sse-pointcloud.h

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// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2017 Intel Corporation. All Rights Reserved.

#pragma once
#include "../pointcloud.h"

namespace librealsense
{
    class pointcloud_sse : public pointcloud
    {
    public:
        pointcloud_sse();

        void get_texture_map_sse(float2 * texture_map,
            const float3 * points,
            const unsigned int width,
            const unsigned int height,
            const rs2_intrinsics & other_intrinsics,
            const rs2_extrinsics & extr,
            float2 * pixels_ptr);

    private:
        void preprocess() override;
        const float3 * depth_to_points(
            rs2::points output,
            const rs2_intrinsics &depth_intrinsics, 
            const rs2::depth_frame& depth_frame, 
            float depth_scale) override;
        void get_texture_map(
            rs2::points output,
            const float3* points,
            const unsigned int width,
            const unsigned int height,
            const rs2_intrinsics &other_intrinsics,
            const rs2_extrinsics& extr,
            float2* pixels_ptr) override;

        std::vector<float> _pre_compute_map_x;
        std::vector<float> _pre_compute_map_y;

        void pre_compute_x_y_map();
    };
}