Detailed Description

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

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

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...

bool	Compute_Depth3D (LF::ESpace::ID eSourceSpace, LF::ESpace::ID eTargetSpace)
	Calculates the depth 3D image. More...

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

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

bool	Compute_DepthMapGlobal (LF::ESpace::ID eSourceSpace, LF::ESpace::ID eTargetSpace)
	Calculates the depth map image. This image can be filled to produce a complete filled depth map. More...

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

bool	Compute_DepthRayColored ()
	Calculates the colored depth ray image. More...

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

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

bool	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...

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

bool	Compute_MeshImage (LF::ESpace::ID eSpace=LF::ESpace::Object)
	Calculates the point cloud image. More...

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

bool	Compute_PointCloudImage (LF::ESpace::ID eSpace=LF::ESpace::Object)
	Calculates the point cloud image. More...

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

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

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

bool	Compute_TotalFocusGlobal (LF::ESpace::ID eSourceSpace, LF::ESpace::ID eTargetSpace)
	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...

void	Download (EImage::ID eImgID, CRxImage &xImage) const
	Downloads the image defined by eImgID. More...

void	DownloadPointCloud (LF::ESpace::ID eSpaceID, CRxArrayDouble &adPointPosition, CRxArrayDouble &adPointColor)
	Downloads the point cloud. More...

void	Free (EImage::ID eImgID)
	Frees memory used by image defined by eImgID. This invalidates the image. More...

void	FreeAll ()
	Frees the memory used by all images. This invalidates all images. More...

const void *	GetCameraFormat () const
	Gets the pointer to the internal camera format. Only for internal purposes. More...

CParameters< Params::ECudaCompute::ID > &	GetComputeParams ()
	Gets compute parameters. More...

const CParameters< Params::ECudaCompute::ID > &	GetComputeParams () const
	Gets compute parameters. More...

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

size_t	GetDevicePointerPitch (EImage::ID eImgID) const
	Gets device pointer pitch. More...

void *	GetImageDevicePointer (EImage::ID eImgID) const
	Gets the CUDA device pointer to the data of the image defined by the given ID. More...

const CRxImageFormat &	GetImageFormat (EImage::ID eImgID) const
	Gets the image format of the image defined by the given ID. 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...

const void *	GetProjectionSystem () const
	Gets the pointer to the internal projection system. Only for internal purposes. More...

void	GetRawImagePointsFromVirtualMM_s (CRxArray< double > &adRawPoints, double dSrcX, double dSrcY, double dSrcZ, int iRadiusLU) const
	Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses. More...

void	GetRawImagePointsFromVirtualMM_s (CRxArray< double > &adRawPoints, double dSrcX, double dSrcY, double dSrcZ, int iRadiusLU, int iMinAllowedDistanceToLensBorderPX) const
	Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses. More...

CParameters< Params::EViewCudaCompute::ID > &	GetViewParams ()
	Gets view parameters. More...

const CParameters< Params::EViewCudaCompute::ID > &	GetViewParams () const
	Gets view parameters. More...

void	GetVirtualMM_sFromRawImagePoint (double &dTrgX, double &dTrgY, double &dTrgZ, double dSrcX, double dSrcY, double dSrcZ) const
	Projects from the given pixel position in the raw image with the given standard depth through the micro lenses into virtual space. More...

bool	HasCudaDevice () const
	Queries if a CUDA device has been set. More...

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

bool	IsDataValid (EImage::ID eImage) const
	Queries of the data for the given image is valid and up-to-date. More...

bool	IsValid (EImage::ID eImgID) const
	Query if the image defined by eImgID is valid. More...

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

void	Project (CRxArray< double > &adTrgPoints, const CRxArray< double > &adSrcPoints, LF::ESpace::ID eTrgSpace, LF::ESpace::ID eSrcSpace) const
	Projects an array of points from the given source space into the given target space. More...

void	Project (CRxArray< double > &adTrgPoints, const CRxArray< double > &adSrcPoints, LF::ESpace::ID eTrgSpace, LF::ESpace::ID eSrcSpace, bool bTrgVD, bool bSrcVD) const
	Projects an array of points from the given source space into the given target space. More...

void	Project (CRxArray< double > &adTrgPoints, const CRxArray< double > &adSrcPoints, LF::ESpace::ID eTrgSpace, LF::ESpace::ID eSrcSpace, const CRxImageFormat &xFormat) const
	Projects an array of points from the given source space into the given target space. More...

void	Project (CRxArray< double > &adTrgPoints, const CRxArray< double > &adSrcPoints, LF::ESpace::ID eTrgSpace, LF::ESpace::ID eSrcSpace, const CRxImageFormat &xFormat, bool bTrgVD, bool bSrcVD) const
	Projects an array of points from the given source space into the given target space. More...

bool	ProjectInto3DSpace (LF::ESpace::ID eSpace)
	Project into 3D space. More...

