Detailed Description

Provides methods for using a CUDA device as the computation unit of the LFR.

Inherits Rx::LFR::CParametersPimpl< CCudaCompute_Impl, Params::ECudaCompute::ID, Interfaces::ECudaCompute::ID >.

Public Types
typedef Interfaces::ECudaCompute::ID	EnumInterfaceType

typedef Params::ECudaCompute::ID	EnumType
	The type of the parameter enum. Is used by managed wrapper classes. More...

Public Member Functions
	CCudaCompute ()
	Default constructor. More...

	CCudaCompute (CCudaCompute &&xCudaCompute)
	Move constructor. More...

	~CCudaCompute ()
	Destructor. More...

void	ApplyCalibration (const CCalibration &xCalib, bool bUploadGrayImg=true)
	Applies the given calibration to the algorithms. This must be done every time the calibration changes. More...

void	ApplyRayImage (const CRayImage &xRayImage)
	Applies the given ray image. More...

void	Compute_Depth3D ()
	Calculates the depth 3D image. More...

void	Compute_DepthColorCode (LF::ESpace::ID eSpace=LF::ESpace::View_Object_Pinhole)
	Calculates the colored depth map image. More...

void	Compute_DepthMap (LF::ESpace::ID eSpace=LF::ESpace::View_Object_Pinhole)
	Calculates the depth map image. This image can be filled to produce a complete filled depth map. More...

void	Compute_DepthRay ()
	Estimates the depth of the current raw image and creates the ray depth image. More...

void	Compute_Grid ()
	Calculates the grid image. This is the raw or the gray image with an overlay that shows the current grid calibration. More...

void	Compute_GridDataImage ()
	Pre-Process a ray image with a minimal set of preprocessing parameters. More...

void	Compute_Histogram (EImage::ID eImgID, CRxArrayUInt &xHistogram, unsigned &uChannels)
	Calculates the histogram of the image with the given image ID and stores the histogram data in the given array. This array must be large enough to hold 4 * 256 numbers. The number of calculated channels is returned in uChannels. More...

void	Compute_ImageMinMax (EImage::ID eImgID, unsigned uChannel, float &fMin, float &fMax)
	Calculates the minimum and the maximum value in the given image. More...

void	Compute_Multiview ()
	Calculates the multi view image. More...

void	Compute_PreProcess ()
	Pre-Process a ray image. This can apply denoise, brightness and sharpness adjustments. More...

void	Compute_RefocusBasic ()
	Focus image to a plane perpendicular to the optical axis, i.e. parallel to the image plane. More...

void	Compute_TotalFocus (LF::ESpace::ID eSpace=LF::ESpace::View_Object_Pinhole)
	Focus on a depth surface. More...

CRxImageFormat	CreateFocusImageFormat (const CRxImageFormat &xRawFormat, bool bForceLandscape) const
	Creates the image format of the refocus and the total focus image. This considers the Focus_ImageDivisor parameter. More...

const CCudaDevice &	GetCudaDevice () const
	Gets the CUDA device that has been set by calling SetCudaDevice. Throws an exception if not set yet. More...

CCudaCompute_Impl &	GetImpl ()
	Gets the non constant implementation. More...

const CCudaCompute_Impl &	GetImpl () const
	Gets the constant implementation. More...

void *	GetInterface (Interfaces::ECudaCompute::ID eData)
	Gets the cuda compute interface. More...

const void *	GetInterface (Interfaces::ECudaCompute::ID eData) const
	Gets the cuda compute interface. More...

CParameters< Params::ECudaCompute::ID > &	GetParams ()

const CParameters< Params::ECudaCompute::ID > &	GetParams () const

bool	HasInterface (Interfaces::ECudaCompute::ID eInterface)
	Queries if this object has the given interface. More...

