PointCloudCreatorCL.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/PointCloudCreatorCL.h              **
** Module : ICLGeom                                                **
** Authors: Andre Ueckermann                                       **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#include <ICLGeom/PointCloudObjectBase.h>
#include <ICLCore/Img.h>

#ifdef HAVE_OPENCL    
#include <CL/cl.hpp>
#endif

namespace icl{
  namespace geom{
    class PointCloudCreatorCL{
        
     public:

      PointCloudCreatorCL(utils::Size size, const utils::Array2D<Vec> &dirs); 
        
      ~PointCloudCreatorCL();
                
          void create(bool NEEDS_RAW_TO_MM_MAPPING,const core::Img32f *depthValues, 
                           const Vec O, const int DEPTH_DIM, 
                           DataSegment<float,3> xyz, const utils::Array2D<Vec> &dirs, float depthScaling);
      
      void createRGB(bool NEEDS_RAW_TO_MM_MAPPING,const core::Img32f *depthValues, const Mat M, 
                           const Vec O, const unsigned int COLOR_W, const unsigned int COLOR_H, const int DEPTH_DIM, 
                           DataSegment<float,3> xyz, DataSegment<float,4> rgba,
                           const core::Img8u *rgbIn,const utils::Array2D<Vec> &dirs, float depthScaling);
        

      bool isCLReady();
                
     private:
      bool clReady;

    #ifdef HAVE_OPENCL
      //OpenCL data
          float* depthValuesArray;
          cl_uchar* rInArray;
          cl_uchar* gInArray;
          cl_uchar* bInArray;
          float* dirsArray;
          float* xyzData;
          cl_float4* rgbaData;
        
      //OpenCL    
      cl::Context context;
      std::vector<cl::Device> devices;
      cl::Program program;
      cl::CommandQueue queue;
        
      cl::Kernel kernelCreate;
      cl::Kernel kernelCreateRGB;

      //OpenCL buffer      
      cl::Buffer depthValuesBuffer;
      cl::Buffer matrixBuffer;
      cl::Buffer xyzBuffer;
      cl::Buffer rgbaBuffer;                    
      cl::Buffer rInBuffer;
      cl::Buffer gInBuffer;
      cl::Buffer bInBuffer;
      cl::Buffer dirsBuffer;                       
    #endif
    };
  } // namespace geom
}