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

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

void	ResetReferencePlane ()
	Resets the reference plane. More...

void	ResizeImage (CRxImage &xTrgImg, const CRxImage &xSrcImg, 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	UpdateTexture (EImage::ID eImgID, COpenGlInterop &xOpenGL, bool bCreateMipmaps=false)
	Updates the OpenGL texture of the image defined by the given ID. More...

void	Upload (EImage::ID eImgID, const CRxImage &xImage)
	Uploads the given image onto the CUDA device. More...

void	UploadRawImage (const CRxImage &xSrcImg)
	Uploads the given image as the new raw image of all computations. More...

Constructor & Destructor Documentation

◆ CCudaCompute() [1/2]

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

Default constructor.

◆ CCudaCompute() [2/2]

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

Move constructor.

Parameters

xCudaCompute [in,out] The CUDA compute instance.

◆ ~CCudaCompute()

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

Destructor.

Member Function Documentation

◆ ApplyCalibration()

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

◆ ApplyRayImage()

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 [in] The ray image.

◆ Compute_Depth3D()

bool Rx::LFR::CCudaCompute::Compute_Depth3D	(	LF::ESpace::ID	eSourceSpace,
		LF::ESpace::ID	eTargetSpace
	)

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_Virtual (if eTargetSpace == LF::ESpace::Virtual) or
EImage::Depth3D_Object (if eTargetSpace == LF::ESpace::Object) or
EImage::Depth3D_Reference (if eTargetSpace == LF::ESpace::Reference)

Also computes (if not valid):

EImage::DepthMap_View_Virtual (if eSourceSpace == LF::ESpace::View_VirtualUndistorted) or
EImage::DepthMap_View_Object_Orthographic (if eSourceSpace == LF::ESpace::View_Object_Orthographic)

Influencing parameters: (for intermediate images, see respective methods)

EViewCudaCompute::DepthMap_Color_Mode.

Parameters

eSourceSpace	[in] The source space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic.
eTargetSpace	[in] The target space. This is LF::ESpace::Virtual or LF::ESpace::Object or LF::ESpace::Reference.

Returns: True if the resulting images have been updated, false if not.

◆ Compute_DepthColorCode()

bool Rx::LFR::CCudaCompute::Compute_DepthColorCode ( LF::ESpace::ID eSpace = LF::ESpace::View_VirtualUndistorted )

Calculates the colored depth map image.

Result image:

EImage::DepthMapColored_View_Virtual (if eSpace == LF::ESpace::View_VirtualUndistorted) or
EImage::DepthMapColored_View_Object_Orthographic (if eSpace == LF::ESpace::View_Object_Orthographic)

Also computes (if not valid):

EImage::Depth3D_Reference

Influencing parameters: (for intermediate images, see respective methods)

ECudaCompute::Depth_ImageDivisor
EViewCudaCompute::DepthMap_Color_Mode
EViewCudaCompute::Reference_DepthMax_MM
EViewCudaCompute::Reference_DepthMin_MM
EViewCudaCompute::DepthMap_Color_Map
EViewCudaCompute::DepthMap_Color_GammaCorrection.
EViewCudaCompute::ReferencePlane_Transformation_g_r.

Parameters

eSpace (Optional) [in] The space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic.

Returns: True if the resulting images have been updated, false if not.

◆ Compute_DepthMap()

bool Rx::LFR::CCudaCompute::Compute_DepthMap ( LF::ESpace::ID eSpace = LF::ESpace::View_VirtualUndistorted )

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_VirtualUndistorted) or
EImage::DepthMap_View_Object_Orthographic (if eSpace == LF::ESpace::View_Object_Orthographic)

Also computes (if not valid):

EImage::DepthRay

Influencing parameters: (for intermediate images, see respective methods)

ECudaCompute::Depth_ImageDivisor
ECudaCompute::Depth_Fill_Bilateral_Enabled
ECudaCompute::Depth_Fill_Bilateral_Algorithm
ECudaCompute::Depth_Fill_Bilateral_EnablePreFilter
ECudaCompute::Depth_Fill_Bilateral_Edge
ECudaCompute::Depth_Fill_Bilateral_Range
ECudaCompute::Depth_Fill_Bilateral_FilterRadius
ECudaCompute::Depth_Fill_Bilateral_DepthRadius
ECudaCompute::Depth_Algorithm
ECudaCompute::Depth_ConsistencyCheck
ECudaCompute::Depth_Fill_Enabled
ECudaCompute::Depth_Fill_Algorithm
ECudaCompute::Depth_Fill_IterCnt
ECudaCompute::Depth_Fill_IterSize
ECudaCompute::Depth_Fill_Complete
ECudaCompute::Depth_Fill_Filter_Enabled
ECudaCompute::Depth_Fill_ShrinkRangePX
ECudaCompute::Depth_Fill_DepthThreshold
ECudaCompute::Depth_Fill_MaxDepthVD.

