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Merged
merged 1 commit into from
Aug 30, 2025
Merged

Gpu module spelling fixes #6324

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2 changes: 1 addition & 1 deletion gpu/features/include/pcl/gpu/features/features.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@ namespace pcl


//////////////////////////////////////////////////////////////////////////////////////////////
///** \brief @b Class for Viewpoint Feature Histogramm estimation. */
///** \brief @b Class for Viewpoint Feature Histogram estimation. */

class PCL_EXPORTS VFHEstimation : public FeatureFromNormals
{
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10 changes: 5 additions & 5 deletions gpu/features/src/normal_3d.cu
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Expand Up @@ -93,7 +93,7 @@ namespace pcl
const int *ibeg = indices.ptr(idx);
const int *iend = ibeg + size;

//copmpute centroid
//compute centroid
float3 c = make_float3(0.f, 0.f, 0.f);
for(const int *t = ibeg + lane; t < iend; t += Warp::STRIDE)
c += fetch(*t);
Expand Down Expand Up @@ -153,7 +153,7 @@ namespace pcl
float3 evals;

eigen33.compute(tmp, vec_tmp, evecs, evals);
//evecs[0] - eigenvector with the lowerst eigenvalue
//evecs[0] - eigenvector with the lowest eigenvalue

// Compute the curvature surface change
float eig_sum = evals.x + evals.y + evals.z;
Expand All @@ -180,7 +180,7 @@ namespace pcl

};

__global__ void EstimateNormaslKernel(const NormalsEstimator est) { est(); }
__global__ void EstimateNormalsKernel(const NormalsEstimator est) { est(); }


struct FlipNormal
Expand Down Expand Up @@ -242,11 +242,11 @@ void pcl::device::computeNormals(const PointCloud& cloud, const NeighborIndices&
est.points = cloud;
est.normals = normals;

//printFuncAttrib(EstimateNormaslKernel);
//printFuncAttrib(EstimateNormalsKernel);

int block = NormalsEstimator::CTA_SIZE;
int grid = divUp((int)normals.size(), NormalsEstimator::WAPRS);
EstimateNormaslKernel<<<grid, block>>>(est);
EstimateNormalsKernel<<<grid, block>>>(est);

cudaSafeCall( cudaGetLastError() );
cudaSafeCall(cudaDeviceSynchronize());
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28 changes: 14 additions & 14 deletions gpu/octree/include/pcl/gpu/octree/octree.hpp
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Expand Up @@ -62,7 +62,7 @@ namespace pcl
/** \brief Default constructor.*/
Octree();

/** \brief Denstructor.*/
/** \brief Destructor.*/
virtual ~Octree();

/** \brief Types */
Expand Down Expand Up @@ -98,46 +98,46 @@ namespace pcl
/** \brief Returns true if tree has been built */
bool isBuilt() const;

/** \brief Downloads Octree from GPU to search using CPU function. It use useful for single (not-batch) search */
/** \brief Downloads Octree from GPU to search using CPU function. It is useful for single (not-batch) search */
void internalDownload();

/** \brief Performs search of all points within given radius on CPU. It call \a internalDownload if necessary
/** \brief Performs search of all points within given radius on CPU. It calls \a internalDownload if necessary
* \param[in] center center of sphere
* \param[in] radius radious of sphere
* \param[out] out indeces of points within give sphere
* \param[in] max_nn maximum numver of results returned
* \param[out] out indices of points within given sphere
* \param[in] max_nn maximum number of results returned
*/
void radiusSearchHost(const PointType& center, float radius, std::vector<int>& out,
int max_nn = std::numeric_limits<int>::max());

/** \brief Performs approximate nearest neighbor search on CPU. It call \a internalDownload if necessary
* \param[in] query 3D point for which neighbour is be fetched
* \param[out] out_index neighbour index
* \param[out] sqr_dist square distance to the neighbour returned
/** \brief Performs approximate nearest neighbor search on CPU. It calls \a internalDownload if necessary
* \param[in] query 3D point for which neighbor is to be fetched
* \param[out] out_index neighbor index
* \param[out] sqr_dist square distance to the neighbor returned
*/
void approxNearestSearchHost(const PointType& query, int& out_index, float& sqr_dist);

/** \brief Performs batch radius search on GPU
* \param[in] centers array of centers
* \param[in] radius radius for all queries
* \param[in] max_results max number of returned points for each querey
* \param[in] max_results max number of returned points for each query
* \param[out] result results packed to single array
*/
void radiusSearch(const Queries& centers, float radius, int max_results, NeighborIndices& result) const;

/** \brief Performs batch radius search on GPU
* \param[in] centers array of centers
* \param[in] radiuses array of radiuses
* \param[in] max_results max number of returned points for each querey
* \param[in] max_results max number of returned points for each query
* \param[out] result results packed to single array
*/
void radiusSearch(const Queries& centers, const Radiuses& radiuses, int max_results, NeighborIndices& result) const;

/** \brief Performs batch radius search on GPU
* \param[in] centers array of centers
* \param[in] indices indices for centers array (only for these points search is performed)
* \param[in] indices indices for centers array (only for these points is search performed)
* \param[in] radius radius for all queries
* \param[in] max_results max number of returned points for each querey
* \param[in] max_results max number of returned points for each query
* \param[out] result results packed to single array
*/
void radiusSearch(const Queries& centers, const Indices& indices, float radius, int max_results, NeighborIndices& result) const;
Expand Down Expand Up @@ -175,7 +175,7 @@ namespace pcl
* \param[in] cloud cloud where to search
* \param[in] query query point
* \param[in] radius radius
* \param[out] result indeces of points within give sphere
* \param[out] result indices of points within give sphere
* \param[in] buffer buffer for intermediate results. Keep reference to it between calls to eliminate internal allocations
*/
PCL_EXPORTS void bruteForceRadiusSearchGPU(const Octree::PointCloud& cloud, const Octree::PointType& query, float radius, DeviceArray<int>& result, DeviceArray<int>& buffer);
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