#include <ClSurface.hpp>

Public Member Functions
void	calculateNormals ()
	Starts calculation the normals on GPU. More...

	ClSurface (floatArr &points, size_t num_points, int device=0)

void	distances (std::vector< QueryPoint< Vec > > &query_points, float voxel_size)

void	freeGPU ()

void	getNormals (floatArr output_normals)
	Get the resulting normals of the normal calculation. After calling "start". More...

void	setFlippoint (float v_x, float v_y, float v_z)
	Set the viewpoint to orientate the normals. More...

void	setKd (int kd)
	Set the number of k nearest neighbors k-neighborhood for distance. More...

void	setKi (int ki)
	Set the number of k nearest neighbors k-neighborhood for interpolation. More...

void	setKn (int kn)
	Set the number of k nearest neighbors k-neighborhood. More...

void	setMethod (std::string method)
	Set Method for normal calculation. More...

void	setReconstructionMode (bool mode=true)

	~ClSurface ()

Private Member Functions
void	finalizeCl ()

void	getDeviceInformation (int platform_id=0, int device_id=0)

const char *	getErrorString (cl_int error)

void	init ()
	PRIVATE ///. More...

void	initCl ()

void	initKdTree ()

void	loadEstimationKernel ()

void	loadInterpolationKernel ()

Private Attributes
cl_mem	D_kd_tree_splits

cl_mem	D_kd_tree_values

cl_mem	D_Normals

cl_mem	D_V

boost::shared_ptr< LBKdTree >	kd_tree_gen

LBPointArray< unsigned char > *	kd_tree_splits

LBPointArray< float > *	kd_tree_values

int	m_calc_method

cl_command_queue	m_command_queue

cl_context	m_context

cl_ulong	m_device_global_memory

cl_device_id	m_device_id

int	m_k

int	m_kd

cl_kernel	m_kernel_normal_estimation

cl_kernel	m_kernel_normal_interpolation

int	m_ki

cl_uint	m_mps

cl_platform_id	m_platform_id

cl_program	m_program_es

cl_program	m_program_in

bool	m_reconstruction_mode

cl_int	m_ret

cl_uint	m_threads_per_block

float	m_vx

float	m_vy

float	m_vz

const char *	NORMAL_ESTIMATION_KERNEL_STRING

const char *	NORMAL_INTERPOLATION_KERNEL_STRING

LBPointArray< float >	Result_Normals

LBPointArray< float >	V

Detailed Description

Definition at line 63 of file ClSurface.hpp.

Constructor & Destructor Documentation

◆ ClSurface()

lvr2::ClSurface::ClSurface	(	floatArr &	points,
		size_t	num_points,
		int	device = `0`
	)

Definition at line 34 of file ClSurface.cpp.

◆ ~ClSurface()

lvr2::ClSurface::~ClSurface ( )

Definition at line 55 of file ClSurface.cpp.

Member Function Documentation

◆ calculateNormals()

void lvr2::ClSurface::calculateNormals ( )

Starts calculation the normals on GPU.

Definition at line 62 of file ClSurface.cpp.

◆ distances()

void lvr2::ClSurface::distances	(	std::vector< QueryPoint< Vec > > &	query_points,
		float	voxel_size
	)

TODO: Implement

Definition at line 223 of file ClSurface.cpp.

◆ finalizeCl()

void lvr2::ClSurface::finalizeCl ( )

private

Definition at line 276 of file ClSurface.cpp.

◆ freeGPU()

void lvr2::ClSurface::freeGPU ( )

Definition at line 228 of file ClSurface.cpp.

◆ getDeviceInformation()

void lvr2::ClSurface::getDeviceInformation	(	int	platform_id = `0`,
		int	device_id = `0`
	)

private

Definition at line 460 of file ClSurface.cpp.

◆ getErrorString()

const char * lvr2::ClSurface::getErrorString ( cl_int error )

private

Definition at line 382 of file ClSurface.cpp.

◆ getNormals()

void lvr2::ClSurface::getNormals ( floatArr output_normals )

Get the resulting normals of the normal calculation. After calling "start".

Parameters

output_normals PointArray as return value

Definition at line 177 of file ClSurface.cpp.

◆ init()

void lvr2::ClSurface::init ( )

private

PRIVATE ///.

Definition at line 235 of file ClSurface.cpp.

◆ initCl()

void lvr2::ClSurface::initCl ( )

private

Definition at line 261 of file ClSurface.cpp.

◆ initKdTree()

void lvr2::ClSurface::initKdTree ( )

private

Definition at line 253 of file ClSurface.cpp.

◆ loadEstimationKernel()

void lvr2::ClSurface::loadEstimationKernel ( )

private

Definition at line 296 of file ClSurface.cpp.

◆ loadInterpolationKernel()

void lvr2::ClSurface::loadInterpolationKernel ( )

private

Definition at line 340 of file ClSurface.cpp.

◆ setFlippoint()

void lvr2::ClSurface::setFlippoint	(	float	v_x,
		float	v_y,
		float	v_z
	)

Set the viewpoint to orientate the normals.

Parameters

v_x	Coordinate X axis
v_y	Coordinate Y axis
v_z	Coordinate Z axis

Definition at line 200 of file ClSurface.cpp.

◆ setKd()

void lvr2::ClSurface::setKd ( int kd )

Set the number of k nearest neighbors k-neighborhood for distance.

Parameters

k	The size of the used k-neighborhood

Definition at line 195 of file ClSurface.cpp.

◆ setKi()

void lvr2::ClSurface::setKi ( int ki )

Set the number of k nearest neighbors k-neighborhood for interpolation.

Parameters

k	The size of the used k-neighborhood

Definition at line 190 of file ClSurface.cpp.

◆ setKn()

void lvr2::ClSurface::setKn ( int kn )

Set the number of k nearest neighbors k-neighborhood.

Parameters

k	The size of the used k-neighborhood

Definition at line 185 of file ClSurface.cpp.

◆ setMethod()

void lvr2::ClSurface::setMethod ( std::string method )

Set Method for normal calculation.

Parameters

method "PCA","RANSAC"

Definition at line 207 of file ClSurface.cpp.

◆ setReconstructionMode()

void lvr2::ClSurface::setReconstructionMode ( bool mode = true )

Reconstuction Mode: Points stay in gpu until reconstruction is finished

Definition at line 218 of file ClSurface.cpp.

Member Data Documentation

◆ D_kd_tree_splits

cl_mem lvr2::ClSurface::D_kd_tree_splits

private

Definition at line 189 of file ClSurface.hpp.

◆ D_kd_tree_values

cl_mem lvr2::ClSurface::D_kd_tree_values

private

Definition at line 188 of file ClSurface.hpp.

◆ D_Normals

cl_mem lvr2::ClSurface::D_Normals

private

Definition at line 190 of file ClSurface.hpp.

◆ D_V

cl_mem lvr2::ClSurface::D_V

private

Definition at line 187 of file ClSurface.hpp.

◆ kd_tree_gen

boost::shared_ptr<LBKdTree> lvr2::ClSurface::kd_tree_gen

private

Definition at line 164 of file ClSurface.hpp.

◆ kd_tree_splits

LBPointArray<unsigned char>* lvr2::ClSurface::kd_tree_splits

private

Definition at line 161 of file ClSurface.hpp.

◆ kd_tree_values

LBPointArray<float>* lvr2::ClSurface::kd_tree_values

private

Definition at line 160 of file ClSurface.hpp.

◆ m_calc_method

int lvr2::ClSurface::m_calc_method

private

Definition at line 170 of file ClSurface.hpp.

◆ m_command_queue

cl_command_queue lvr2::ClSurface::m_command_queue

private

Definition at line 181 of file ClSurface.hpp.

◆ m_context

cl_context lvr2::ClSurface::m_context

private

Definition at line 180 of file ClSurface.hpp.

◆ m_device_global_memory

cl_ulong lvr2::ClSurface::m_device_global_memory

private

Definition at line 178 of file ClSurface.hpp.

◆ m_device_id

cl_device_id lvr2::ClSurface::m_device_id

private

Definition at line 175 of file ClSurface.hpp.

