131 lines
5.2 KiB
Diff
Executable File
131 lines
5.2 KiB
Diff
Executable File
diff --git a/gpu/features/src/centroid.cu b/gpu/features/src/centroid.cu
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index 045fe6f..3e9ef8b 100644
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--- a/gpu/features/src/centroid.cu
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+++ b/gpu/features/src/centroid.cu
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@@ -44,7 +44,6 @@
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#include "pcl/gpu/utils/device/vector_math.hpp"
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-using namespace thrust;
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namespace pcl
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{
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@@ -124,9 +123,10 @@ float3 pcl::device::getMaxDistance(const DeviceArray<PointT>& cloud, const float
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thrust::counting_iterator<int> ce = cf + cloud.size();
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thrust::tuple<float, int> init(0.f, 0);
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- thrust::maximum< tuple<float, int> > op;
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+ thrust::maximum<thrust::tuple<float, int>> op;
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- tuple<float, int> res = transform_reduce(
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+ thrust::tuple<float, int> res =
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+ transform_reduce(
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make_zip_iterator(make_tuple( src_beg, cf )),
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make_zip_iterator(make_tuple( src_beg, ce )),
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TupleDistCvt(pivot), init, op);
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@@ -151,9 +151,9 @@ float3 pcl::device::getMaxDistance(const DeviceArray<PointT>& cloud, const Indic
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thrust::counting_iterator<int> ce = cf + indices.size();
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thrust::tuple<float, int> init(0.f, 0);
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- thrust::maximum< tuple<float, int> > op;
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+ thrust::maximum<thrust::tuple<float, int>> op;
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- tuple<float, int> res = transform_reduce(
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+ thrust::tuple<float, int> res = transform_reduce(
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make_zip_iterator(make_tuple( make_permutation_iterator(src_beg, map_beg), cf )),
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make_zip_iterator(make_tuple( make_permutation_iterator(src_beg, map_end), ce )),
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TupleDistCvt(pivot), init, op);
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diff --git a/gpu/octree/src/cuda/bfrs.cu b/gpu/octree/src/cuda/bfrs.cu
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index d392f67..0635e1e 100644
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--- a/gpu/octree/src/cuda/bfrs.cu
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+++ b/gpu/octree/src/cuda/bfrs.cu
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@@ -43,7 +43,6 @@
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#include "cuda.h"
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-using namespace thrust;
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namespace pcl
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{
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@@ -80,11 +79,11 @@ void pcl::device::bruteForceRadiusSearch(const OctreeImpl::PointCloud& cloud, co
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InSphere cond(query.x, query.y, query.z, radius);
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- device_ptr<const PointType> cloud_ptr((const PointType*)cloud.ptr());
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- device_ptr<int> res_ptr(buffer.ptr());
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+ thrust::device_ptr<const PointType> cloud_ptr((const PointType*)cloud.ptr());
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+ thrust::device_ptr<int> res_ptr(buffer.ptr());
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- counting_iterator<int> first(0);
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- counting_iterator<int> last = first + cloud.size();
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+ thrust::counting_iterator<int> first(0);
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+ thrust::counting_iterator<int> last = first + cloud.size();
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//main bottle neck is a kernel call overhead/allocs
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//work time for 871k points ~0.8ms
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diff --git a/gpu/octree/src/cuda/octree_builder.cu b/gpu/octree/src/cuda/octree_builder.cu
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index dfd2093..faad764 100644
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--- a/gpu/octree/src/cuda/octree_builder.cu
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+++ b/gpu/octree/src/cuda/octree_builder.cu
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@@ -51,7 +51,6 @@
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#include <thrust/device_ptr.h>
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using namespace pcl::gpu;
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-using namespace thrust;
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namespace pcl
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{
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@@ -316,7 +315,7 @@ void pcl::device::OctreeImpl::build()
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// 3 * sizeof(int) => +1 row
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const int transaction_size = 128 / sizeof(int);
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- int cols = max<int>(points_num, transaction_size * 4);
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+ int cols = std::max<int>(points_num, transaction_size * 4);
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int rows = 10 + 1; // = 13
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storage.create(rows, cols);
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@@ -338,8 +337,8 @@ void pcl::device::OctreeImpl::build()
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{
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//ScopeTimer timer("reduce-morton-sort-permutations");
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- device_ptr<PointType> beg(points.ptr());
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- device_ptr<PointType> end = beg + points.size();
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+ thrust::device_ptr<PointType> beg(points.ptr());
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+ thrust::device_ptr<PointType> end = beg + points.size();
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{
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PointType atmax, atmin;
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@@ -355,15 +354,15 @@ void pcl::device::OctreeImpl::build()
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octreeGlobal.maxp = make_float3(maxp.x, maxp.y, maxp.z);
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}
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- device_ptr<int> codes_beg(codes.ptr());
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- device_ptr<int> codes_end = codes_beg + codes.size();
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+ thrust::device_ptr<int> codes_beg(codes.ptr());
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+ thrust::device_ptr<int> codes_end = codes_beg + codes.size();
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{
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//ScopeTimer timer("morton");
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thrust::transform(beg, end, codes_beg, CalcMorton(octreeGlobal.minp, octreeGlobal.maxp));
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}
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- device_ptr<int> indices_beg(indices.ptr());
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- device_ptr<int> indices_end = indices_beg + indices.size();
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+ thrust::device_ptr<int> indices_beg(indices.ptr());
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+ thrust::device_ptr<int> indices_end = indices_beg + indices.size();
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{
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//ScopeTimer timer("sort");
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thrust::sequence(indices_beg, indices_end);
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@@ -378,9 +377,9 @@ void pcl::device::OctreeImpl::build()
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}
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{
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- device_ptr<float> xs(points_sorted.ptr(0));
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- device_ptr<float> ys(points_sorted.ptr(1));
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- device_ptr<float> zs(points_sorted.ptr(2));
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+ thrust::device_ptr<float> xs(points_sorted.ptr(0));
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+ thrust::device_ptr<float> ys(points_sorted.ptr(1));
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+ thrust::device_ptr<float> zs(points_sorted.ptr(2));
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//ScopeTimer timer("perm2");
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thrust::transform(make_permutation_iterator(beg, indices_beg),
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make_permutation_iterator(end, indices_end),
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