src
proc
cuda
cuda-pointcloud.cpp
Go to the documentation of this file.
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// License: Apache 2.0. See LICENSE file in root directory.
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// Copyright(c) 2019 Intel Corporation. All Rights Reserved.
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#include "
proc/cuda/cuda-pointcloud.h
"
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#ifdef RS2_USE_CUDA
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#include "../../cuda/cuda-pointcloud.cuh"
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#endif
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namespace
librealsense
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{
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pointcloud_cuda::pointcloud_cuda
() :
pointcloud
(
"Pointcloud (CUDA)"
) {}
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const
float3
*
pointcloud_cuda::depth_to_points
(
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rs2::points
output,
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const
rs2_intrinsics
&
depth_intrinsics
,
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const
rs2::depth_frame
&
depth_frame
)
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{
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auto
image
= output.
get_vertices
();
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auto
depth_data = (
uint16_t
*)
depth_frame
.get_data();
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auto
depth_scale
=
depth_frame
.
get_units
();
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#ifdef RS2_USE_CUDA
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rscuda::deproject_depth_cuda((
float
*)
image
,
depth_intrinsics
, depth_data,
depth_scale
);
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#endif
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return
(
float3
*)
image
;
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}
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}
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