Raytrix Light Field SDK
5.0
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Provides methods for using a CUDA device as the computation unit of the LFR.
Inherits Rx::Net::NativeInterfaceWrapper< Rx::LFR::CCudaCompute, Rx::LFR::Net::Interfaces::ECudaCompute >.
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CudaCompute () | |
Default constructor. More... | |
CudaCompute (Rx::LFR::CCudaCompute &xNative) | |
Constructor that wraps the given native instance. Disposing does NOT destroy the native instance. More... | |
~CudaCompute () | |
Destructor. More... | |
void | ApplyCalibration (Calibration^ xCalib, bool bUploadGrayImg) |
Applies the given calibration to the algorithms. This must be done every time the calibration changes. More... | |
void | ApplyRayImage (Rx::LFR::Net::RayImage^ xRayImage) |
Applies the given ray image. More... | |
bool | Compute_Depth3D (ESpace eSourceSpace, ESpace eTargetSpace) |
Calculates the depth 3D image. More... | |
bool | Compute_DepthColorCode (ESpace eSpace) |
Calculates the colored depth map image. More... | |
bool | Compute_DepthMap (ESpace eSpace) |
Calculates the depth map image. This image can be filled to produce a complete filled depth map. More... | |
bool | Compute_DepthMapGlobal (ESpace eSourceSpace, ESpace eTargetSpace) |
Calculates the depth map image. This image can be filled to produce a complete filled depth map. More... | |
bool | Compute_DepthRay () |
Estimates the depth of the current raw image and creates the ray depth image. More... | |
bool | Compute_DepthRayColored () |
Calculates the colored depth ray image. More... | |
bool | Compute_Grid () |
Calculates the grid image. This is the raw or the gray image with an overlay that shows the current grid calibration. More... | |
bool | Compute_GridDataImage () |
Pre-Process a ray image with a minimal set of preprocessing parameters. More... | |
bool | Compute_Histogram (EImage eImgID, RX_OUT array< unsigned >^ % xHistogram, RX_OUT unsigned % uChannels) |
Calculates the histogram of the image with the given image ID and stores the histogram data in the given array. This array must be large enough to hold 4 * 256 numbers. The number of calculated channels is returned in uChannels. More... | |
bool | Compute_ImageMinMax (EImage eImgID, unsigned uChannel, RX_OUT float % fMin, RX_OUT float % fMax) |
Calculates the minimum and the maximum value in the given image. More... | |
bool | Compute_MeshImage (ESpace eSpace) |
Calculates the point cloud image. More... | |
bool | Compute_Multiview () |
Calculates the multi view image. More... | |
bool | Compute_PointCloudImage (ESpace eSpace) |
Calculates the point cloud image. More... | |
bool | Compute_PreProcess () |
Pre-Process a ray image. This can apply denoise, brightness and sharpness adjustments. More... | |
bool | Compute_RefocusBasic () |
Focus image to a plane perpendicular to the optical axis, i.e. parallel to the image plane. More... | |
bool | Compute_TotalFocus (ESpace eSpace) |
Focus on a depth surface. More... | |
bool | Compute_TotalFocusGlobal (ESpace eSourceSpace, ESpace eTargetSpace) |
Focus on a depth surface. More... | |
Rx::Net::ImageFormat ^ | CreateFocusImageFormat (Rx::Net::ImageFormat^ xRawFormat, bool bForceLandscape) |
Creates the image format of the refocus and the total focus image. This considers the Focus_ImageDivisor parameter. More... | |
void | Download (EImage eImgID, Rx::Net::Image^ xImg) |
Downloads the image with the given image ID. More... | |
void | DownloadPointCloud (ESpace eSpaceID, RX_OUT array< Rx::Net::ColorPoint3D >^ % axColorPoints) |
Downloads the point cloud. More... | |
void | Free (EImage eImgID) |
Frees memory used by image defined by eImgID. This invalidates the image. More... | |
void | FreeAll () |
Frees the memory used by all images. This invalidates all images. More... | |
const void * | GetCameraFormat () |
Gets the pointer to the internal camera format. Only for internal purposes. More... | |
IParameters< Rx::LFR::Net::Params::ECudaCompute > ^ | GetComputeParams () |
Gets the parameters access interface. More... | |
CudaDevice ^ | GetCudaDevice () |
Gets the CUDA device that has been set by calling SetCudaDevice. Throws an exception if not set yet. More... | |
size_t | GetDevicePointerPitch (EImage eImgID) |
Gets device pointer pitch, which is the width in bytes of the allocation. Given a row and column of an array element of type T, the address is computed as: More... | |
System::IntPtr | GetImageDevicePointer (EImage eImgID) |
Gets the CUDA device pointer to the data of the image defined by the given ID. More... | |
Rx::Net::ImageFormat ^ | GetImageFormat (EImage eImgID) |
Gets the image format of the image defined by the given ID. More... | |
System::Object ^ | GetInterface (Interfaces::ECudaCompute eInterface) override |
Gets the interface of the CUDA compute class determined by the Interfaces::CudaCompute enum. More... | |
virtual System::Object ^ | GetInterface (Rx::LFR::Net::Interfaces::ECudaCompute eData) |
Gets the interface. More... | |
const void * | GetProjectionSystem () |
Gets the pointer to the internal projection system. Only for internal purposes. More... | |
void | GetRawImagePointsFromVirtualMM_s (RX_OUT array< double >^ % adRawPoints, double dSrcX, double dSrcY, double dSrcZ, int iRadiusLU) |
Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses. More... | |
void | GetRawImagePointsFromVirtualMM_s (RX_OUT array< double >^ % adRawPoints, double dSrcX, double dSrcY, double dSrcZ, int iRadiusLU, int iMinAllowedDistanceToLensBorderPX) |
Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses. More... | |
IParameters< Rx::LFR::Net::Params::EViewCudaCompute > ^ | GetViewParams () |
Gets the parameters access interface. More... | |
void | GetVirtualMM_sFromRawImagePoint (RX_OUT double % dTrgX, RX_OUT double % dTrgY, RX_OUT double % dTrgZ, double dSrcX, double dSrcY, double dSrcZ) |
Projects from the given pixel position in the raw image with the given standard depth through the micro lenses into virtual space. More... | |
bool | HasCudaDevice () |
Queries if a CUDA device has been set. More... | |
bool | IsDataValid (EImage eImage) |
Queries of the data for the given image is valid and up-to-date. More... | |
bool | IsValid (EImage eImgID) |
Query if the image with the given image ID is valid. More... | |
void | Project (RX_OUT array< double >^ % adTrgPoints, array< double >^ adSrcPoints, ESpace eTrgSpace, ESpace eSrcSpace) |
Projects an array of points from the given source space into the given target space. More... | |
void | Project (RX_OUT array< double >^ % adTrgPoints, array< double >^ adSrcPoints, ESpace eTrgSpace, ESpace eSrcSpace, bool bTrgVD, bool bSrcVD) |
Projects an array of points from the given source space into the given target space. More... | |
void | Project (RX_OUT array< double >^ % adTrgPoints, array< double >^ adSrcPoints, ESpace eTrgSpace, ESpace eSrcSpace, Rx::Net::ImageFormat^ xFormat) |
Projects an array of points from the given source space into the given target space. More... | |
void | Project (RX_OUT array< double >^ % adTrgPoints, array< double >^ adSrcPoints, ESpace eTrgSpace, ESpace eSrcSpace, Rx::Net::ImageFormat^ xFormat, bool bTrgVD, bool bSrcVD) |
Projects an array of points from the given source space into the given target space. More... | |
bool | ProjectInto3DSpace (ESpace eSpace) |
Project into 3D space. More... | |
void | ReinitializeDepthDB () |
Reinitializes the depth database. More... | |
void | RemoveComputationFilterMask () |
Removes the computation filter mask set by SetComputationFilterMask. More... | |
void | ResetReferencePlane () |
Resets the reference plane. More... | |
void | ResizeImage (Rx::Net::Image^ xTrgImg, Rx::Net::Image^ xSrcImg, int iDivisor) |
Resize the given source image and store the result in the given target image using the given divisor. More... | |
void | SetComputationFilterMask (Rx::Net::Image^ xImage) |
Sets the computation filter mask image. More... | |
void | SetComputationFilterMask (System::String^ sFilename) |
Sets the computation filter mask image. More... | |
void | SetCudaDevice (CudaDevice^ xCudaDevice) |
Sets the CUDA device that allocates the memory required for the operations and that runs the algorithms. More... | |
void | UpdateTexture (EImage eImgID, OpenGlInterop^ xOpenGL) |
Updates the OpenGL texture of the image defined by the given ID. More... | |
void | UpdateTexture (EImage eImgID, OpenGlInterop^ xOpenGL, bool bCreateMipmaps) |
Updates the OpenGL texture of the image defined by the given ID. More... | |
void | Upload (EImage eImgID, Rx::Net::Image^ xImg) |
Uploads the image with the given image ID. More... | |
void | UploadRawImage (Rx::Net::Image^ xSrcImg) |
Uploads the given image as the new raw image of all computations. More... | |
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Default constructor.