◆ m_k

int lvr2::ClSurface::m_k

private

Definition at line 167 of file ClSurface.hpp.

◆ m_kd

int lvr2::ClSurface::m_kd

private

Definition at line 167 of file ClSurface.hpp.

◆ m_kernel_normal_estimation

cl_kernel lvr2::ClSurface::m_kernel_normal_estimation

private

Definition at line 184 of file ClSurface.hpp.

◆ m_kernel_normal_interpolation

cl_kernel lvr2::ClSurface::m_kernel_normal_interpolation

private

Definition at line 185 of file ClSurface.hpp.

◆ m_ki

int lvr2::ClSurface::m_ki

private

Definition at line 167 of file ClSurface.hpp.

◆ m_mps

cl_uint lvr2::ClSurface::m_mps

private

Definition at line 176 of file ClSurface.hpp.

◆ m_platform_id

cl_platform_id lvr2::ClSurface::m_platform_id

private

Definition at line 174 of file ClSurface.hpp.

◆ m_program_es

cl_program lvr2::ClSurface::m_program_es

private

Definition at line 182 of file ClSurface.hpp.

◆ m_program_in

cl_program lvr2::ClSurface::m_program_in

private

Definition at line 183 of file ClSurface.hpp.

◆ m_reconstruction_mode

bool lvr2::ClSurface::m_reconstruction_mode

private

Definition at line 171 of file ClSurface.hpp.

◆ m_ret

cl_int lvr2::ClSurface::m_ret

private

Definition at line 179 of file ClSurface.hpp.

◆ m_threads_per_block

cl_uint lvr2::ClSurface::m_threads_per_block

private

Definition at line 177 of file ClSurface.hpp.

◆ m_vx

float lvr2::ClSurface::m_vx

private

Definition at line 166 of file ClSurface.hpp.

◆ m_vy

float lvr2::ClSurface::m_vy

private

Definition at line 166 of file ClSurface.hpp.

◆ m_vz

float lvr2::ClSurface::m_vz

private

Definition at line 166 of file ClSurface.hpp.

◆ NORMAL_ESTIMATION_KERNEL_STRING

const char* lvr2::ClSurface::NORMAL_ESTIMATION_KERNEL_STRING

private

Definition at line 193 of file ClSurface.hpp.

◆ NORMAL_INTERPOLATION_KERNEL_STRING

const char* lvr2::ClSurface::NORMAL_INTERPOLATION_KERNEL_STRING

private

Definition at line 337 of file ClSurface.hpp.

◆ Result_Normals

LBPointArray<float> lvr2::ClSurface::Result_Normals

private

Definition at line 163 of file ClSurface.hpp.

◆ V

LBPointArray<float> lvr2::ClSurface::V

private

Definition at line 159 of file ClSurface.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ClSurface()

◆ ~ClSurface()

Member Function Documentation

◆ calculateNormals()

◆ distances()

◆ finalizeCl()

◆ freeGPU()

◆ getDeviceInformation()

◆ getErrorString()

◆ getNormals()

◆ init()

◆ initCl()

◆ initKdTree()

◆ loadEstimationKernel()

◆ loadInterpolationKernel()

◆ setFlippoint()

◆ setKd()

◆ setKi()

◆ setKn()

◆ setMethod()

◆ setReconstructionMode()

Member Data Documentation

◆ D_kd_tree_splits

◆ D_kd_tree_values

◆ D_Normals

◆ D_V

◆ kd_tree_gen

◆ kd_tree_splits

◆ kd_tree_values

◆ m_calc_method

◆ m_command_queue

◆ m_context

◆ m_device_global_memory

◆ m_device_id

◆ m_k

◆ m_kd

◆ m_kernel_normal_estimation

◆ m_kernel_normal_interpolation

◆ m_ki

◆ m_mps

◆ m_platform_id

◆ m_program_es

◆ m_program_in

◆ m_reconstruction_mode

◆ m_ret

◆ m_threads_per_block

◆ m_vx

◆ m_vy

◆ m_vz

◆ NORMAL_ESTIMATION_KERNEL_STRING

◆ NORMAL_INTERPOLATION_KERNEL_STRING

◆ Result_Normals

◆ V