GF Namespace Reference

Functions
bool	setProfilingFlag (int argc, char **argv)
	Checks the command line arguments for the profiling flag, --profiling. More...
template<typename T >
uint64_t	nextPow2 (T num)
	Returns the first power of 2 greater than or equal to the input. More...
template<typename T >
void	printBuffer (const char *title, T *ptr, uint32_t width, uint32_t height)
	Prints an array of an integer type to standard output. More...
template<typename T >
void	printBufferF (const char *title, T *ptr, uint32_t width, uint32_t height, uint32_t prec)
	Prints an array of floating-point type to standard output. More...
template<typename T1 , typename T2 >
void	cpuTranspose (T1 *in, T2 *out, uint32_t width, uint32_t height)
	Performs a matrix transposition. More...
template<typename T >
void	cpuSeparateRGB (T *in, T *r, T *g, T *b, uint32_t pixels)
	Performs a matrix transposition. More...
template<typename T2 >
void	cpuSeparateRGB_N_Norm (unsigned char *in, T2 *r, T2 *g, T2 *b, uint32_t pixels)
	Performs a matrix transposition. More...
template<typename T >
void	cpuCombineRGB (T *r, T *g, T *b, T *out, uint32_t pixels)
	Performs a matrix transposition. More...
template<typename T1 >
void	cpuTranspose_N_Scale (T1 *r, T1 *g, T1 *b, unsigned char *out, uint32_t pixels)
	Performs a matrix transpose. More...
template<typename T >
void	cpuDepthTo3D (T *depth, cl_float4 *pCloud, uint32_t width, uint32_t height, float f)
	Transforms a depth image to a point cloud. More...
template<typename T >
void	cpuRGBDTo8D (T *D, T *R, T *G, T *B, cl_float8 *points, uint32_t width, uint32_t height, float f, bool rgbNorm)
	Fuses geometry and color values into 8D feature points. More...
template<typename T >
void	cpuSplitPC8D (T *pc8d, T *pc4d, T *rgba, uint32_t n)
	Splits an 8-D point cloud into 4-D geometry points and RGBA color points. More...
template<typename T >
void	cpuRGBNorm (T *in, T *out, uint32_t width, uint32_t height)
	Performs RGB color normalization. More...
template<typename T >
void	cpuScan (T *in, T *out, uint32_t width, uint32_t height)
	Performs a scan operation. More...
template<typename T >
void	cpuSAT (T *in, T *out, uint32_t width, uint32_t height)
	Constructs a Summed Area Table (SAT). More...
template<typename T >
void	cpuBoxFilter (T *in, T *out, int width, int height, int radius)
	Performs a blurring effect (mean filtering) on an array. More...
template<typename T >
void	cpuMult (T *a, T *b, T *out, int width, int height)
	Performs an element-wise array multiplication. More...
template<typename T >
void	cpuPown (T *in, T *out, int width, int height, int n)
	Performs a raise to an integer power. More...
template<typename T >
void	cpuGuidedFilter (T *p, T *q, int width, int height, int radius, float eps)
	Performs edge preserving smoothing on an array. More...

Variables
std::function< unsigned char()>	rNum_0_255 = std::bind (distribution1, generator)
	Uniform number generator in the range \([0, 255]\). More...
std::function< unsigned short()>	rNum_0_10000 = std::bind (distribution2, generator)
	Uniform number generator in the range \([0, 10000]\). More...
std::function< float()>	rNum_R_0_1 = std::bind (distributionR1, generator)
	Uniform number generator in the range \([0.0, 1.0)\). More...
std::function< float()>	rNum_R_1_255_E__6 = std::bind (distributionR2, generator)
	Uniform number generator in the range \([1e-6, 255*1e-6)\). More...

Function Documentation

template<typename T >

void GF::cpuBoxFilter	(	T *	in,
		T *	out,
		int	width,
		int	height,
		int	radius
	)

Performs a blurring effect (mean filtering) on an array.

It is just a naive serial implementation.

Parameters

[in]	in	input array.
[out]	out	output (blurred) array.
[in]	width	width of the array.
[in]	height	height of the array.
[in]	radius	radius of the square filter window.

template<typename T >

void GF::cpuCombineRGB	(	T *	r,
		T *	g,
		T *	b,
		T *	out,
		uint32_t	pixels
	)

Performs a matrix transposition.