CCudaCompute &	operator= (CCudaCompute &&xCudaCompute)
	Move assignment operator. More...

void	ReinitializeDepthDB ()
	Reinitializes the depth database. More...

void	RemoveComputationFilterMask ()
	Removes the computation filter mask set by SetComputationFilterMask. More...

void	ResizeImage (Interop::Runtime28::IImage pxTrgImg, const Interop::Runtime28::IImage pxSrcImg, int iDivisor)
	Resize the given source image and store the result in the given target image using the given divisor. More...

void	SetComputationFilterMask (const CRxImage &xImage)
	Sets the computation filter mask image. More...

void	SetComputationFilterMask (const CRxString &sxFilename)
	Sets the computation filter mask image. More...

void	SetCudaDevice (const CCudaDevice &xCudaDevice)
	Sets the CUDA device that allocates the memory required for the operations and that runs the algorithms. More...

void	UploadRawImage (const Interop::Runtime28::IImage &xSrcImg)
	Uploads the given image as the new raw image of all computations. More...

Member Typedef Documentation

typedef Interfaces::ECudaCompute::ID Rx::LFR::CParametersPimpl< CCudaCompute_Impl , Params::ECudaCompute::ID , Interfaces::ECudaCompute::ID >::EnumInterfaceType

inherited

typedef Params::ECudaCompute::ID Rx::LFR::CParametersPimpl< CCudaCompute_Impl , Params::ECudaCompute::ID , Interfaces::ECudaCompute::ID >::EnumType

inherited

The type of the parameter enum. Is used by managed wrapper classes.

Constructor & Destructor Documentation

Rx::LFR::CCudaCompute::CCudaCompute ( )

Default constructor.

Rx::LFR::CCudaCompute::CCudaCompute ( CCudaCompute && xCudaCompute )

Move constructor.

Parameters

xCudaCompute [in,out] The CUDA compute instance.

Rx::LFR::CCudaCompute::~CCudaCompute ( )

Destructor.

Member Function Documentation

void Rx::LFR::CCudaCompute::ApplyCalibration	(	const CCalibration &	xCalib,
		bool	bUploadGrayImg = `true`
	)

Applies the given calibration to the algorithms. This must be done every time the calibration changes.

Parameters

xCalib	The calibration.
bUploadGrayImg	(Optional) True to upload the gray image of the calibration to CUDA. False to use the current gray image even if it is invalid.

void Rx::LFR::CCudaCompute::ApplyRayImage ( const CRayImage & xRayImage )

Applies the given ray image.

This uploads the raw and the gray image to the CUDA device and applies the calibration and the parameters from the meta data to the CUDA algorithms.

Parameters

xRayImage The ray image.

void Rx::LFR::CCudaCompute::Compute_Depth3D ( )

Calculates the depth 3D image.

This creates a RGBA float image which maps each pixel in the view camera to a 3D position in object space. The R channel is the X coordinate, the G channel is the Y coordinate and the B channel is the Z coordinate. The Z coordinate is relative to the global coordinate system which typically coincides with the light field camera sensor. All coordinate values are given in millimeters. The A channel is the Z coordinate in virtual depths.

Result image:

EImage::Depth3D

Required images:

EImage::DepthMap_View_Object_Pinhole

Influencing parameters:

none.

void Rx::LFR::CCudaCompute::Compute_DepthColorCode ( LF::ESpace::ID eSpace = LF::ESpace::View_Object_Pinhole )

Calculates the colored depth map image.

Result image:

EImage::DepthMapColored_View_Virtual (if eSpace == LF::ESpace::View_Virtual) or
EImage::DepthMapColored_View_Object_Pinhole (if eSpace == LF::ESpace::View_Object_Pinhole)

Required images:

EImage::DepthMap_View_Virtual (if eSpace == LF::ESpace::View_Virtual) or
EImage::Depth3D (if eSpace == LF::ESpace::View_Object_Pinhole)

Influencing parameters:

ECCPar::DepthMap_Color_Mode
ECCPar::DepthMap_Color_Max
ECCPar::DepthMap_Color_Min
ECCPar::DepthMap_Color_Map.

Parameters

eSpace (Optional) The space. This is LF::ESpace::View_Virtual or LF::ESpace::View_Object_Pinhole.

void Rx::LFR::CCudaCompute::Compute_DepthMap ( LF::ESpace::ID eSpace = LF::ESpace::View_Object_Pinhole )

Calculates the depth map image. This image can be filled to produce a complete filled depth map.

