Class for Stitch frame core CPU implementation. More...

#include <stitch_frames_core_cpu.h>

Public Member Functions
void	copyRange2XYZLUT (float *range_2_xyz_lut, int cam_id)
	Function to copy range data to XYZ lut. More...

void	stitchFrames (ADI3DToFImageStitchingInputInfo image_stitch_input_info, int num_sensors, float out_xyz_frame, unsigned short out_depth_frame, unsigned short out_ir_frame, int *out_lut_3d_to_2d_mapping)
	Core function to initiate image stitching. More...

	StitchFramesCoreCPU (int sensor_image_width, int sensor_image_height, int out_image_width, int out_image_height, int num_sensors, float vertical_fov_in_degrees, float horizontal_fov_in_degrees)
	Construct a new Stitch Frames Core C P U:: Stitch Frames Core C P U object. More...

void	update_parameters (int out_image_width, int out_image_height, float horizontal_fov_in_degrees, float yaw_correction_in_radians)
	Updating the image stitching parameters. More...

	~StitchFramesCoreCPU ()
	Destroy the Stitch Frames Core C P U:: Stitch Frames Core C P U object. More...

Private Attributes
unsigned short *	combined_depth_image_

unsigned short *	combined_ir_image_

float *	combined_point_cloud_xyz_

float *	combined_point_cloud_xyz_out_

unsigned short *	depth_image_

unsigned short *	depth_out_before_post_process_

float	horizontal_fov_in_degrees_

unsigned short *	ir_image_

unsigned short *	ir_out_before_post_process_

int *	lut_3d_to_2d_mapping_

float *	lut_3d_to_2d_range_

int *	lut_3d_to_2d_u_

int *	lut_3d_to_2d_v_

int	num_sensors_

int	out_image_height_

int	out_image_width_

float *	range_out_after_projection_

float *	range_to_xyz_lut_ [4]

int	sensor_image_height_

int	sensor_image_width_

float *	transform_

int *	valid_projection_boundary_x_max_

int *	valid_projection_boundary_x_min_

float	vertical_fov_in_degrees_

float	yaw_correction_in_radians_

Detailed Description

Class for Stitch frame core CPU implementation.

Definition at line 14 of file stitch_frames_core_cpu.h.

Constructor & Destructor Documentation

◆ StitchFramesCoreCPU()

StitchFramesCoreCPU::StitchFramesCoreCPU	(	int	sensor_image_width,
		int	sensor_image_height,
		int	out_image_width,
		int	out_image_height,
		int	num_sensors,
		float	vertical_fov_in_degrees,
		float	horizontal_fov_in_degrees
	)

Construct a new Stitch Frames Core C P U:: Stitch Frames Core C P U object.

Parameters

sensor_image_width	- input image width
sensor_image_height	- input image height
out_image_width	- output stitched image width
out_image_height	- output stitched image height
num_sensors	- number of sensors
vertical_fov_in_degrees	- Vertical FOV for projection in degrees
horizontal_fov_in_degrees	- Horizontal FOV for projection in degrees

Definition at line 294 of file stitch_frames_core_cpu.cpp.

◆ ~StitchFramesCoreCPU()

StitchFramesCoreCPU::~StitchFramesCoreCPU ( )

Destroy the Stitch Frames Core C P U:: Stitch Frames Core C P U object.

Definition at line 364 of file stitch_frames_core_cpu.cpp.

Member Function Documentation

◆ copyRange2XYZLUT()

void StitchFramesCoreCPU::copyRange2XYZLUT	(	float *	range_2_xyz_lut,
		int	cam_id
	)

Function to copy range data to XYZ lut.

Parameters

range_2_xyz_lut	- range to lut table
cam_id	- camera id

Definition at line 395 of file stitch_frames_core_cpu.cpp.

◆ stitchFrames()

void StitchFramesCoreCPU::stitchFrames	(	ADI3DToFImageStitchingInputInfo *	image_stitching_input_info,
		int	num_sensors,
		float *	out_xyz_frame,
		unsigned short *	out_depth_frame,
		unsigned short *	out_ir_frame,
		int *	out_lut_3d_to_2d_mapping
	)

Core function to initiate image stitching.

Parameters

image_stitching_input_info	- input object to image stitching input
num_sensors	- number of sensors
out_xyz_frame	- output XYZ frame
out_depth_frame	- output stitched depth
out_ir_frame	- output stitched IR

Definition at line 410 of file stitch_frames_core_cpu.cpp.

◆ update_parameters()

void StitchFramesCoreCPU::update_parameters	(	int	out_image_width,
		int	out_image_height,
		float	horizontal_fov_in_degrees,
		float	yaw_correction_in_radians
	)

Updating the image stitching parameters.

Parameters

out_image_width	- output stitched image width
out_image_height	- output stitched image height
horizontal_fov_in_degrees	- horizontal FOV in degrees

Definition at line 351 of file stitch_frames_core_cpu.cpp.

Member Data Documentation

◆ combined_depth_image_

unsigned short* StitchFramesCoreCPU::combined_depth_image_

private

Definition at line 52 of file stitch_frames_core_cpu.h.