It is just a naive serial implementation.

Parameters

[in]	r	input image with channel r.
[in]	g	input image with channel g.
[in]	b	input image with channel b.
[out]	out	input image.
[in]	pixels	number of pixels in the input array.

template<typename T >

void GF::cpuDepthTo3D	(	T *	depth,
		cl_float4 *	pCloud,
		uint32_t	width,
		uint32_t	height,
		float	f
	)

Transforms a depth image to a point cloud.

It is just a naive serial implementation.

Parameters

[in]	depth	depth image (for Kinect, type: uint16, unit: mm).
[out]	pCloud	point cloud.
[in]	width	width of the array.
[in]	height	height of the array.
[in]	f	focal length (for Kinect: 595.f).

template<typename T >

void GF::cpuGuidedFilter	(	T *	p,
		T *	q,
		int	width,
		int	height,
		int	radius,
		float	eps
	)

Performs edge preserving smoothing on an array.

It is just a naive serial implementation.

Parameters

[in]	p	input array.
[out]	q	output (smoothed) array.
[in]	width	width of the array.
[in]	height	height of the array.
[in]	radius	radius of the square filter window.
[in]	eps	regularization parameter \( \epsilon \).

template<typename T >

void GF::cpuMult	(	T *	a,
		T *	b,
		T *	out,
		int	width,
		int	height
	)

Performs an element-wise array multiplication.

It is just a naive serial implementation.

Parameters

[in]	a	input array with the first operand.
[in]	b	input array with the second operand.
[out]	out	output array.
[in]	width	width of the array.
[in]	height	height of the array.

template<typename T >

void GF::cpuPown	(	T *	in,
		T *	out,
		int	width,
		int	height,
		int	n
	)

Performs a raise to an integer power.

It is just a naive serial implementation.

Parameters

[in]	in	input array.
[out]	out	output array.
[in]	width	width of the array.
[in]	height	height of the array.
[in]	n	power.

template<typename T >

void GF::cpuRGBDTo8D	(	T *	D,
		T *	R,
		T *	G,
		T *	B,
		cl_float8 *	points,
		uint32_t	width,
		uint32_t	height,
		float	f,
		bool	rgbNorm
	)

Fuses geometry and color values into 8D feature points.

It is just a naive serial implementation.

Parameters

[in]	D	depth image.
[in]	R	channel R of RGB image.
[in]	G	channel G of RGB image.
[in]	B	channel B of RGB image.
[out]	points	array of 8D feature points.
[in]	width	width of the input arrays.
[in]	height	height of the input arrays.
[in]	f	focal length (for Kinect: 595.f).
[in]	rgbNorm	flag to indicate whether to perform RGB normalization.

template<typename T >

void GF::cpuRGBNorm	(	T *	in,
		T *	out,
		uint32_t	width,
		uint32_t	height
	)

Performs RGB color normalization.

That is $$ \hat{p}.i = \frac{p.i}{p.r + p.g + p.b},\ \ i=\{r,g,b\} $$

Template Parameters

T	type of the data to be handled.

Parameters

[in]	in	input data.
[out]	out	output (RGB normalized) data.
[in]	width	width of the array.
[in]	height	height of the array.

template<typename T >

void GF::cpuSAT	(	T *	in,
		T *	out,
		uint32_t	width,
		uint32_t	height
	)

Constructs a Summed Area Table (SAT).

It is just a naive serial implementation.

Template Parameters

T	type of the data to be handled.

Parameters

[in]	in	input data.
[out]	out	output (SAT) data.
[in]	width	width of the array.
[in]	height	height of the array.

template<typename T >

void GF::cpuScan	(	T *	in,
		T *	out,
		uint32_t	width,
		uint32_t	height
	)

Performs a scan operation.

It is just a naive serial implementation.

Template Parameters

T	type of the data to be handled.

Parameters

[in]	in	input data.
[out]	out	output (scan) data.
[in]	width	width of the array.
[in]	height	height of the array.

template<typename T >

void GF::cpuSeparateRGB	(	T *	in,
		T *	r,
		T *	g,
		T *	b,
		uint32_t	pixels
	)

Performs a matrix transposition.

It is just a naive serial implementation.

Parameters

[in]	in	input image.
[out]	r	output image with channel r.
[out]	g	output image with channel g.
[out]	b	output image with channel b.
[in]	pixels	number of pixels in the input array.

template<typename T2 >

void GF::cpuSeparateRGB_N_Norm	(	unsigned char *	in,
		T2 *	r,
		T2 *	g,
		T2 *	b,
		uint32_t	pixels
	)

Performs a matrix transposition.

It is just a naive serial implementation.

Parameters

[in]	in	input image.
[out]	r	output image with channel r.
[out]	g	output image with channel g.
[out]	b	output image with channel b.
[in]	pixels	number of pixels in the input array.

template<typename T >

void GF::cpuSplitPC8D	(	T *	pc8d,
		T *	pc4d,
		T *	rgba,
		uint32_t	n
	)

Splits an 8-D point cloud into 4-D geometry points and RGBA color points.

It is just a naive serial implementation.

Parameters

[in]	pc8d	array with 8-D points (homogeneous coordiates + RGBA values).
[out]	pc4d	array with 4-D geometry points.
[out]	rgba	array with 4-D color points.
[in]	n	number of points in the 8-D point cloud.

template<typename T1 , typename T2 >

void GF::cpuTranspose	(	T1 *	in,
		T2 *	out,
		uint32_t	width,
		uint32_t	height
	)

Performs a matrix transposition.

It is just a naive serial implementation.

Parameters

[in]	in	input image.
[out]	out	output (transpose) image.
[in]	width	width of the input array.
[in]	height	height of the input array.

template<typename T1 >

void GF::cpuTranspose_N_Scale	(	T1 *	r,
		T1 *	g,
		T1 *	b,
		unsigned char *	out,
		uint32_t	pixels
	)

Performs a matrix transpose.

It is just a naive serial implementation.

Parameters

[in]	r	input image with channel r.
[in]	g	input image with channel g.
[in]	b	input image with channel b.
[out]	out	output (transpose) image.
[in]	pixels	number of pixels in the input array.

template<typename T >

uint64_t GF::nextPow2

(

T

num

)

Returns the first power of 2 greater than or equal to the input.

Parameters

[in]

num

input data.

Returns

The first power of 2 >= num.

template<typename T >

void GF::printBuffer	(	const char *	title,
		T *	ptr,
		uint32_t	width,
		uint32_t	height
	)

Prints an array of an integer type to standard output.

Template Parameters

T	type of the data to be printed.

Parameters

[in]	title	legend for the output.
[in]	ptr	array that is to be displayed.
[in]	width	width of the array.
[in]	height	height of the array.

template<typename T >

void GF::printBufferF	(	const char *	title,
		T *	ptr,
		uint32_t	width,
		uint32_t	height,
		uint32_t	prec
	)

Prints an array of floating-point type to standard output.

Template Parameters

T	type of the data to be printed.

Parameters

[in]	title	legend for the output.
[in]	ptr	array that is to be displayed.
[in]	width	width of the array.
[in]	height	height of the array.
[in]	prec	the number of decimal places to print.

bool GF::setProfilingFlag	(	int	argc,
		char **	argv
	)

Checks the command line arguments for the profiling flag, --profiling.

Parameters

[in]	argc	command line argument count
[in]	argv	command line arguments

Returns

A flag to indicate whether a command line argument for profiling was provided.

Variable Documentation

std::function< unsigned short()> GF::rNum_0_10000 = std::bind (distribution2, generator)

Uniform number generator in the range \([0, 10000]\).

std::function< unsigned char()> GF::rNum_0_255 = std::bind (distribution1, generator)

Uniform number generator in the range \([0, 255]\).

std::function< float()> GF::rNum_R_0_1 = std::bind (distributionR1, generator)

Uniform number generator in the range \([0.0, 1.0)\).

std::function< float()> GF::rNum_R_1_255_E__6 = std::bind (distributionR2, generator)

Uniform number generator in the range \([1e-6, 255*1e-6)\).