Parameters

eSpace (Optional) [in] The space. This is LF::ESpace::View_VirtualCalibrated or LF::ESpace::View_Orthographic.

Returns: True if the resulting images have been updated, false if not.

◆ Compute_DepthMapGlobal()

bool Rx::LFR::CCudaCompute::Compute_DepthMapGlobal	(	LF::ESpace::ID	eSourceSpace,
		LF::ESpace::ID	eTargetSpace
	)

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

Result image:

EImage::DepthMap_View_Virtual (if eSourceSpace == LF::ESpace::View_VirtualUndistorted) or
EImage::DepthMap_View_Object_Orthographic (if eSourceSpace == LF::ESpace::View_Object_Orthographic)

Also computes (if not valid):

EImage::DepthRay

Influencing parameters: (for intermediate images, see respective methods)

ECudaCompute::Depth_ImageDivisor.

Parameters

eSourceSpace	[in] The source space. This is LF::ESpace::Virtual or LF::ESpace::Object.
eTargetSpace	[in] The target space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic.

Returns: True if the resulting images have been updated, false if not.

◆ Compute_DepthRay()

bool Rx::LFR::CCudaCompute::Compute_DepthRay ( )

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

Result image:

EImage::DepthRay

Also computes (if not valid):

EImage::Processed_Normalized

Influencing parameters: (for intermediate images, see respective methods)

ECudaCompute::PreProc_Sharp1_Enable
ECudaCompute::PreProc_Sharp1_OnlyCalc
ECudaCompute::PreProc_Sharp1_BlurStdDev
ECudaCompute::PreProc_Sharp1_Factor
ECudaCompute::Depth_MinVirtualDepth
ECudaCompute::Depth_MaxVirtualDepth
ECudaCompute::Depth_MinCorrelation
ECudaCompute::Depth_MinStdDeviation
ECudaCompute::Depth_LensFilterMask
ECudaCompute::Depth_SparseLensSet
ECudaCompute::Depth_NearResolutionLevel
ECudaCompute::Depth_PatchDiameter
ECudaCompute::Depth_PatchStride
ECudaCompute::Depth_Fill_Enabled
ECudaCompute::Depth_Fill_RawEnabled
ECudaCompute::Depth_Algorithm

Returns: True if the resulting images have been updated, false if not.

◆ Compute_DepthRayColored()

bool Rx::LFR::CCudaCompute::Compute_DepthRayColored ( )

Calculates the colored depth ray image.

Result image:

EImage::DepthRayColored

Also computes (if not valid):

EImage::DepthRay

Influencing parameters: (for intermediate images, see respective methods)

EViewCudaCompute::DepthMap_Color_Mode
EViewCudaCompute::Reference_DepthMax_MM
EViewCudaCompute::Reference_DepthMin_MM
EViewCudaCompute::DepthMap_Color_Map
EViewCudaCompute::DepthMap_Color_GammaCorrection

Returns: True if the resulting images have been updated, false if not.

◆ Compute_Grid()

bool 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:

ECudaCompute::Grid_DrawOnGrayImage
ECudaCompute::Grid_DrawMlaGrid
ECudaCompute::PreProc_Demosaic_R
ECudaCompute::PreProc_Demosaic_G
ECudaCompute::PreProc_Demosaic_B

Returns: True if the resulting images have been updated, false if not.

◆ Compute_GridDataImage()

bool 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:

ECudaCompute::PreProc_Demosaic_R
ECudaCompute::PreProc_Demosaic_G
ECudaCompute::PreProc_Demosaic_B

Returns: True if the resulting images have been updated, false if not.

◆ Compute_Histogram()

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

Returns: True if the resulting images have been updated, false if not.

◆ Compute_ImageMinMax()

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

Returns: True if the resulting images have been updated, false if not.

◆ Compute_MeshImage()

bool Rx::LFR::CCudaCompute::Compute_MeshImage ( LF::ESpace::ID eSpace = LF::ESpace::Object )

Calculates the point cloud image.

