Point Cloud Library (PCL) 1.13.0
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debayering.h
1/*
2 * Software License Agreement (BSD License)
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4 * Copyright (c) 2011, Willow Garage, Inc.
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34 * $Id$
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36 */
37
38#pragma once
39
40#include <pcl/cuda/point_cloud.h>
41#include <pcl/io/openni_camera/openni_image.h>
42
43namespace pcl
44{
45 namespace cuda
46 {
47
49 {
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 openni_wrapper::Image::Ptr& 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 openni_wrapper::Image::Ptr& 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 openni_wrapper::Image::Ptr& 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>
116 {
117 public:
118 using RGBImageType = typename Storage<OpenNIRGB>::type;
119 void
120 compute (const openni_wrapper::Image::Ptr& 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 openni_wrapper::Image::Ptr& bayer_image, RGBImageType& rgb_image) const;
130
131 //void
132 //computeEdgeAware (const openni_wrapper::Image::Ptr& bayer_image, thrust::host_vector<OpenNIRGB>& rgb_image) const;
133
134 //void
135 //computeEdgeAware (const openni_wrapper::Image::Ptr& bayer_image, thrust::device_vector<OpenNIRGB>& rgb_image) const;
136 };
137
138 } // namespace
139} // namespace
pcl::shared_ptr< Image > Ptr
void compute(const openni_wrapper::Image::Ptr &bayer_image, RGBImageType &rgb_image) const
typename Storage< OpenNIRGB >::type RGBImageType
Definition debayering.h:98
typename Storage< OpenNIRGB >::type RGBImageType
Definition debayering.h:127
void computeBilinear(const openni_wrapper::Image::Ptr &bayer_image, RGBImageType &rgb_image) const
typename Storage< OpenNIRGB >::type RGBImageType
Definition debayering.h:118
void compute(const openni_wrapper::Image::Ptr &yuv_image, RGBImageType &rgb_image) const
DebayerBilinear(unsigned char *bayer_image, unsigned width, unsigned height)
__inline__ __host__ __device__ OpenNIRGB operator()(int index) const
Simple structure holding RGB data.
Definition point_cloud.h:56
unsigned char * data
Definition debayering.h:108
YUV2RGBKernel(unsigned char *yuv_image, unsigned width, unsigned height)
__inline__ __host__ __device__ OpenNIRGB operator()(int index) const
__host__ __device__ bool operator()(int i)
Definition debayering.h:57
downsampleIndices(int width, int height, int stride)
Definition debayering.h:50