Interface class for the depthTo3D kernel. More...

#include <algorithms.hpp>

Public Types
enum	Memory : uint8_t { Memory::H_IN, Memory::H_OUT, Memory::D_IN, Memory::D_OUT }
	Enumerates the memory objects handled by the class. More...

Public Member Functions
	DepthTo3D (clutils::CLEnv &_env, clutils::CLEnvInfo< 1 > _info)
	Configures an OpenCL environment as specified by `_info`. More...

cl::Memory &	get (DepthTo3D::Memory mem)
	Returns a reference to an internal memory object. More...

void	init (unsigned int _width, unsigned int _height, float _f, float _scaling=1.f, Staging _staging=Staging::IO)
	Configures kernel execution parameters. More...

void	write (DepthTo3D::Memory mem=DepthTo3D::Memory::D_IN, void ptr=nullptr, bool block=CL_FALSE, const std::vector< cl::Event > events=nullptr, cl::Event *event=nullptr)
	Performs a data transfer to a device buffer. More...

void *	read (DepthTo3D::Memory mem=DepthTo3D::Memory::H_OUT, bool block=CL_TRUE, const std::vector< cl::Event > events=nullptr, cl::Event event=nullptr)
	Performs a data transfer to a staging buffer. More...

void	run (const std::vector< cl::Event > events=nullptr, cl::Event event=nullptr)
	Executes the necessary kernels. More...

float	getFocalLength ()
	Gets the focal length. More...

void	setFocalLength (float _f)
	Sets the focal length. More...

float	getScaling ()
	Gets the scaling factor. More...

void	setScaling (float _scaling)
	Sets the scaling factor. More...

template<typename period >
double	run (clutils::GPUTimer< period > &timer, const std::vector< cl::Event > *events=nullptr)
	Executes the necessary kernels. More...

Public Attributes
cl_float *	hPtrIn

cl_float4 *	hPtrOut

Detailed Description

Interface class for the depthTo3D kernel.

depthTo3D performs a transformation from 2D image coordinates to 3D world coordinates (it forms a point cloud). For more details, look at the kernel's documentation.

Note: The depthTo3D kernel is available in kernels/imageSupport_kernels.cl.; The class creates its own buffers. If you would like to provide your own buffers, call get to get references to the placeholders within the class and assign them to your buffers. You will have to do this strictly before the call to init. You can also call get (after the call to init) to get a reference to a buffer within the class and assign it to another kernel class instance further down in your task pipeline.

The following input/output OpenCL memory objects are created by a DepthTo3D instance:

Name	Type	Placement	I/O	Use	Properties	Size
H_IN	Buffer	Host	I	Staging	CL_MEM_READ_WRITE	\(widthheightsizeof\ (cl\_float) \)
H_OUT	Buffer	Host	O	Staging	CL_MEM_READ_WRITE	\(widthheightsizeof\ (cl\_float4)\)
D_IN	Buffer	Device	I	Processing	CL_MEM_READ_ONLY	\(widthheightsizeof\ (cl\_float) \)
D_OUT	Buffer	Device	O	Processing	CL_MEM_WRITE_ONLY	\(widthheightsizeof\ (cl\_float4)\)

Member Enumeration Documentation

enum cl_algo::GF::DepthTo3D::Memory : uint8_t

strong

Enumerates the memory objects handled by the class.

Note: H_* names refer to staging buffers on the host.; D_* names refer to buffers on the device.

Enumerator
H_IN	Input staging buffer.
H_OUT	Output staging buffer.
D_IN	Input buffer.
D_OUT	Output buffer.

Constructor & Destructor Documentation

cl_algo::GF::DepthTo3D::DepthTo3D	(	clutils::CLEnv &	_env,
		clutils::CLEnvInfo< 1 >	_info
	)

Configures an OpenCL environment as specified by _info.

Parameters

[in]	_env	opencl environment.
[in]	_info	opencl configuration. Specifies the context, queue, etc, to be used.

