Kernels for the OCLSLAM pipeline. More...

Functions
kernel void	splitPC8D_octomap (global float8 pc8d, global float pc3d, global uchar *rgb)
	Splits an 8-D point cloud into 3-D coordinates (in meters) and 8-bit RGB values. More...

Detailed Description

Kernels for the OCLSLAM pipeline.

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Function Documentation

kernel void splitPC8D_octomap	(	global float8 *	pc8d,
		global float *	pc3d,
		global uchar *	rgb
	)

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

Note: The global workspace should be one-dimensional. The x dimension of the global workspace, \( gXdim \), should be equal to the number of points in the point cloud. The local workspace is irrelevant.

Parameters

[in]	pc8d	array with 8-D points (homogeneous coordinates + RGBA values).
[out]	pc3d	array with 3-D coordinates (in meters).
[out]	rgb	array with 8-bit RGB values.