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Constructor that wraps the given native instance. Disposing does NOT destroy the native instance.
xNative | [in] The native instance to wrap by this class. |
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Destructor.
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Applies the given calibration to the algorithms. This must be done every time the calibration changes.
xCalib | [in] The calibration. |
bUploadGrayImg | [in] True to upload the gray image of the calibration to CUDA. False to use the current gray image even if it is invalid. |
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Applies the given ray image.
This uploads the raw and the gray image to the CUDA device and applies the calibration and the parameters from the meta data to the CUDA algorithms.
xRayImage | The ray image. |
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Calculates the depth 3D image.
This creates a RGBA float image which maps each pixel in the view camera to a 3D position in object space. The R channel is the X coordinate, the G channel is the Y coordinate and the B channel is the Z coordinate. The Z coordinate is relative to the global coordinate system which typically coincides with the light field camera sensor. All coordinate values are given in millimeters. The A channel is the Z coordinate in virtual depths.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
eSourceSpace | [in] The source space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic. |
eTargetSpace | [in] The target space. This is LF::ESpace::Virtual or LF::ESpace::Object or LF::ESpace::Reference. |
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Calculates the colored depth map image.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
eSpace | (Optional) [in] The space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic. |
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Calculates the depth map image. This image can be filled to produce a complete filled depth map.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
eSpace | (Optional) [in] The space. This is LF::ESpace::View_VirtualCalibrated or LF::ESpace::View_Orthographic. |
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Calculates the depth map image. This image can be filled to produce a complete filled depth map.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
eSourceSpace | [in] The source space. This is LF::ESpace::Virtual or LF::ESpace::Object. |
eTargetSpace | [in] The target space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic. |
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Estimates the depth of the current raw image and creates the ray depth image.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
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Calculates the colored depth ray image.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
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Calculates the grid image. This is the raw or the gray image with an overlay that shows the current grid calibration.
Result image:
Required images:
Influencing parameters:
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Pre-Process a ray image with a minimal set of preprocessing parameters.
Result image:
Required images:
Influencing parameters:
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Calculates the histogram of the image with the given image ID and stores the histogram data in the given array. This array must be large enough to hold 4 * 256 numbers. The number of calculated channels is returned in uChannels.
eImgID | [in] The image ID. |
xHistogram | [out] The histogram. |
uChannels | [out] The number of channels. |
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Calculates the minimum and the maximum value in the given image.
eImgID | [in] The image ID. The image must be of type float. |
uChannel | [in] The channel of each pixel that is used to get the values. |
fMin | [out] The minimum. |
fMax | [out] The maximum. |
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Calculates the point cloud image.
This creates a RGBA float image where each pixel describes a 3D color point from the given space. The R channel is the X coordinate, the G channel is the Y coordinate and the B channel is the Z coordinate. The Z coordinate is relative to the global coordinate system which typically coincides with the light field camera sensor. All coordinate values are given in millimeters.
The A channel describes the color of the point. Via OpenGL you can extract the color with the following methods: unpackUnorm4x8(floatBitsToUint(A)).
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
eSpace | (Optional) The space to project into. This is LF::ESpace::Virtual or LF::ESpace::Object. |
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Calculates the multi view image.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
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Calculates the point cloud image.
This creates a RGBA float image where each pixel describes a 3D color point from the given space. The R channel is the X coordinate, the G channel is the Y coordinate and the B channel is the Z coordinate. The Z coordinate is relative to the global coordinate system which typically coincides with the light field camera sensor. All coordinate values are given in millimeters.
The A channel describes the color of the point. Via OpenGL you can extract the color with the following methods: unpackUnorm4x8(floatBitsToUint(A)).
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
eSpace | (Optional) The space to project into. This is LF::ESpace::Virtual or LF::ESpace::Object. |
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Pre-Process a ray image. This can apply denoise, brightness and sharpness adjustments.
Result image:
Required image:
Influencing parameters:
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Focus image to a plane perpendicular to the optical axis, i.e. parallel to the image plane.
This focuses to a plane perpendicular to the optical axis. You can change the relative focal plane. A relative focus value of zero refocuses to the plane furthest away from the viewer and a value of 1 would focus to a plane that passes through the object side focal point of the recording lens.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
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Focus on a depth surface.
