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.LGPL **
** 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 <ICLUtils/CompatMacros.h>
#include <ICLGeom/PointCloudObjectBase.h>
#include <ICLCore/Img.h>
#include <ICLMath/FixedVector.h>

#ifdef ICL_HAVE_OPENCL
#include <ICLUtils/CLProgram.h>
#include <ICLUtils/CLKernel.h>
#include <ICLUtils/CLBuffer.h>
#endif

namespace icl{
  namespace geom{
    class PointCloudCreatorCL{

     public:

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

      ICLGeom_API ~PointCloudCreatorCL();


      ICLGeom_API void setDirectionVectors(const utils::Array2D<Vec> &dirs) ;

      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);

      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);


      ICLGeom_API bool isCLReady();

     private:
      bool clReady;
      utils::Size size;
    #ifdef ICL_HAVE_OPENCL
      //OpenCL data

      //float* depthValuesArray;
      //          unsigned char* rInArray;
      //unsigned char* gInArray;
      //unsigned char* bInArray;
          float* xyzData;
          math::FixedColVector<float, 4>* rgbaData;

      //OpenCL
      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;

    #endif
    };
  } // namespace geom
}