Result image:

EImage::DepthMap_View_Virtual (if eSpace == LF::ESpace::View_Virtual) or
EImage::DepthMap_View_Object_Pinhole (if eSpace == LF::ESpace::View_Object_Pinhole)

Required images:

EImage::DepthRay

Influencing parameters:

ECCPar::Depth_ConsistencyCheck
ECCPar::Depth_Fill_Enabled
ECCPar::Depth_Fill_IterCnt
ECCPar::Depth_Fill_IterSize
ECCPar::Depth_Fill_Complete
ECCPar::Depth_Fill_ShrinkRangePX
ECCPar::Depth_Fill_Filter_Enabled
ECCPar::Depth_Fill_Bilateral_Enabled
ECCPar::Depth_Fill_Bilateral_Edge
ECCPar::Depth_Fill_Bilateral_Range
ECCPar::Depth_Fill_Bilateral_FilterRadius.

Parameters

eSpace (Optional) The space. This is LF::ESpace::View_Virtual or LF::ESpace::View_Object_Pinhole.

void Rx::LFR::CCudaCompute::Compute_DepthRay ( )

Estimates the depth of the current raw image and creates the ray depth image.

Result image:

EImage::DepthRay

Required images:

EImage::Processed_Normalized

Influencing parameters:

ECCPar::PreProc_Sharp1_Enable
ECCPar::PreProc_Sharp1_OnlyCalc
ECCPar::PreProc_Sharp1_BlurStdDev
ECCPar::PreProc_Sharp1_Factor
ECCPar::Depth_SparseLensSet
ECCPar::Depth_NearResolutionLevel
ECCPar::Depth_PatchDiameter
ECCPar::Depth_PatchStride
ECCPar::Depth_MinVirtualDepth
ECCPar::Depth_MaxVirtualDepth
ECCPar::Depth_MinCorrelation
ECCPar::Depth_MinStdDeviation
ECCPar::Depth_LensFilterMask.

void Rx::LFR::CCudaCompute::Compute_Grid ( )

Calculates the grid image. This is the raw or the gray image with an overlay that shows the current grid calibration.

Result image:

EImage::Grid

Required images:

EImage::Raw or EImage::Gray

Influencing parameters:

ECCPar::Grid_DrawOnGrayImage
ECCPar::Grid_DrawMlaGrid.

void Rx::LFR::CCudaCompute::Compute_GridDataImage ( )

Pre-Process a ray image with a minimal set of preprocessing parameters.

Result image:

EImage::GridData

Required images:

EImage::Raw

Influencing parameters:

ECCPar::PreProc_Demosaic_R
ECCPar::PreProc_Demosaic_G
ECCPar::PreProc_Demosaic_B.

void Rx::LFR::CCudaCompute::Compute_Histogram	(	EImage::ID	eImgID,
		CRxArrayUInt &	xHistogram,
		unsigned &	uChannels
	)

Calculates the histogram of the image with the given image ID and stores the histogram data in the given array. This array must be large enough to hold 4 * 256 numbers. The number of calculated channels is returned in uChannels.

Parameters

eImgID	The image ID.
xHistogram	[out] The histogram.
uChannels	[out] The number of channels.

void Rx::LFR::CCudaCompute::Compute_ImageMinMax	(	EImage::ID	eImgID,
		unsigned	uChannel,
		float &	fMin,
		float &	fMax
	)

Calculates the minimum and the maximum value in the given image.

Parameters

eImgID	The image ID. The image must be of type float.
uChannel	The channel of each pixel that is used to get the values.
fMin	[out] The minimum.
fMax	[out] The maximum.

void Rx::LFR::CCudaCompute::Compute_Multiview ( )

Calculates the multi view image.

Result image:

EImage::Multiview

Required images:

Influencing parameters:

ECCPar::Multiview_Type
ECCPar::Multiview_EyeSeparation
ECCPar::Depth_ConsistencyCheck
ECCPar::Depth_Fill_Enabled
ECCPar::Depth_Fill_IterCnt
ECCPar::Depth_Fill_IterSize
ECCPar::Depth_Fill_Complete
ECCPar::Depth_Fill_ShrinkRangePX
ECCPar::Depth_Fill_Filter_Enabled
ECCPar::Depth_Fill_Bilateral_Enabled
ECCPar::Depth_Fill_Bilateral_Edge
ECCPar::Depth_Fill_Bilateral_Range
ECCPar::Depth_Fill_Bilateral_FilterRadius.

void Rx::LFR::CCudaCompute::Compute_PreProcess ( )

Pre-Process a ray image. This can apply denoise, brightness and sharpness adjustments.