In principle, each pixel of the result image can be focused individually. This function makes this property available by focusing the ray image to the depth surface given in the internal depth image related to the given space.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
eSpace | (Optional) [in] The space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic. |
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Focus on a depth surface.
In principle, each pixel of the result image can be focused individually. This function makes this property available by focusing the ray image to the depth surface given in the internal depth image related to the given space.
Result image:
Also computes (if not valid):
Influencing parameters: (for intermediate images, see respective methods)
eSourceSpace | [in] The source space. This is LF::ESpace::Virtual or LF::ESpace::Object. |
eTargetSpace | [in] The target space. This is LF::ESpace::View_VirtualUndistorted or LF::ESpace::View_Object_Orthographic. |
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Creates the image format of the refocus and the total focus image. This considers the Focus_ImageDivisor parameter.
xRawFormat | [in] The raw image format. |
bForceLandscape | [in] True to force landscape. Otherwise the calibration is used. |
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Downloads the image with the given image ID.
eImgID | [in] The image ID. |
xImg | [out] If non-null, the image. |
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Downloads the point cloud.
eSpaceID | [in] The space ID. |
axColorPoints | [out] The array of colored 3D points. |
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Frees memory used by image defined by eImgID. This invalidates the image.
eImgID | The image ID. |
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Frees the memory used by all images. This invalidates all images.
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Gets the pointer to the internal camera format. Only for internal purposes.
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Gets the parameters access interface.
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Gets the CUDA device that has been set by calling SetCudaDevice. Throws an exception if not set yet.
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Gets device pointer pitch, which is the width in bytes of the allocation. Given a row and column of an array element of type T, the address is computed as:
T* pElement = (T*)((char*)BaseAddress + Row * pitch) + Column;
eImgID | The image ID. |
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Gets the CUDA device pointer to the data of the image defined by the given ID.
The pointer maps to the memory on a CUDA device and cannot be used on the host.
eImgID | The image ID. |
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Gets the image format of the image defined by the given ID.
eImgID | [in] The image ID. |
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Gets the interface of the CUDA compute class determined by the Interfaces::CudaCompute enum.
eInterface | [in] The interface enum. |
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Gets the interface.
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Gets the pointer to the internal projection system. Only for internal purposes.
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Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses.
adRawPoints | [out] The projected points. This array contains three entries per projected point. The first and the second entry are the X and the Y coordinates of the projected point given in pixels in the raw image. The third entry is the corresponding lens type. |
dSrcX | [in] The X coordinate of the source point in virtual space in millimeters. |
dSrcY | [in] The Y coordinate of the source point in virtual space in millimeters. |
dSrcZ | [in] The Z coordinate of the source point in virtual space in millimeters. |
iRadiusLU | [in] The radius given in lens units that is used to find the suitable micro lenses. A radius of 2 or 3 lens units is recommended. |
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Projects the given 3D point given in virtual space in sensor frame in millimeters through all suitable micro lenses.
adRawPoints | [out] The projected points. This array contains three entries per projected point. The first and the second entry are the X and the Y coordinates of the projected point given in pixels in the raw image. The third entry is the corresponding lens type. |
dSrcX | [in] The X coordinate of the source point in virtual space in millimeters. |
dSrcY | [in] The Y coordinate of the source point in virtual space in millimeters. |
dSrcZ | [in] The Z coordinate of the source point in virtual space in millimeters. |
iRadiusLU | [in] The radius given in lens units that is used to find the suitable micro lenses. A radius of 2 or 3 lens units is recommended. |
iMinAllowedDistanceToLensBorderPX | [in] Zero-based index of the minimum allowed distance to lens border in pixels. |
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Gets the parameters access interface.
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Projects from the given pixel position in the raw image with the given standard depth through the micro lenses into virtual space.
dTrgX | [out] The X coordinate of the target point in virtual space in mm. |
dTrgY | [out] The Y coordinate of the target point in virtual space in mm. |
dTrgZ | [out] The Z coordinate of the target point in virtual space in mm. |
dSrcX | [in] The X coordinate of the source point in pixels in raw image format. |
dSrcY | [in] The Y coordinate of the target point in pixels in raw image format. |
dSrcZ | [in] The Z coordinate of the target point in standard depths (Between 0.5 and 1.0) |
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Queries if a CUDA device has been set.
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Queries of the data for the given image is valid and up-to-date.
eImage | The image. |
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Query if the image with the given image ID is valid.
eImgID | [in] The image ID. |
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Projects an array of points from the given source space into the given target space.
adTrgPoints | [out] The array of projected points. |
adSrcPoints | [in] The array of points to project. |
eTrgSpace | [in] The target space. |
eSrcSpace | [in] The source space. |
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Projects an array of points from the given source space into the given target space.
adTrgPoints | [out] The array of projected points. |
adSrcPoints | [in] The array of points to project. |
eTrgSpace | [in] The target space. |
eSrcSpace | [in] The source space. |
bTrgVD | [in] True if the target depth should be given in virtual depths. Is ignored if the target space isn't virtual. |
bSrcVD | [in] True if the source depth is given in virtual depths. Is ignored if the source space isn't virtual. |
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Projects an array of points from the given source space into the given target space.
adTrgPoints | [out] The array of projected points. |
adSrcPoints | [in] The array of points to project. |
eTrgSpace | [in] The target space. |
eSrcSpace | [in] The source space. |
xFormat | [in] The image format of the source and/or target space. Only required if the space is a view. This parameter limits this function to allow only projections from an image format to the same image format. An invalid format also leads to the use of millimeters in the view target spaces, instead of pixel. |
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Projects an array of points from the given source space into the given target space.
adTrgPoints | [out] The array of projected points. |
adSrcPoints | [in] The array of points to project. |
eTrgSpace | [in] The target space. |
eSrcSpace | [in] The source space. |
xFormat | [in] The image format of the source and/or target space. Only required if the space is a view. This parameter limits this function to allow only projections from an image format to the same image format. An invalid format also leads to the use of millimeters in the view target spaces, instead of pixel. |
bTrgVD | [in] True if the target depth should be given in virtual depths. Is ignored if the target space isn't virtual. |
bSrcVD | [in] True if the source depth is given in virtual depths. Is ignored if the source space isn't virtual. |
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Project into 3D space.
Result image:
eSpace | [in] The space to project into. This is LF::ESpace::Virtual or LF::ESpace::Object. |
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Reinitializes the depth database.
This can be useful when calling Compute_DepthMap after changing the ray depth image manually.
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Removes the computation filter mask set by SetComputationFilterMask.
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Resets the reference plane.
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Resize the given source image and store the result in the given target image using the given divisor.
xTrgImg | [in] The target image. This must not be a moniker. It's created inside. |
xSrcImg | [in] The source image. |
iDivisor | [in] The divisor. A value of 2 means that the target image is half the source size. |
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Sets the computation filter mask image.
This image is used to reduce the number of lenses used for depth estimation.
It must have the same dimension as the raw image and a pixel type of Rx::InteropNet::Runtime28::EPixelType::Lum and a data type of Rx::InteropNet::Runtime28::EDataType::UByte. Otherwise the image is converted.
Each lens of the raw image has a lens center that can be rounded to a pixel. If this pixel has the value 255 in the filter mask image, the corresponding lens is used. If this pixel has another value, the lens is not used.
xImage | [in] The computation filter mask image. |
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Sets the computation filter mask image.
This image is used to reduce the number of lenses used for depth estimation.
It must have the same dimension as the raw image and a pixel type of Rx::InteropNet::Runtime28::EPixelType::Lum and a data type of Rx::InteropNet::Runtime28::EDataType::UByte. Otherwise the image is converted.
Each lens of the raw image has a lens center that can be rounded to a pixel. If this pixel has the value 255 in the filter mask image, the corresponding lens is used. If this pixel has another value, the lens is not used.
sFilename | [in] The complete image file path. |
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Sets the CUDA device that allocates the memory required for the operations and that runs the algorithms.
xCudaDevice | [in] The CUDA device. |
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Updates the OpenGL texture of the image defined by the given ID.
This copies the image into the texture and creates a valid texture ID if the texture has not been created before. The calling thread must own the OpenGL context that owns the texture.
eImgID | [in] The image ID. |
xOpenGL | [in] The OpenGlInterop class. |
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Updates the OpenGL texture of the image defined by the given ID.
This copies the image into the texture and creates a valid texture ID if the texture has not been created before. The calling thread must own the OpenGL context that owns the texture.
eImgID | [in] The image ID. |
xOpenGL | [in] The OpenGlInterop class. |
bCreateMipmaps | [in] True to create mipmaps of the texture. |
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Uploads the image with the given image ID.
eImgID | [in] The image ID. |
xImg | [in] If non-null, the image. |
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Uploads the given image as the new raw image of all computations.
xSrcImg | [in] The source image. |