oclslam Namespace Reference

Offers functions that are serial CPU implementations of the relevant algorithms in the OCLSLAM pipeline. More...

Functions
bool	setProfilingFlag (int argc, char **argv)
	Checks the command line arguments for the profiling flag, --profiling. More...
template<typename T >
uint64_t	nextPow2 (T num)
	Returns the first power of 2 greater than or equal to the input. More...
template<typename T >
void	printBuffer (const char *title, T *ptr, uint32_t width, uint32_t height)
	Prints an array of an integer type to standard output. More...
template<typename T >
void	printBufferF (const char *title, T *ptr, uint32_t width, uint32_t height, uint32_t prec)
	Prints an array of floating-point type to standard output. More...
template<typename T >
void	cpuSplitPC8D (T *pc8d, T *pc3d, cl_uchar *rgb, uint32_t n)
	Splits an 8-D point cloud into 3-D coordinates (in meters) and 8-bit RGB values. More...

Variables
std::function< unsigned char()>	rNum_0_255 = std::bind (distribution1, generator)
	Uniform number generator in the range \([0, 255]\). More...
std::function< unsigned short()>	rNum_0_10000 = std::bind (distribution2, generator)
	Uniform number generator in the range \([0, 10000]\). More...
std::function< float()>	rNum_R_0_1 = std::bind (distributionR1, generator)
	Uniform number generator in the range \([0.0, 1.0)\). More...
std::function< float()>	rNum_R_1_255_E__6 = std::bind (distributionR2, generator)
	Uniform number generator in the range \([1e-6, 255*1e-6)\). More...

Detailed Description

Offers functions that are serial CPU implementations of the relevant algorithms in the OCLSLAM pipeline.

Function Documentation

template<typename T >

void oclslam::cpuSplitPC8D	(	T *	pc8d,
		T *	pc3d,
		cl_uchar *	rgb,
		uint32_t	n
	)

Splits an 8-D point cloud into 3-D coordinates (in meters) and 8-bit RGB values.

It is just a naive serial implementation.

Parameters

[in]	pc8d	array with 8-D points (homogeneous coordiates + RGBA values).
[out]	pc3d	array with 3-D coordinates (in meters).
[out]	rgb	array with 8-bit RGB values.
[in]	n	number of points in the 8-D point cloud.

template<typename T >

uint64_t oclslam::nextPow2

(

T

num

)

Returns the first power of 2 greater than or equal to the input.

Parameters

[in]

num

input number.

Returns

The first power of 2 >= num.

template<typename T >

void oclslam::printBuffer	(	const char *	title,
		T *	ptr,
		uint32_t	width,
		uint32_t	height
	)

Prints an array of an integer type to standard output.

Template Parameters

T	type of the data to be printed.

Parameters

[in]	title	legend for the output.
[in]	ptr	array that is to be displayed.
[in]	width	width of the array.
[in]	height	height of the array.

template<typename T >

void oclslam::printBufferF	(	const char *	title,
		T *	ptr,
		uint32_t	width,
		uint32_t	height,
		uint32_t	prec
	)

Prints an array of floating-point type to standard output.

Template Parameters

T	type of the data to be printed.

Parameters

[in]	title	legend for the output.
[in]	ptr	array that is to be displayed.
[in]	width	width of the array.
[in]	height	height of the array.
[in]	prec	the number of decimal places to print.

bool oclslam::setProfilingFlag	(	int	argc,
		char **	argv
	)

Checks the command line arguments for the profiling flag, --profiling.

Parameters

[in]	argc	command line argument count
[in]	argv	command line arguments

Returns

A flag to indicate whether a command line argument for profiling was provided.

Variable Documentation

std::function< unsigned short()> oclslam::rNum_0_10000 = std::bind (distribution2, generator)

Uniform number generator in the range \([0, 10000]\).

std::function< unsigned char()> oclslam::rNum_0_255 = std::bind (distribution1, generator)

Uniform number generator in the range \([0, 255]\).

std::function< float()> oclslam::rNum_R_0_1 = std::bind (distributionR1, generator)

Uniform number generator in the range \([0.0, 1.0)\).

std::function<float ()> oclslam::rNum_R_1_255_E__6 = std::bind (distributionR2, generator)

Uniform number generator in the range \([1e-6, 255*1e-6)\).