Member Function Documentation

cl::Memory & cl_algo::GF::DepthTo3D::get ( DepthTo3D::Memory mem )

Returns a reference to an internal memory object.

This interface exists to allow CL memory sharing between different kernels.

Parameters

[in] mem enumeration value specifying the requested memory object.

Returns: A reference to the requested memory object.

float cl_algo::GF::DepthTo3D::getFocalLength ( )

Gets the focal length.

Returns: The focal length of the camera used.

float cl_algo::GF::DepthTo3D::getScaling ( )

Gets the scaling factor.

Returns: The scaling factor.

void cl_algo::GF::DepthTo3D::init	(	unsigned int	_width,
		unsigned int	_height,
		float	_f,
		float	_scaling = `1.f`,
		Staging	_staging = `Staging::IO`
	)

Configures kernel execution parameters.

Sets up memory objects as necessary, and defines the kernel workspaces.

Note: If you have assigned a memory object to one member variable of the class before the call to init, then that memory will be maintained. Otherwise, a new memory object will be created.

Parameters

[in]	_width	width of the array to be processed.
[in]	_height	height of the array to be processed.
[in]	_f	focal length.
[in]	_scaling	factor by which to scale the depth values before building the point cloud.
[in]	_staging	flag to indicate whether or not to instantiate the staging buffers.

void * cl_algo::GF::DepthTo3D::read	(	DepthTo3D::Memory	mem = `DepthTo3D::Memory::H_OUT`,
		bool	block = `CL_TRUE`,
		const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Performs a data transfer to a staging buffer.

The transfer happens from a device buffer to the associated (specified) staging buffer on the host.

Parameters

[in]	mem	enumeration value specifying an output staging buffer.
[in]	block	a flag to indicate whether to perform a blocking or a non-blocking operation.
[in]	events	a wait-list of events.
[out]	event	event associated with the read operation to the staging buffer.

void cl_algo::GF::DepthTo3D::run	(	const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Executes the necessary kernels.

The function call is non-blocking.

Parameters

[in]	events	a wait-list of events.
[out]	event	event associated with the last kernel execution.

template<typename period >

double cl_algo::GF::DepthTo3D::run	(	clutils::GPUTimer< period > &	timer,
		const std::vector< cl::Event > *	events = `nullptr`
	)

inline

Executes the necessary kernels.

This run instance is used for profiling.

Parameters

[in]	timer	`GPUTimer` that does the profiling of the kernel executions.
[in]	events	a wait-list of events.

Returns: Τhe total execution time measured by the timer.

void cl_algo::GF::DepthTo3D::setFocalLength ( float _f )

Sets the focal length.

Updates the kernel argument for the focal length.

Parameters

[in] _f the focal length.

void cl_algo::GF::DepthTo3D::setScaling ( float _scaling )

Sets the scaling factor.

Updates the kernel argument for the scaling factor.

Parameters

[in] _scaling scaling factor.

void cl_algo::GF::DepthTo3D::write	(	DepthTo3D::Memory	mem = `DepthTo3D::Memory::D_IN`,
		void *	ptr = `nullptr`,
		bool	block = `CL_FALSE`,
		const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Performs a data transfer to a device buffer.

The transfer happens from a staging buffer on the host to the associated (specified) device buffer.

Parameters

[in]	mem	enumeration value specifying an input device buffer.
[in]	ptr	a pointer to an array holding input data. If not NULL, the data from `ptr` will be copied to the associated staging buffer.
[in]	block	a flag to indicate whether to perform a blocking or a non-blocking operation.
[in]	events	a wait-list of events.
[out]	event	event associated with the write operation to the device buffer.

Member Data Documentation

cl_float* cl_algo::GF::DepthTo3D::hPtrIn

Mapping of the input staging buffer.

cl_float4* cl_algo::GF::DepthTo3D::hPtrOut

Mapping of the output staging buffer.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation