CLRaycaster: GPU OpenCL version of BVH Raycasting. More...

#include <CLRaycaster.hpp>

Inheritance diagram for lvr2::CLRaycaster< IntT >:

Classes
struct	ClTriangleIntersectionResult

Public Member Functions
bool	castRay (const Vector3f &origin, const Vector3f &direction, IntT &intersection)
	Overload functions ///. More...

void	castRays (const Vector3f &origin, const std::vector< Vector3f > &directions, std::vector< IntT > &intersections, std::vector< uint8_t > &hits) override
	Cast a ray from single origin with multiple directions onto the mesh. More...

void	castRays (const std::vector< Vector3f > &origins, const std::vector< Vector3f > &directions, std::vector< IntT > &intersections, std::vector< uint8_t > &hits) override
	Cast from multiple ray origin/direction pairs onto the mesh. More...

	CLRaycaster (const MeshBufferPtr mesh, unsigned int stack_size=32)
	Constructor: Generate BVH tree on mesh, loads CL kernels. More...

Public Member Functions inherited from lvr2::BVHRaycaster< IntT >
	BVHRaycaster (const MeshBufferPtr mesh, unsigned int stack_size=64)
	Constructor: Stores mesh as member. More...

Public Member Functions inherited from lvr2::RaycasterBase< IntT >
virtual void	castRays (const Vector3f &origin, const std::vector< std::vector< Vector3f > > &directions, std::vector< std::vector< IntT > > &intersections, std::vector< std::vector< uint8_t > > &hits)
	Cast a ray from a single origin with multiple directions (in matrix form) onto the mesh. More...

virtual void	castRays (const std::vector< Vector3f > &origins, const std::vector< std::vector< Vector3f > > &directions, std::vector< std::vector< IntT > > &intersections, std::vector< std::vector< uint8_t > > &hits)
	Cast rays with multiples origins. Each origin has multiples directions. More...

	RaycasterBase (const MeshBufferPtr mesh)
	Constructor: Stores mesh as member. More...

Private Member Functions
void	copyBVHToGPU ()
	TODO. More...

void	createKernel ()
	TODO. More...

void	getDeviceInformation ()
	TODO. More...

void	initOpenCL ()
	Initializes OpenCL related stuff. More...

void	initOpenCLBuffer (size_t num_origins, size_t num_dirs)
	TODO. More...

void	initOpenCLTreeBuffer ()
	TODO docu. More...

Private Attributes
cl::Buffer	m_bvhIndicesOrTriListsBuffer
	BUFFER ///. More...

cl::Buffer	m_bvhLimitsnBuffer

cl::Buffer	m_bvhTriangleIntersectionDataBuffer

cl::Buffer	m_bvhTriIdxListBuffer

cl::Context	m_context

cl::Device	m_device

cl_ulong	m_device_global_memory

cl::Kernel	m_kernel_multi_multi

cl::Kernel	m_kernel_one_multi

cl::Kernel	m_kernel_one_one

size_t	m_max_work_group_size

cl_uint	m_mps
	TODO. More...

cl::Platform	m_platform

cl::Program	m_program

cl::CommandQueue	m_queue

cl::Buffer	m_rayBuffer

cl::Buffer	m_rayOriginBuffer

cl::Buffer	m_resultBuffer

cl_uint	m_threads_per_block

size_t	m_warp_size

Additional Inherited Members
Protected Member Functions inherited from lvr2::BVHRaycaster< IntT >
Vector3f	barycentric (const Vector3f &p, const Vector3f &a, const Vector3f &b, const Vector3f &c) const

Protected Attributes inherited from lvr2::BVHRaycaster< IntT >
BVHTree< BaseVector< float > >	m_bvh

const unsigned int *	m_BVHindicesOrTriLists

const float *	m_BVHlimits

indexArray	m_faces

const unsigned int	m_stack_size

const float *	m_TriangleIntersectionData

const unsigned int *	m_TriIdxList

floatArr	m_vertices

Detailed Description

template<typename IntT>
class lvr2::CLRaycaster< IntT >

CLRaycaster: GPU OpenCL version of BVH Raycasting.

Definition at line 70 of file CLRaycaster.hpp.

Constructor & Destructor Documentation

◆ CLRaycaster()

template<typename IntT >

lvr2::CLRaycaster< IntT >::CLRaycaster	(	const MeshBufferPtr	mesh,
		unsigned int	stack_size = `32`
	)

Constructor: Generate BVH tree on mesh, loads CL kernels.

Member Function Documentation

◆ castRay()

template<typename IntT >

bool lvr2::CLRaycaster< IntT >::castRay	(	const Vector3f &	origin,
		const Vector3f &	direction,
		IntT &	intersection
	)

virtual

Overload functions ///.

Cast a single ray onto the mesh. Hint: Better not use it on GPU.

Parameters

[in]	origin	Ray origin
[in]	direction	Ray direction
[out]	intersection	User defined intersection output

Returns: true Intersection found; false Not intersection found

Reimplemented from lvr2::BVHRaycaster< IntT >.

◆ castRays() [1/2]

template<typename IntT >

void lvr2::CLRaycaster< IntT >::castRays	(	const Vector3f &	origin,
		const std::vector< Vector3f > &	directions,
		std::vector< IntT > &	intersections,
		std::vector< uint8_t > &	hits
	)

overridevirtual

Cast a ray from single origin with multiple directions onto the mesh.

Parameters

[in]	origin	Origin of the ray
[in]	directions	Directions of the ray
[out]	intersections	User defined intersections output
[out]	hits	Intersection found or not

Reimplemented from lvr2::RaycasterBase< IntT >.

◆ castRays() [2/2]

template<typename IntT >

void lvr2::CLRaycaster< IntT >::castRays	(	const std::vector< Vector3f > &	origins,
		const std::vector< Vector3f > &	directions,
		std::vector< IntT > &	intersections,
		std::vector< uint8_t > &	hits
	)

overridevirtual

Cast from multiple ray origin/direction pairs onto the mesh.

Parameters

[in]	origin	Origin of the ray
[in]	directions	Directions of the ray
[out]	intersections	User defined intersections output
[out]	hits	Intersection found or not

Reimplemented from lvr2::RaycasterBase< IntT >.

◆ copyBVHToGPU()

template<typename IntT >

void lvr2::CLRaycaster< IntT >::copyBVHToGPU ( )

private

TODO.

◆ createKernel()

template<typename IntT >

void lvr2::CLRaycaster< IntT >::createKernel ( )

private

TODO.

◆ getDeviceInformation()

template<typename IntT >

void lvr2::CLRaycaster< IntT >::getDeviceInformation ( )

private

TODO.

◆ initOpenCL()

template<typename IntT >

void lvr2::CLRaycaster< IntT >::initOpenCL ( )

private

Initializes OpenCL related stuff.

◆ initOpenCLBuffer()

template<typename IntT >

void lvr2::CLRaycaster< IntT >::initOpenCLBuffer	(	size_t	num_origins,
		size_t	num_dirs
	)

private

TODO.

◆ initOpenCLTreeBuffer()

template<typename IntT >

void lvr2::CLRaycaster< IntT >::initOpenCLTreeBuffer ( )

private

TODO docu.

Member Data Documentation

◆ m_bvhIndicesOrTriListsBuffer

template<typename IntT >

cl::Buffer lvr2::CLRaycaster< IntT >::m_bvhIndicesOrTriListsBuffer

private

BUFFER ///.

Definition at line 214 of file CLRaycaster.hpp.

◆ m_bvhLimitsnBuffer

template<typename IntT >

cl::Buffer lvr2::CLRaycaster< IntT >::m_bvhLimitsnBuffer

private

Definition at line 215 of file CLRaycaster.hpp.

◆ m_bvhTriangleIntersectionDataBuffer

template<typename IntT >

cl::Buffer lvr2::CLRaycaster< IntT >::m_bvhTriangleIntersectionDataBuffer

private

Definition at line 216 of file CLRaycaster.hpp.

◆ m_bvhTriIdxListBuffer

template<typename IntT >

cl::Buffer lvr2::CLRaycaster< IntT >::m_bvhTriIdxListBuffer

private

Definition at line 217 of file CLRaycaster.hpp.

◆ m_context

template<typename IntT >

cl::Context lvr2::CLRaycaster< IntT >::m_context

private

Definition at line 205 of file CLRaycaster.hpp.