This creates a RGBA float image where each pixel describes a 3D color point from the given 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 describes the color of the point. Via OpenGL you can extract the color with the following methods: unpackUnorm4x8(floatBitsToUint(A)).

Result image:

EImage::PointCloud

Also computes (if not valid):

Influencing parameters: (for intermediate images, see respective methods)

None.

Parameters

eSpace (Optional) The space to project into. This is LF::ESpace::Virtual or LF::ESpace::Object.

Returns: True if the resulting images have been updated, false if not.

◆ Compute_Multiview()

bool Rx::LFR::CCudaCompute::Compute_Multiview ( )

Calculates the multi view image.

Result image:

EImage::Multiview

Also computes (if not valid):

Influencing parameters: (for intermediate images, see respective methods)

EViewCudaCompute::Multiview_EyeSeparation
EViewCudaCompute::Multiview_Type
ECudaCompute::Depth_Fill_Complete
ECudaCompute::Focus_ImageDivisor
ECudaCompute::PreProc_DataType
EViewCudaCompute::ViewCamera_OffsetPx
EViewCudaCompute::CollimationPlaneVD
ECudaCompute::Depth_ImageDivisor
ECudaCompute::Depth_Fill_Bilateral_Enabled
ECudaCompute::Depth_Fill_Bilateral_Algorithm
ECudaCompute::Depth_Fill_Bilateral_EnablePreFilter
ECudaCompute::Depth_Fill_Bilateral_Edge
ECudaCompute::Depth_Fill_Bilateral_Range
ECudaCompute::Depth_Fill_Bilateral_FilterRadius
ECudaCompute::Depth_Fill_Bilateral_DepthRadius
ECudaCompute::Depth_Algorithm
ECudaCompute::Depth_ConsistencyCheck
ECudaCompute::Depth_Fill_Enabled
ECudaCompute::Depth_Fill_Algorithm
ECudaCompute::Depth_Fill_IterCnt
ECudaCompute::Depth_Fill_IterSize
ECudaCompute::Depth_Fill_Complete
ECudaCompute::Depth_Fill_Filter_Enabled
ECudaCompute::Depth_Fill_ShrinkRangePX
ECudaCompute::Depth_Fill_DepthThreshold
ECudaCompute::Depth_Fill_MaxDepthVD
ECudaCompute::Focus_RelativeFocusPlane
ECudaCompute::Depth_MinVirtualDepth
ECudaCompute::Depth_MaxVirtualDepth
ECudaCompute::Focus_DepthBlendingScale
ECudaCompute::Depth_Fill_Complete
ECudaCompute::Depth_Fill_Enabled
ECudaCompute::Focus_FillAlways

Returns: True if the resulting images have been updated, false if not.

◆ Compute_PointCloudImage()

bool Rx::LFR::CCudaCompute::Compute_PointCloudImage ( LF::ESpace::ID eSpace = LF::ESpace::Object )

Calculates the point cloud image.

This creates a RGBA float image where each pixel describes a 3D color point from the given 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 describes the color of the point. Via OpenGL you can extract the color with the following methods: unpackUnorm4x8(floatBitsToUint(A)).

Result image:

EImage::PointCloud

Also computes (if not valid):

Influencing parameters: (for intermediate images, see respective methods)

None.

Parameters

eSpace (Optional) The space to project into. This is LF::ESpace::Virtual or LF::ESpace::Object.

Returns: True if the resulting images have been updated, false if not.

◆ Compute_PreProcess()

bool Rx::LFR::CCudaCompute::Compute_PreProcess ( )

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

Result image:

EImage::Processed_Normalized

Required image:

EImage::Raw
(optional) EImage::Gray

Influencing parameters:

ECudaCompute::PreProc_DataType
ECudaCompute::PreProc_Demosaic_Enable
ECudaCompute::PreProc_Demosaic_R
ECudaCompute::PreProc_Demosaic_G
ECudaCompute::PreProc_Demosaic_B
ECudaCompute::PreProc_DenoiseNLM_Enable
ECudaCompute::PreProc_DenoiseNLM_FilterDia
ECudaCompute::PreProc_DenoiseNLM_NoiseLevel
ECudaCompute::PreProc_DenoiseNLM_BlendFactor
ECudaCompute::PreProc_Std_Enable
ECudaCompute::PreProc_Std_Gradation
ECudaCompute::PreProc_Sharp1_Enable
ECudaCompute::PreProc_Sharp1_OnlyCalc
ECudaCompute::PreProc_Sharp1_BlurStdDev
ECudaCompute::PreProc_Sharp1_Factor

Returns: True if the resulting images have been updated, false if not.

◆ Compute_RefocusBasic()

bool 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

Also computes (if not valid):

EImage::Processed_Normalized

Influencing parameters: (for intermediate images, see respective methods)

ECudaCompute::Focus_RelativeFocusPlane
ECudaCompute::Depth_MinVirtualDepth
ECudaCompute::Depth_MaxVirtualDepth

Returns: True if the resulting images have been updated, false if not.

◆ Compute_TotalFocus()

bool Rx::LFR::CCudaCompute::Compute_TotalFocus ( LF::ESpace::ID eSpace = LF::ESpace::View_VirtualUndistorted )

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_VirtualUndistorted) or
EImage::DepthMap_View_Object_Orthographic (if eSpace == LF::ESpace::View_Object_Orthographic)

Also computes (if not valid):

EImage::Processed_Normalized
EImage::DepthMap_View_Virtual (if eSpace == LF::ESpace::View_VirtualUndistorted) or
EImage::DepthMap_View_Object_Orthographic (if eSpace == LF::ESpace::View_Object_Orthographic)
EImage::DepthMapColored_View_Virtual (if eSpace == LF::ESpace::View_VirtualUndistorted and ECudaCompute::Focus_DepthBlendingScale > 0) or
EImage::DepthMapColored_View_Object_Orthographic (if eSpace == LF::ESpace::View_Object_Orthographic and ECudaCompute::Focus_DepthBlendingScale > 0)

Influencing parameters: (for intermediate images, see respective methods)

ECudaCompute::Focus_DepthBlendingScale
ECudaCompute::Focus_ImageDivisor
ECudaCompute::PreProc_DataType
ECudaCompute::Focus_RelativeFocusPlane
ECudaCompute::Depth_MinVirtualDepth
ECudaCompute::Depth_MaxVirtualDepth
ECudaCompute::Depth_Fill_Enabled
ECudaCompute::Depth_Fill_Complete
ECudaCompute::Focus_FillAlways
ECudaCompute::Depth_Fill_IterCnt
ECudaCompute::Depth_Fill_IterSize
ECudaCompute::Depth_Fill_Filter_Enabled.

Parameters

eSpace (Optional) [in] The space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic.

Returns: True if the resulting images have been updated, false if not.

◆ Compute_TotalFocusGlobal()

bool Rx::LFR::CCudaCompute::Compute_TotalFocusGlobal	(	LF::ESpace::ID	eSourceSpace,
		LF::ESpace::ID	eTargetSpace
	)

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_VirtualUndistorted) or
EImage::TotalFocus_View_Object_Orthographic (if eSpace == LF::ESpace::View_Object_Orthographic)

Also computes (if not valid):

Influencing parameters: (for intermediate images, see respective methods)

ECudaCompute::Focus_ImageDivisor
ECudaCompute::PreProc_DataType.

Parameters

eSourceSpace	[in] The source space. This is LF::ESpace::Virtual or LF::ESpace::Object.
eTargetSpace	[in] The target space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic.

Returns: True if the resulting images have been updated, false if not.

◆ CreateFocusImageFormat()

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	[in] The raw image format.
bForceLandscape	[in] True to force landscape. Otherwise the calibration is used.

Returns: The focus image format.

◆ Download()

void Rx::LFR::CCudaCompute::Download	(	EImage::ID	eImgID,
		CRxImage &	xImage
	)		const

Downloads the image defined by eImgID.

Parameters

eImgID	[in] Identifier for the image.
xImage	[out] the Image.

◆ DownloadPointCloud()

void Rx::LFR::CCudaCompute::DownloadPointCloud	(	LF::ESpace::ID	eSpaceID,
		CRxArrayDouble &	adPointPosition,
		CRxArrayDouble &	adPointColor
	)

Downloads the point cloud.

Parameters

eSpaceID	[in] Identifier for the space.
adPointPosition	[out] The ad point position.
adPointColor	[out] The ad point color.

◆ Free()

void Rx::LFR::CCudaCompute::Free ( EImage::ID eImgID )

Frees memory used by image defined by eImgID. This invalidates the image.

Parameters

eImgID [in] The image ID.

◆ FreeAll()

void Rx::LFR::CCudaCompute::FreeAll ( )

Frees the memory used by all images. This invalidates all images.

◆ GetCameraFormat()

const void* Rx::LFR::CCudaCompute::GetCameraFormat ( ) const

Gets the pointer to the internal camera format. Only for internal purposes.

Returns: The pointer to the internal camera format.

◆ GetComputeParams() [1/2]

CParameters<Params::ECudaCompute::ID>& Rx::LFR::CCudaCompute::GetComputeParams ( )

Gets compute parameters.

Returns: The compute parameters.

◆ GetComputeParams() [2/2]

const CParameters<Params::ECudaCompute::ID>& Rx::LFR::CCudaCompute::GetComputeParams ( ) const

Gets compute parameters.

Returns: The compute parameters.

◆ GetCudaDevice()

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.

◆ GetDevicePointerPitch()

size_t Rx::LFR::CCudaCompute::GetDevicePointerPitch ( EImage::ID eImgID ) const

Gets device pointer pitch.

Parameters

eImgID [in] The image ID.

Returns: The device pointer pitch.

◆ GetImageDevicePointer()

void* Rx::LFR::CCudaCompute::GetImageDevicePointer ( EImage::ID eImgID ) const

Gets the CUDA device pointer to the data of the image defined by the given ID.

The pointer maps to the memory on a CUDA device and cannot be used on the host.

Parameters

eImgID [in] The image ID.

Returns: The image device pointer.

◆ GetImageFormat()

const CRxImageFormat& Rx::LFR::CCudaCompute::GetImageFormat ( EImage::ID eImgID ) const

Gets the image format of the image defined by the given ID.

Parameters

eImgID [in] The image ID.

Returns: The image format.

◆ GetImpl() [1/2]

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

inlineinherited

Gets the non constant implementation.

Returns: The implementation.

◆ GetImpl() [2/2]

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

inlineinherited

Gets the constant implementation.

Returns: The implementation.

◆ GetInterface() [1/2]

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

Gets the cuda compute interface.

Parameters

eData [in] The interface type.

Returns: Null if it fails, else the interface.

◆ GetInterface() [2/2]

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

Gets the cuda compute interface.

Parameters

eData [in] The interface type.

Returns: Null if it fails, else the interface.

◆ GetProjectionSystem()

const void* Rx::LFR::CCudaCompute::GetProjectionSystem ( ) const

Gets the pointer to the internal projection system. Only for internal purposes.

Returns: The pointer to the internal projection system.

◆ GetRawImagePointsFromVirtualMM_s() [1/2]

void Rx::LFR::CCudaCompute::GetRawImagePointsFromVirtualMM_s	(	CRxArray< double > &	adRawPoints,
		double	dSrcX,
		double	dSrcY,
		double	dSrcZ,
		int	iRadiusLU
	)		const

Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses.

Parameters

adRawPoints	[out] The projected points. This array contains three entries per projected point. The first and the second entry are the X and the Y coordinates of the projected point given in pixels in the raw image. The third entry is the corresponding lens type.
dSrcX	The X coordinate of the source point in virtual space in millimeters.
dSrcY	The Y coordinate of the source point in virtual space in millimeters.
dSrcZ	The Z coordinate of the source point in virtual space in millimeters.
iRadiusLU	The radius given in lens units that is used to find the suitable micro lenses. A radius of 2 or 3 lens units is recommended.

◆ GetRawImagePointsFromVirtualMM_s() [2/2]

void Rx::LFR::CCudaCompute::GetRawImagePointsFromVirtualMM_s	(	CRxArray< double > &	adRawPoints,
		double	dSrcX,
		double	dSrcY,
		double	dSrcZ,
		int	iRadiusLU,
		int	iMinAllowedDistanceToLensBorderPX
	)		const

Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses.

Parameters

adRawPoints	[out] The projected points. This array contains three entries per projected point. The first and the second entry are the X and the Y coordinates of the projected point given in pixels in the raw image. The third entry is the corresponding lens type.
dSrcX	The X coordinate of the source point in virtual space in millimeters.
dSrcY	The Y coordinate of the source point in virtual space in millimeters.
dSrcZ	The Z coordinate of the source point in virtual space in millimeters.
iRadiusLU	The radius given in lens units that is used to find the suitable micro lenses. A radius of 2 or 3 lens units is recommended.
iMinAllowedDistanceToLensBorderPX	The minimal allowed distance to lens border in pixels.

◆ GetViewParams() [1/2]

CParameters<Params::EViewCudaCompute::ID>& Rx::LFR::CCudaCompute::GetViewParams ( )

Gets view parameters.

Returns: The view parameters.

◆ GetViewParams() [2/2]

const CParameters<Params::EViewCudaCompute::ID>& Rx::LFR::CCudaCompute::GetViewParams ( ) const

Gets view parameters.

Returns: The view parameters.

◆ GetVirtualMM_sFromRawImagePoint()

void Rx::LFR::CCudaCompute::GetVirtualMM_sFromRawImagePoint	(	double &	dTrgX,
		double &	dTrgY,
		double &	dTrgZ,
		double	dSrcX,
		double	dSrcY,
		double	dSrcZ
	)		const

Projects from the given pixel position in the raw image with the given standard depth through the micro lenses into virtual space.

Parameters

dTrgX	[in,out] The X coordinate of the target point in virtual space in mm.
dTrgY	[in,out] The Y coordinate of the target point in virtual space in mm.
dTrgZ	[in,out] The Z coordinate of the target point in virtual space in mm.
dSrcX	The X coordinate of the source point in pixels in raw image format.
dSrcY	The Y coordinate of the target point in pixels in raw image format.
dSrcZ	The Z coordinate of the target point in standard depths (Between 0.5 and 1.0)

◆ HasCudaDevice()

bool Rx::LFR::CCudaCompute::HasCudaDevice ( ) const

Queries if a CUDA device has been set.

Returns: True if a CUDA device has been set, false if not.

◆ HasInterface()

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 [in] The interface to query.

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

◆ IsDataValid()

bool Rx::LFR::CCudaCompute::IsDataValid ( EImage::ID eImage ) const

Queries of the data for the given image is valid and up-to-date.

Parameters

eImage The image.

Returns: True if image valid, false if not.

◆ IsValid()

bool Rx::LFR::CCudaCompute::IsValid ( EImage::ID eImgID ) const

Query if the image defined by eImgID is valid.

Parameters

eImgID [in] Identifier for the image.

Returns: True if valid, false if not.

◆ operator=()

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

Move assignment operator.

Parameters

xCudaCompute [in,out] The cuda compute instance.

Returns: The instance.

◆ Project() [1/4]

void Rx::LFR::CCudaCompute::Project	(	CRxArray< double > &	adTrgPoints,
		const CRxArray< double > &	adSrcPoints,
		LF::ESpace::ID	eTrgSpace,
		LF::ESpace::ID	eSrcSpace
	)		const

Projects an array of points from the given source space into the given target space.

Parameters

adTrgPoints	[out] The array of projected points.
adSrcPoints	[in] The array of points to project.
eTrgSpace	[in] The target space.
eSrcSpace	[in] The source space.

◆ Project() [2/4]

void Rx::LFR::CCudaCompute::Project	(	CRxArray< double > &	adTrgPoints,
		const CRxArray< double > &	adSrcPoints,
		LF::ESpace::ID	eTrgSpace,
		LF::ESpace::ID	eSrcSpace,
		bool	bTrgVD,
		bool	bSrcVD
	)		const

Projects an array of points from the given source space into the given target space.

Parameters

adTrgPoints	[out] The array of projected points.
adSrcPoints	[in] The array of points to project.
eTrgSpace	[in] The target space.
eSrcSpace	[in] The source space.
bTrgVD	[in] True if the target depth should be given in virtual depths. Is ignored if the target space isn't virtual.
bSrcVD	[in] True if the source depth is given in virtual depths. Is ignored if the source space isn't virtual.

◆ Project() [3/4]

void Rx::LFR::CCudaCompute::Project	(	CRxArray< double > &	adTrgPoints,
		const CRxArray< double > &	adSrcPoints,
		LF::ESpace::ID	eTrgSpace,
		LF::ESpace::ID	eSrcSpace,
		const CRxImageFormat &	xFormat
	)		const

Projects an array of points from the given source space into the given target space.

Parameters

adTrgPoints	[out] The array of projected points.
adSrcPoints	[in] The array of points to project.
eTrgSpace	[in] The target space.
eSrcSpace	[in] The source space.
xFormat	[in] The image format of the source and/or target space. Only required if the space is a view. This parameter limits this function to allow only projections from an image format to the same image format.

◆ Project() [4/4]

void Rx::LFR::CCudaCompute::Project	(	CRxArray< double > &	adTrgPoints,
		const CRxArray< double > &	adSrcPoints,
		LF::ESpace::ID	eTrgSpace,
		LF::ESpace::ID	eSrcSpace,
		const CRxImageFormat &	xFormat,
		bool	bTrgVD,
		bool	bSrcVD
	)		const

Projects an array of points from the given source space into the given target space.

Parameters

adTrgPoints	[out] The array of projected points.
adSrcPoints	[in] The array of points to project.
eTrgSpace	[in] The target space.
eSrcSpace	[in] The source space.
xFormat	[in] The image format of the source and/or target space. Only required if the space is a view. This parameter limits this function to allow only projections from an image format to the same image format.
bTrgVD	[in] True if the target depth should be given in virtual depths. Is ignored if the target space isn't virtual.
bSrcVD	[in] True if the source depth is given in virtual depths. Is ignored if the source space isn't virtual.

