preprocess_points_cuda.h

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/******************************************************************************
 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
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/*
 * Copyright 2018-2019 Autoware Foundation. All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#pragma once

namespace apollo {
namespace perception {
namespace lidar {

class PreprocessPointsCuda {
 private:
  // initializer list
  const int num_threads_;
  const int max_num_pillars_;
  const int max_num_points_per_pillar_;
  const int num_point_feature_;
  const int num_inds_for_scan_;
  const int grid_x_size_;
  const int grid_y_size_;
  const int grid_z_size_;
  const float pillar_x_size_;
  const float pillar_y_size_;
  const float pillar_z_size_;
  const float min_x_range_;
  const float min_y_range_;
  const float min_z_range_;
  // end initializer list

  float* dev_pillar_point_feature_in_coors_;
  int* dev_pillar_count_histo_;

  int* dev_counter_;
  int* dev_pillar_count_;

 public:
  PreprocessPointsCuda(const int num_threads, const int max_num_pillars,
                       const int max_points_per_pillar,
                       const int num_point_feature, const int num_inds_for_scan,
                       const int grid_x_size, const int grid_y_size,
                       const int grid_z_size, const float pillar_x_size,
                       const float pillar_y_size, const float pillar_z_size,
                       const float min_x_range, const float min_y_range,
                       const float min_z_range);
  ~PreprocessPointsCuda();

  void DoPreprocessPointsCuda(const float* dev_points, const int in_num_points,
                              int* dev_x_coors, int* dev_y_coors,
                              float* dev_num_points_per_pillar,
                              float* dev_pillar_point_feature,
                              float* dev_pillar_coors,
                              int* dev_sparse_pillar_map,
                              int* host_pillar_count);
};

}  // namespace lidar
}  // namespace perception
}  // namespace apollo