Point Cloud Library (PCL)  1.9.1-dev
debayering.h
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37 
38 #pragma once
39 
40 #include <pcl/cuda/point_cloud.h>
41 #include <pcl/io/openni_camera/openni_image.h>
42 
43 namespace pcl
44 {
45  namespace cuda
46  {
47 
49  {
51  : width (width), height (height), stride (stride)
52  {}
53 
55 
56  __host__ __device__
57  bool operator () (int i)
58  {
59  int xIdx = i % width;
60  int yIdx = i / width;
61 
62  return ((xIdx % stride == 0) & (yIdx % stride == 0));
63  }
64  };
65 
66  template <template <typename> class Storage>
68  {
69  unsigned width;
70  unsigned height;
71  //static unsigned dataSize;
72  //static unsigned char* global_data; // has to be initialized only once!
73  //unsigned char* data;
74  unsigned char *data;
75  DebayerBilinear (unsigned char *bayer_image, unsigned width, unsigned height);
76  //DebayerBilinear (const boost::shared_ptr<openni_wrapper::Image>& bayer_image);
77 
78  __inline__ __host__ __device__ OpenNIRGB operator () (int index) const;
79  };
80  /*
81  struct DebayerEdgeAware
82  {
83  unsigned width;
84  unsigned height;
85  static unsigned dataSize;
86  static unsigned char* global_data; // has to be initialized only once!
87  unsigned char* data;
88  DebayerEdgeAware (const boost::shared_ptr<openni_wrapper::Image>& bayer_image);
89  ~DebayerEdgeAware ();
90 
91  __inline__ __host__ __device__ OpenNIRGB operator () (int index) const;
92  };
93  */
94  template<template <typename> class Storage>
96  {
97  public:
98  using RGBImageType = typename Storage<OpenNIRGB>::type;
99  void
100  compute (const boost::shared_ptr<openni_wrapper::Image>& bayer_image, RGBImageType& rgb_image) const;
101  };
102 
103  template <template <typename> class Storage>
105  {
106  unsigned width;
107  unsigned height;
108  unsigned char *data;
109  YUV2RGBKernel (unsigned char *yuv_image, unsigned width, unsigned height);
110 
111  __inline__ __host__ __device__ OpenNIRGB operator () (int index) const;
112  };
113 
114  template<template <typename> class Storage>
115  class YUV2RGB
116  {
117  public:
118  using RGBImageType = typename Storage<OpenNIRGB>::type;
119  void
120  compute (const boost::shared_ptr<openni_wrapper::Image>& yuv_image, RGBImageType& rgb_image) const;
121  };
122 
123  template<template <typename> class Storage>
125  {
126  public:
127  using RGBImageType = typename Storage<OpenNIRGB>::type;
128  void
129  computeBilinear (const boost::shared_ptr<openni_wrapper::Image>& bayer_image, RGBImageType& rgb_image) const;
130 
131  //void
132  //computeEdgeAware (const boost::shared_ptr<openni_wrapper::Image>& bayer_image, thrust::host_vector<OpenNIRGB>& rgb_image) const;
133 
134  //void
135  //computeEdgeAware (const boost::shared_ptr<openni_wrapper::Image>& bayer_image, thrust::device_vector<OpenNIRGB>& rgb_image) const;
136  };
137 
138  } // namespace
139 } // namespace
unsigned char * data
Definition: debayering.h:74
typename Storage< OpenNIRGB >::type RGBImageType
Definition: debayering.h:118
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
__host__ __device__ bool operator()(int i)
Definition: debayering.h:57
unsigned char * data
Definition: debayering.h:108
typename Storage< OpenNIRGB >::type RGBImageType
Definition: debayering.h:127
downsampleIndices(int width, int height, int stride)
Definition: debayering.h:50
typename Storage< OpenNIRGB >::type RGBImageType
Definition: debayering.h:98
Simple structure holding RGB data.
Definition: point_cloud.h:55