitalSimplex& simplex);

      void compactFacets();

      bool canSplit();
      void splitFacets();
    private:

          //for compation (double buffering)
      DeviceArray2D<int>  verts_inds2;
      DeviceArray<float4> facet_planes2;
      DeviceArray<int> head_points2;
    };

    struct PointStream
    {
    public:
      PointStream(const Cloud& cloud);

      const Cloud cloud;
      FacetsDists facets_dists;
      Perm perm;

      size_t cloud_size;

      InitalSimplex simplex;
      float cloud_diag;

      void computeInitalSimplex();

      void initalClassify();


      int searchFacetHeads(size_t facet_count, DeviceArray<int>& head_points);

      void classify(FacetStream& fs);
    };


    size_t remove_duplicates(DeviceArray<int>& indeces);
    void pack_hull(const DeviceArray<PointType>& points, const DeviceArray<int>& indeces, DeviceArray<PointType>& output);
  }
}

#endif /* PCL_GPU_SURFACE_INTERNAL_H_ */