◆ m_device

template<typename IntT >

cl::Device lvr2::CLRaycaster< IntT >::m_device

private

Definition at line 204 of file CLRaycaster.hpp.

◆ m_device_global_memory

template<typename IntT >

cl_ulong lvr2::CLRaycaster< IntT >::m_device_global_memory

private

Definition at line 200 of file CLRaycaster.hpp.

◆ m_kernel_multi_multi

template<typename IntT >

cl::Kernel lvr2::CLRaycaster< IntT >::m_kernel_multi_multi

private

Definition at line 210 of file CLRaycaster.hpp.

◆ m_kernel_one_multi

template<typename IntT >

cl::Kernel lvr2::CLRaycaster< IntT >::m_kernel_one_multi

private

Definition at line 209 of file CLRaycaster.hpp.

◆ m_kernel_one_one

template<typename IntT >

cl::Kernel lvr2::CLRaycaster< IntT >::m_kernel_one_one

private

Definition at line 208 of file CLRaycaster.hpp.

◆ m_max_work_group_size

template<typename IntT >

size_t lvr2::CLRaycaster< IntT >::m_max_work_group_size

private

Definition at line 198 of file CLRaycaster.hpp.

◆ m_mps

template<typename IntT >

cl_uint lvr2::CLRaycaster< IntT >::m_mps

private

TODO.

TODO

Definition at line 196 of file CLRaycaster.hpp.

◆ m_platform

template<typename IntT >

cl::Platform lvr2::CLRaycaster< IntT >::m_platform

private

Definition at line 203 of file CLRaycaster.hpp.

◆ m_program

template<typename IntT >

cl::Program lvr2::CLRaycaster< IntT >::m_program

private

Definition at line 206 of file CLRaycaster.hpp.

◆ m_queue

template<typename IntT >

cl::CommandQueue lvr2::CLRaycaster< IntT >::m_queue

private

Definition at line 207 of file CLRaycaster.hpp.

◆ m_rayBuffer

template<typename IntT >

cl::Buffer lvr2::CLRaycaster< IntT >::m_rayBuffer

private

Definition at line 220 of file CLRaycaster.hpp.

◆ m_rayOriginBuffer

template<typename IntT >

cl::Buffer lvr2::CLRaycaster< IntT >::m_rayOriginBuffer

private

Definition at line 221 of file CLRaycaster.hpp.

◆ m_resultBuffer

template<typename IntT >

cl::Buffer lvr2::CLRaycaster< IntT >::m_resultBuffer

private

Definition at line 224 of file CLRaycaster.hpp.

◆ m_threads_per_block

template<typename IntT >

cl_uint lvr2::CLRaycaster< IntT >::m_threads_per_block

private

Definition at line 197 of file CLRaycaster.hpp.

◆ m_warp_size

template<typename IntT >

size_t lvr2::CLRaycaster< IntT >::m_warp_size

private

Definition at line 199 of file CLRaycaster.hpp.

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

CLRaycaster.hpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename IntT> class lvr2::CLRaycaster< IntT >

Constructor & Destructor Documentation

◆ CLRaycaster()

Member Function Documentation

◆ castRay()

◆ castRays() [1/2]

◆ castRays() [2/2]

◆ copyBVHToGPU()

◆ createKernel()

◆ getDeviceInformation()

◆ initOpenCL()

◆ initOpenCLBuffer()

◆ initOpenCLTreeBuffer()

Member Data Documentation

◆ m_bvhIndicesOrTriListsBuffer

◆ m_bvhLimitsnBuffer

◆ m_bvhTriangleIntersectionDataBuffer

◆ m_bvhTriIdxListBuffer

◆ m_context

◆ m_device

◆ m_device_global_memory

◆ m_kernel_multi_multi

◆ m_kernel_one_multi

◆ m_kernel_one_one

◆ m_max_work_group_size

◆ m_mps

◆ m_platform

◆ m_program

◆ m_queue

◆ m_rayBuffer

◆ m_rayOriginBuffer

◆ m_resultBuffer

◆ m_threads_per_block

◆ m_warp_size

template<typename IntT>
class lvr2::CLRaycaster< IntT >