◆ ProjectInto3DSpace()

bool Rx::LFR::CCudaCompute::ProjectInto3DSpace ( LF::ESpace::ID eSpace )

Project into 3D space.

Result image:

Parameters

eSpace [in] The space to project into. This is LF::ESpace::Virtual or LF::ESpace::Object.

Returns: True if the resulting images have been updated, false if not.

◆ ReinitializeDepthDB()

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

Reinitializes the depth database.

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

◆ RemoveComputationFilterMask()

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

Removes the computation filter mask set by SetComputationFilterMask.

◆ ResetReferencePlane()

void Rx::LFR::CCudaCompute::ResetReferencePlane ( )

Resets the reference plane.

◆ ResizeImage()

void Rx::LFR::CCudaCompute::ResizeImage	(	CRxImage &	xTrgImg,
		const CRxImage &	xSrcImg,
		int	iDivisor
	)

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

Parameters

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

◆ SetComputationFilterMask() [1/2]

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 [in] The computation filter mask image.

◆ SetComputationFilterMask() [2/2]

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 [in] The image file to load.

◆ SetCudaDevice()

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 [in] The CUDA device.

◆ UpdateTexture()

void Rx::LFR::CCudaCompute::UpdateTexture	(	EImage::ID	eImgID,
		COpenGlInterop &	xOpenGL,
		bool	bCreateMipmaps = `false`
	)

Updates the OpenGL texture of the image defined by the given ID.

This copies the image into the texture and creates a valid texture ID if the texture has not been created before. The calling thread must own the OpenGL context that owns the texture.

Parameters

eImgID	[in] The image ID.
xOpenGL	[in] The OpenGlInterop class.
bCreateMipmaps	[in] True to create mipmaps of the texture.

◆ Upload()

void Rx::LFR::CCudaCompute::Upload	(	EImage::ID	eImgID,
		const CRxImage &	xImage
	)

Uploads the given image onto the CUDA device.

Parameters

eImgID	[in] Identifier for the image.
xImage	[in] The image.

◆ UploadRawImage()

void Rx::LFR::CCudaCompute::UploadRawImage ( const CRxImage & xSrcImg )

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

Parameters

xSrcImg [in] The source image.

Detailed Description

Public Member Functions

Constructor & Destructor Documentation

◆ CCudaCompute() [1/2]

◆ CCudaCompute() [2/2]

◆ ~CCudaCompute()

Member Function Documentation

◆ ApplyCalibration()

◆ ApplyRayImage()

◆ Compute_Depth3D()

◆ Compute_DepthColorCode()

◆ Compute_DepthMap()

◆ Compute_DepthMapGlobal()

◆ Compute_DepthRay()

◆ Compute_DepthRayColored()

◆ Compute_Grid()

◆ Compute_GridDataImage()

◆ Compute_Histogram()

◆ Compute_ImageMinMax()

◆ Compute_MeshImage()

◆ Compute_Multiview()

◆ Compute_PointCloudImage()

◆ Compute_PreProcess()

◆ Compute_RefocusBasic()

◆ Compute_TotalFocus()

◆ Compute_TotalFocusGlobal()

◆ CreateFocusImageFormat()

◆ Download()

◆ DownloadPointCloud()

◆ Free()

◆ FreeAll()

◆ GetCameraFormat()

◆ GetComputeParams() [1/2]

◆ GetComputeParams() [2/2]

◆ GetCudaDevice()

◆ GetDevicePointerPitch()

◆ GetImageDevicePointer()

◆ GetImageFormat()

◆ GetImpl() [1/2]

◆ GetImpl() [2/2]

◆ GetInterface() [1/2]

◆ GetInterface() [2/2]

◆ GetProjectionSystem()

◆ GetRawImagePointsFromVirtualMM_s() [1/2]

◆ GetRawImagePointsFromVirtualMM_s() [2/2]

◆ GetViewParams() [1/2]

◆ GetViewParams() [2/2]

◆ GetVirtualMM_sFromRawImagePoint()

◆ HasCudaDevice()

◆ HasInterface()

◆ IsDataValid()

◆ IsValid()

◆ operator=()

◆ Project() [1/4]

◆ Project() [2/4]

◆ Project() [3/4]

◆ Project() [4/4]

◆ ProjectInto3DSpace()

◆ ReinitializeDepthDB()

◆ RemoveComputationFilterMask()

◆ ResetReferencePlane()

◆ ResizeImage()

◆ SetComputationFilterMask() [1/2]

◆ SetComputationFilterMask() [2/2]

◆ SetCudaDevice()

◆ UpdateTexture()

◆ Upload()

◆ UploadRawImage()