Public Member Functions
ICLGeom_API	PointCloudCreatorCL (utils::Size size, const utils::Array2D< Vec > &dirs)
	Constructor.
ICLGeom_API	~PointCloudCreatorCL ()
	Destructor.
ICLGeom_API void	setDirectionVectors (const utils::Array2D< Vec > &dirs) throw (utils::ICLException)
	updates the internally used direction vectors
ICLGeom_API void	create (bool NEEDS_RAW_TO_MM_MAPPING, const core::Img32f *depthValues, const Vec O, const int DEPTH_DIM, core::DataSegment< float, 3 > xyz, const utils::Array2D< Vec > &dirs, float depthScaling)
	Creates a uncolored pointcloud (called from PointCloudCreator)
ICLGeom_API 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, core::DataSegment< float, 3 > xyz, core::DataSegment< float, 4 > rgba, const core::Img8u rgbIn, const utils::Array2D< Vec > &dirs, float depthScaling)
	Creates a RGBD-mapped pointcloud (called from PointCloudCreator)
ICLGeom_API bool	isCLReady ()
	Returns the openCL status (true=openCL context ready, false=no openCL context available)
Private Attributes
bool	clReady
utils::Size	size
float *	xyzData
math::FixedColVector< float, 4 > *	rgbaData
utils::CLProgram	program
utils::CLKernel	kernelCreate
utils::CLKernel	kernelCreateRGB
utils::CLBuffer	depthValuesBuffer
utils::CLBuffer	matrixBuffer
utils::CLBuffer	xyzBuffer
utils::CLBuffer	rgbaBuffer
utils::CLBuffer	rInBuffer
utils::CLBuffer	gInBuffer
utils::CLBuffer	bInBuffer
utils::CLBuffer	dirsBuffer

Detailed Description

This class is used in PointCloudCreator for GPU-parallelized pointcloud creation

Constructor & Destructor Documentation

ICLGeom_API icl::geom::PointCloudCreatorCL::PointCloudCreatorCL	(	utils::Size	size,
		const utils::Array2D< Vec > &	dirs
	)

Constructor.

Constructs an object of this class.

Parameters:

size	size of the input core::depth image and output pointcloud
dirs	view ray directions calculated in PointCloudCreator

ICLGeom_API icl::geom::PointCloudCreatorCL::~PointCloudCreatorCL ( )

Destructor.

ICLGeom_API void icl::geom::PointCloudCreatorCL::create	(	bool	NEEDS_RAW_TO_MM_MAPPING,
		const core::Img32f *	depthValues,
		const Vec	O,
		const int	DEPTH_DIM,
		core::DataSegment< float, 3 >	xyz,
		const utils::Array2D< Vec > &	dirs,
		float	depthScaling
	)

Creates a uncolored pointcloud (called from PointCloudCreator)

ICLGeom_API 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,
		core::DataSegment< float, 3 >	xyz,
		core::DataSegment< float, 4 >	rgba,
		const core::Img8u *	rgbIn,
		const utils::Array2D< Vec > &	dirs,
		float	depthScaling
	)