Result image:

EImage::Processed_Normalized

Required images:

EImage::Raw
EImage::Gray (optional)

Influencing parameters:

ECCPar::PreProc_Demosaic_Enable
ECCPar::PreProc_Demosaic_R
ECCPar::PreProc_Demosaic_G
ECCPar::PreProc_Demosaic_B
ECCPar::PreProc_DenoiseNLM_Enable
ECCPar::PreProc_DenoiseNLM_FilterDia
ECCPar::PreProc_DenoiseNLM_NoiseLevel
ECCPar::PreProc_DenoiseNLM_BlendFactor
ECCPar::PreProc_Std_Enable
ECCPar::PreProc_Std_Gradation
ECCPar::PreProc_Sharp1_Enable
ECCPar::PreProc_Sharp1_OnlyCalc
ECCPar::PreProc_Sharp1_BlurStdDev
ECCPar::PreProc_Sharp1_Factor.

void Rx::LFR::CCudaCompute::Compute_RefocusBasic ( )

Focus image to a plane perpendicular to the optical axis, i.e. parallel to the image plane.

This focuses to a plane perpendicular to the optical axis. You can change the relative focal plane. A relative focus value of zero refocuses to the plane furthest away from the viewer and a value of 1 would focus to a plane that passes through the object side focal point of the recording lens.

Result image:

EImage::RefocusBasic

Required images:

EImage::Processed_Normalized

Influencing parameters:

ECCPar::Focus_RelativeFocusPlane
ECCPar::Depth_MinVirtualDepth
ECCPar::Depth_MaxVirtualDepth.

void Rx::LFR::CCudaCompute::Compute_TotalFocus ( LF::ESpace::ID eSpace = LF::ESpace::View_Object_Pinhole )

Focus on a depth surface.

In principle, each pixel of the result image can be focused individually. This function makes this property available by focusing the ray image to the depth surface given in the internal depth image related to the given space.

Result image:

EImage::TotalFocus_View_Virtual (if eSpace == LF::ESpace::View_Virtual) or
EImage::TotalFocus_View_Object_Pinhole (if eSpace == LF::ESpace::View_Object_Pinhole)

Required images:

EImage::Processed_Normalized
EImage::DepthMap_View_Virtual (if eSpace == LF::ESpace::View_Virtual) or
EImage::DepthMap_View_Object_Pinhole (if eSpace == LF::ESpace::View_Object_Pinhole)

Influencing parameters:

ECCPar::Focus_RelativeFocusPlane
ECCPar::Focus_DepthBlendingScale
ECCPar::Depth_MinVirtualDepth
ECCPar::Depth_MaxVirtualDepth.

Parameters

eSpace (Optional) The space. This is LF::ESpace::View_Virtual or LF::ESpace::View_Object_Pinhole.

CRxImageFormat Rx::LFR::CCudaCompute::CreateFocusImageFormat	(	const CRxImageFormat &	xRawFormat,
		bool	bForceLandscape
	)		const

Creates the image format of the refocus and the total focus image. This considers the Focus_ImageDivisor parameter.

Parameters

xRawFormat	The raw image format.
bForceLandscape	True to force landscape. Otherwise the calibration is used.

Returns: The image format.

const CCudaDevice& Rx::LFR::CCudaCompute::GetCudaDevice ( ) const

Gets the CUDA device that has been set by calling SetCudaDevice. Throws an exception if not set yet.

Returns: The CUDA device.

CCudaCompute_Impl & Rx::LFR::CPimpl< CCudaCompute_Impl , Interfaces::ECudaCompute::ID >::GetImpl ( )

inlineinherited

Gets the non constant implementation.

Returns: The implementation.

const CCudaCompute_Impl & Rx::LFR::CPimpl< CCudaCompute_Impl , Interfaces::ECudaCompute::ID >::GetImpl ( ) const

inlineinherited

Gets the constant implementation.

