[GPU] Export and template extract clusters

[larshg]

Make gpu_extract_clusters templated.

Make gpu_extract_clusters exported.

Are there a better way than:

    // Buffer in a new PointXYZ type
    PointT t = host_cloud_->points[i];
    PointXYZ p;
    p.x = t.x; p.y = t.y; p.z = t.z;

When using various point types, to get the XYZ part?

[SergioRAgostinho]

When using various point types, to get the XYZ part?

1. You can use copyPoint
2. You can use the vector maps
   

   pcl/common/include/pcl/impl/point_types.hpp

   Lines 203 to 210 in 7004787

   	inline pcl::Vector3fMap getVector3fMap () { return (pcl::Vector3fMap (data)); } \
   	inline pcl::Vector3fMapConst getVector3fMap () const { return (pcl::Vector3fMapConst (data)); } \
   	inline pcl::Vector4fMap getVector4fMap () { return (pcl::Vector4fMap (data)); } \
   	inline pcl::Vector4fMapConst getVector4fMap () const { return (pcl::Vector4fMapConst (data)); } \
   	inline pcl::Array3fMap getArray3fMap () { return (pcl::Array3fMap (data)); } \
   	inline pcl::Array3fMapConst getArray3fMap () const { return (pcl::Array3fMapConst (data)); } \
   	inline pcl::Array4fMap getArray4fMap () { return (pcl::Array4fMap (data)); } \
   	inline pcl::Array4fMapConst getArray4fMap () const { return (pcl::Array4fMapConst (data)); }

[kunaltyagi]

I'd recommend copyPoint. If needed, it can have specializations to increase performance, but using other methods would necessitate code-rewrite

EDIT:

Oh, and vector/array map gives the data, which might not have x, y, and z in order for custom types. Since PCL supports custom types (in a convoluted manner), it'd be better to use copyPoint

[larshg]

Hmm, getting other result now than yesterday, so I have to dig a little to why this changed.

[larshg]

Found the mistake when changing to copypoint 😄

[stale]

Marking this as stale due to 30 days of inactivity. Commenting or adding a new commit to the pull request will revert this.

[stale]

Marking this as stale due to 30 days of inactivity. Commenting or adding a new commit to the pull request will revert this.

[kunaltyagi]

LGTM otherwise