cuda-pointcloud.cpp
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1 // License: Apache 2.0. See LICENSE file in root directory.
2 // Copyright(c) 2019 Intel Corporation. All Rights Reserved.
4 
5 #ifdef RS2_USE_CUDA
6 #include "../../cuda/cuda-pointcloud.cuh"
7 #endif
8 
9 namespace librealsense
10 {
11  pointcloud_cuda::pointcloud_cuda() : pointcloud("Pointcloud (CUDA)") {}
12 
14  rs2::points output,
17  {
18  auto image = output.get_vertices();
19  auto depth_data = (uint16_t*)depth_frame.get_data();
21 #ifdef RS2_USE_CUDA
22  rscuda::deproject_depth_cuda((float*)image, depth_intrinsics, depth_data, depth_scale);
23 #endif
24  return (float3*)image;
25  }
26 }
librealsense
Definition: algo.h:18
librealsense::pointcloud_cuda::pointcloud_cuda
pointcloud_cuda()
Definition: cuda-pointcloud.cpp:11
opencv_pointcloud_viewer.depth_intrinsics
depth_intrinsics
Definition: opencv_pointcloud_viewer.py:91
uint16_t
unsigned short uint16_t
Definition: stdint.h:79
rs2::points::get_vertices
const vertex * get_vertices() const
Definition: rs_frame.hpp:771
test-projection-from-recording.depth_scale
int depth_scale
Definition: test-projection-from-recording.py:48
rs2_intrinsics
Video stream intrinsics.
Definition: rs_types.h:58
librealsense::pointcloud_cuda::depth_to_points
const float3 * depth_to_points(rs2::points output, const rs2_intrinsics &depth_intrinsics, const rs2::depth_frame &depth_frame) override
Definition: cuda-pointcloud.cpp:13
rs2::points
Definition: rs_frame.hpp:739
librealsense::depth_frame::get_units
float get_units() const
Definition: depth-frame.h:34
librealsense::depth_frame
Definition: depth-frame.h:17
cuda-pointcloud.h
rs2::depth_frame
Definition: rs_frame.hpp:813
image
GLenum GLenum GLsizei void * image
Definition: glad/glad/glad.h:3587
librealsense::pointcloud
Definition: pointcloud.h:13
rsutils::number::float3
Definition: third-party/rsutils/include/rsutils/number/float3.h:35


librealsense2
Author(s): LibRealSense ROS Team
autogenerated on Fri Aug 2 2024 08:30:01