cudaPointCloud.h

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#ifndef __CUDA_POINT_CLOUD_H__
#define __CUDA_POINT_CLOUD_H__
 
 
#include "cudaUtility.h"
 
 
// forward declarations
class glBuffer;
class glCamera;
 
 
class cudaPointCloud
{
public:
        struct Vertex
        {
                float3 pos;
 
                uchar3 color;
 
                uint8_t classID;
 
        } __attribute__((packed));
 
        static cudaPointCloud* Create();
 
        ~cudaPointCloud();
        
        bool Reserve( uint32_t maxPoints );
 
        void Free();
 
        void Clear();
 
        bool Extract( float* depth, float4* rgba, uint32_t width, uint32_t height );
 
        bool Extract( float* depth, uint32_t depth_width, uint32_t depth_height,
                            float4* rgba, uint32_t color_width, uint32_t color_height );
 
        inline uint32_t GetNumPoints() const            { return mNumPoints; }
 
        inline uint32_t GetMaxPoints() const            { return mMaxPoints; }
 
        inline size_t GetSize() const                           { return mNumPoints * sizeof(Vertex); }
 
        inline size_t GetMaxSize() const                        { return mMaxPoints * sizeof(Vertex); }
 
        inline Vertex* GetData() const                  { return mPointsCPU; }
 
        inline Vertex* GetData( size_t index ) const    { return mPointsCPU + index; }
 
        inline bool HasRGB() const                              { return mHasRGB; }
 
        bool Render();
 
        bool Save( const char* filename );
 
        bool SetCalibration( const char* filename );
 
        void SetCalibration( const float K[3][3] );
 
        void SetCalibration( const float2& focalLength, const float2& principalPoint );
 
protected:
        cudaPointCloud();
 
        bool allocBufferGL();
        bool allocDepthResize( size_t size );
        
        Vertex* mPointsCPU;
        Vertex* mPointsGPU;
 
        glBuffer* mBufferGL;
        glCamera* mCameraGL;
 
        uint32_t mNumPoints;
        uint32_t mMaxPoints;
 
        float2 mFocalLength;
        float2 mPrincipalPoint;
 
        float* mDepthResize;
        size_t mDepthSize;
 
        bool mHasRGB;
        bool mHasNewPoints;
        bool mHasCalibration;
};
 
#endif