Returns: The implementation.

void* Rx::LFR::CCudaCompute::GetInterface ( Interfaces::ECudaCompute::ID eData )

Gets the cuda compute interface.

Parameters

eData The interface type.

Returns: Null if it fails, else the interface.

const void* Rx::LFR::CCudaCompute::GetInterface ( Interfaces::ECudaCompute::ID eData ) const

Gets the cuda compute interface.

Parameters

eData The interface type.

Returns: Null if it fails, else the interface.

CParameters<Params::ECudaCompute::ID >& Rx::LFR::CParametersPimpl< CCudaCompute_Impl , Params::ECudaCompute::ID , Interfaces::ECudaCompute::ID >::GetParams ( )

inherited

const CParameters<Params::ECudaCompute::ID >& Rx::LFR::CParametersPimpl< CCudaCompute_Impl , Params::ECudaCompute::ID , Interfaces::ECudaCompute::ID >::GetParams ( ) const

inherited

bool Rx::LFR::CPimpl< CCudaCompute_Impl , Interfaces::ECudaCompute::ID >::HasInterface ( Interfaces::ECudaCompute::ID eInterface )

inlineinherited

Queries if this object has the given interface.

Parameters

eInterface The interface to query.

Returns: True if this class has the given interface, false if not.

CCudaCompute& Rx::LFR::CCudaCompute::operator= ( CCudaCompute && xCudaCompute )

Move assignment operator.

Parameters

xCudaCompute [in,out] The cuda compute instance.

Returns: The instance.

void Rx::LFR::CCudaCompute::ReinitializeDepthDB ( )

Reinitializes the depth database.

This can be useful when calling Compute_DepthMap after changing the ray depth image manually.

void Rx::LFR::CCudaCompute::RemoveComputationFilterMask ( )

Removes the computation filter mask set by SetComputationFilterMask.

void Rx::LFR::CCudaCompute::ResizeImage	(	Interop::Runtime28::IImage *	pxTrgImg,
		const Interop::Runtime28::IImage *	pxSrcImg,
		int	iDivisor
	)

Resize the given source image and store the result in the given target image using the given divisor.

Parameters

pxTrgImg	[in] The target image. This must not be a moniker. It's created inside.
pxSrcImg	The source image.
iDivisor	The divisor. A value of 2 means that the target image is half the source size.

void Rx::LFR::CCudaCompute::SetComputationFilterMask ( const CRxImage & xImage )

Sets the computation filter mask image.

This image is used to reduce the number of lenses used for depth estimation.

It must have the same dimension as the raw image and a pixel type of Rx::Interop::Runtime28::EPixelType::Lum and a data type of Rx::Interop::Runtime28::EDataType::UByte. Otherwise the image is converted.

Each lens of the raw image has a lens center that can be rounded to a pixel. If this pixel has the value 255 in the filter mask image, the corresponding lens is used. If this pixel has another value, the lens is not used.

Parameters

xImage The computation filter mask image.

void Rx::LFR::CCudaCompute::SetComputationFilterMask ( const CRxString & sxFilename )

Sets the computation filter mask image.

This image is used to reduce the number of lenses used for depth estimation.

It must have the same dimension as the raw image and a pixel type of Rx::Interop::Runtime28::EPixelType::Lum and a data type of Rx::Interop::Runtime28::EDataType::UByte. Otherwise the image is converted.

Each lens of the raw image has a lens center that can be rounded to a pixel. If this pixel has the value 255 in the filter mask image, the corresponding lens is used. If this pixel has another value, the lens is not used.

Parameters

sxFilename The image file to load.

void Rx::LFR::CCudaCompute::SetCudaDevice ( const CCudaDevice & xCudaDevice )

Sets the CUDA device that allocates the memory required for the operations and that runs the algorithms.

Parameters

xCudaDevice The CUDA device.

void Rx::LFR::CCudaCompute::UploadRawImage ( const Interop::Runtime28::IImage & xSrcImg )

Uploads the given image as the new raw image of all computations.

Parameters

xSrcImg The source image.

Detailed Description

Public Types

Public Member Functions

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation