Image Component Library (ICL)
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#include <PointCloudCreatorCL.h>
Public Member Functions | |
PointCloudCreatorCL (utils::Size size, const utils::Array2D< Vec > &dirs) | |
Constructor. | |
~PointCloudCreatorCL () | |
Destructor. | |
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) |
Creates a uncolored pointcloud (called from PointCloudCreator) | |
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) |
Creates a RGBD-mapped pointcloud (called from PointCloudCreator) | |
bool | isCLReady () |
Returns the openCL status (true=openCL context ready, false=no openCL context available) | |
Private Attributes | |
bool | clReady |
This class is used in PointCloudCreator for GPU-parallelized pointcloud creation
icl::geom::PointCloudCreatorCL::PointCloudCreatorCL | ( | utils::Size | size, |
const utils::Array2D< Vec > & | dirs | ||
) |
Constructor.
Constructs an object of this class.
size | size of the input core::depth image and output pointcloud |
dirs | view ray directions calculated in PointCloudCreator |
Destructor.
void icl::geom::PointCloudCreatorCL::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 | ||
) |
Creates a uncolored pointcloud (called from PointCloudCreator)
void icl::geom::PointCloudCreatorCL::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 | ||
) |
Creates a RGBD-mapped pointcloud (called from PointCloudCreator)
Returns the openCL status (true=openCL context ready, false=no openCL context available)
bool icl::geom::PointCloudCreatorCL::clReady [private] |