◆ combined_ir_image_

unsigned short* StitchFramesCoreCPU::combined_ir_image_

private

Definition at line 53 of file stitch_frames_core_cpu.h.

◆ combined_point_cloud_xyz_

float* StitchFramesCoreCPU::combined_point_cloud_xyz_

private

Definition at line 49 of file stitch_frames_core_cpu.h.

◆ combined_point_cloud_xyz_out_

float* StitchFramesCoreCPU::combined_point_cloud_xyz_out_

private

Definition at line 50 of file stitch_frames_core_cpu.h.

◆ depth_image_

unsigned short* StitchFramesCoreCPU::depth_image_

private

Definition at line 45 of file stitch_frames_core_cpu.h.

◆ depth_out_before_post_process_

unsigned short* StitchFramesCoreCPU::depth_out_before_post_process_

private

Definition at line 66 of file stitch_frames_core_cpu.h.

◆ horizontal_fov_in_degrees_

float StitchFramesCoreCPU::horizontal_fov_in_degrees_

private

Definition at line 40 of file stitch_frames_core_cpu.h.

◆ ir_image_

unsigned short* StitchFramesCoreCPU::ir_image_

private

Definition at line 46 of file stitch_frames_core_cpu.h.

◆ ir_out_before_post_process_

unsigned short* StitchFramesCoreCPU::ir_out_before_post_process_

private

Definition at line 67 of file stitch_frames_core_cpu.h.

◆ lut_3d_to_2d_mapping_

int* StitchFramesCoreCPU::lut_3d_to_2d_mapping_

private

Definition at line 64 of file stitch_frames_core_cpu.h.

◆ lut_3d_to_2d_range_

float* StitchFramesCoreCPU::lut_3d_to_2d_range_

private

Definition at line 58 of file stitch_frames_core_cpu.h.

◆ lut_3d_to_2d_u_

int* StitchFramesCoreCPU::lut_3d_to_2d_u_

private

Definition at line 59 of file stitch_frames_core_cpu.h.

◆ lut_3d_to_2d_v_

int* StitchFramesCoreCPU::lut_3d_to_2d_v_

private

Definition at line 60 of file stitch_frames_core_cpu.h.

◆ num_sensors_

int StitchFramesCoreCPU::num_sensors_

private

Definition at line 38 of file stitch_frames_core_cpu.h.

◆ out_image_height_

int StitchFramesCoreCPU::out_image_height_

private

Definition at line 37 of file stitch_frames_core_cpu.h.

◆ out_image_width_

int StitchFramesCoreCPU::out_image_width_

private

Definition at line 36 of file stitch_frames_core_cpu.h.

◆ range_out_after_projection_

float* StitchFramesCoreCPU::range_out_after_projection_

private

Definition at line 65 of file stitch_frames_core_cpu.h.

◆ range_to_xyz_lut_

float* StitchFramesCoreCPU::range_to_xyz_lut_[4]

private

Definition at line 44 of file stitch_frames_core_cpu.h.

◆ sensor_image_height_

int StitchFramesCoreCPU::sensor_image_height_

private

Definition at line 35 of file stitch_frames_core_cpu.h.

◆ sensor_image_width_

int StitchFramesCoreCPU::sensor_image_width_

private

Definition at line 34 of file stitch_frames_core_cpu.h.

◆ transform_

float* StitchFramesCoreCPU::transform_

private

Definition at line 56 of file stitch_frames_core_cpu.h.

◆ valid_projection_boundary_x_max_

int* StitchFramesCoreCPU::valid_projection_boundary_x_max_

private

Definition at line 63 of file stitch_frames_core_cpu.h.

◆ valid_projection_boundary_x_min_

int* StitchFramesCoreCPU::valid_projection_boundary_x_min_

private

Definition at line 62 of file stitch_frames_core_cpu.h.

◆ vertical_fov_in_degrees_

float StitchFramesCoreCPU::vertical_fov_in_degrees_

private

Definition at line 39 of file stitch_frames_core_cpu.h.

◆ yaw_correction_in_radians_

float StitchFramesCoreCPU::yaw_correction_in_radians_

private

Definition at line 41 of file stitch_frames_core_cpu.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ StitchFramesCoreCPU()

◆ ~StitchFramesCoreCPU()

Member Function Documentation

◆ copyRange2XYZLUT()

◆ stitchFrames()

◆ update_parameters()

Member Data Documentation

◆ combined_depth_image_

◆ combined_ir_image_

◆ combined_point_cloud_xyz_

◆ combined_point_cloud_xyz_out_

◆ depth_image_

◆ depth_out_before_post_process_

◆ horizontal_fov_in_degrees_

◆ ir_image_

◆ ir_out_before_post_process_

◆ lut_3d_to_2d_mapping_

◆ lut_3d_to_2d_range_

◆ lut_3d_to_2d_u_

◆ lut_3d_to_2d_v_

◆ num_sensors_

◆ out_image_height_

◆ out_image_width_

◆ range_out_after_projection_

◆ range_to_xyz_lut_

◆ sensor_image_height_

◆ sensor_image_width_

◆ transform_

◆ valid_projection_boundary_x_max_

◆ valid_projection_boundary_x_min_

◆ vertical_fov_in_degrees_

◆ yaw_correction_in_radians_