Interface class for the icpTransform_Matrix kernel. More...

#include <algorithms.hpp>

Public Types
enum	Memory : uint8_t { Memory::H_IN_S, Memory::H_IN_MEAN, Memory::H_OUT_T_K, Memory::D_IN_S, Memory::D_IN_MEAN, Memory::D_OUT_T_K }
	Enumerates the memory objects handled by the class. More...

Public Member Functions
	ICPPowerMethod (clutils::CLEnv &_env, clutils::CLEnvInfo< 1 > _info)
	Configures an OpenCL environment as specified by `_info`. More...

cl::Memory &	get (ICPPowerMethod::Memory mem)
	Returns a reference to an internal memory object. More...

void	init (Staging _staging=Staging::IO)
	Configures kernel execution parameters. More...

void	write (ICPPowerMethod::Memory mem=ICPPowerMethod::Memory::D_IN_S, void ptr=nullptr, bool block=CL_FALSE, const std::vector< cl::Event > events=nullptr, cl::Event *event=nullptr)
	Performs a data transfer to a device buffer. More...

void *	read (ICPPowerMethod::Memory mem=ICPPowerMethod::Memory::H_OUT_T_K, bool block=CL_TRUE, const std::vector< cl::Event > events=nullptr, cl::Event event=nullptr)
	Performs a data transfer to a staging buffer. More...

void	run (const std::vector< cl::Event > events=nullptr, cl::Event event=nullptr)
	Executes the necessary kernels. More...

template<typename period >
double	run (clutils::GPUTimer< period > &timer, const std::vector< cl::Event > *events=nullptr)
	Executes the necessary kernels. More...

Public Attributes
cl_float *	hPtrInS

cl_float *	hPtrInMean

cl_float *	hPtrOutTk

Detailed Description

Interface class for the icpTransform_Matrix kernel.

The icpTransform_Matrix kernel performs a homogeneous transformation on a set of points using a transformation matrix. For more details, look at the kernel's documentation.

Note: The icpTransform_Matrix kernel is available in kernels/icp_kernels.cl.; The class creates its own buffers. If you would like to provide your own buffers, call get to get references to the placeholders within the class and assign them to your buffers. You will have to do this strictly before the call to init. You can also call get (after the call to init) to get a reference to a buffer within the class and assign it to another kernel class instance further down in your task pipeline.

The following input/output OpenCL memory objects are created by a ICPTransform<ICPTransformConfig::MATRIX> instance:

Name	Type	Placement	I/O	Use	Properties	Size
H_IN_S	Buffer	Host	I	Staging	CL_MEM_READ_WRITE	\(11*sizeof\ (cl\_float)\)
H_IN_MEAN	Buffer	Host	I	Staging	CL_MEM_READ_WRITE	\(2*sizeof\ (cl\_float4)\)
H_OUT_T_K	Buffer	Host	O	Staging	CL_MEM_READ_WRITE	\(2*sizeof\ (cl\_float4)\)
D_IN_S	Buffer	Device	I	Processing	CL_MEM_READ_ONLY	\(11*sizeof\ (cl\_float)\)
D_IN_MEAN	Buffer	Device	I	Processing	CL_MEM_READ_ONLY	\(2*sizeof\ (cl\_float4)\)
D_OUT_T_K	Buffer	Device	O	Processing	CL_MEM_WRITE_ONLY	\(2*sizeof\ (cl\_float4)\)

Member Enumeration Documentation

enum cl_algo::ICP::ICPPowerMethod::Memory : uint8_t

strong

Enumerates the memory objects handled by the class.

Note: H_* names refer to staging buffers on the host.; D_* names refer to buffers on the device.

Enumerator
H_IN_S	Input staging buffer for the sums of products. The first `9 cl_float` elements (in row major order) are the \(S_k\) matrix, and the next `2 cl_float` are the numerator and denominator of the scale \(s_k\).
H_IN_MEAN	Input staging buffer for the set means. The first `cl_float4` is the fixed set mean, and the second one is the moving set mean.
H_OUT_T_K	Output staging buffer for the parameters that represent the incremental development in the transformation estimation. The first `float4` is the unit quaternion \( \dot{q_k} = q_w + q_x i + q_y j + q_z k = \left[ \begin{matrix} q_x & q_y & q_z & q_w \end{matrix} \right]^T \), and the second one is the translation vector \( t_k=\left[ \begin{matrix} t_x & t_y & t_z & 1 \end{matrix} \right]^T \). The scale is placed in the last element of the translation vector. That is, \( t_k = \left[ \begin{matrix} t_x & t_y & t_z & s_k \end{matrix} \right]^T \).
D_IN_S	Input buffer for the sums of products. The first `9 cl_float` elements (in row major order) are the \(S_k\) matrix, and the next `2 cl_float` are the numerator and denominator of the scale \(s_k\).
D_IN_MEAN	Input buffer for the set means. The first `cl_float4` is the fixed set mean, and the second one is the moving set mean.
D_OUT_T_K	Output buffer for the parameters that represent the incremental development in the transformation estimation. The first `float4` is the unit quaternion \( \dot{q_k} = q_w + q_x i + q_y j + q_z k = \left[ \begin{matrix} q_x & q_y & q_z & q_w \end{matrix} \right]^T \), and the second one is the translation vector \( t_k=\left[ \begin{matrix} t_x & t_y & t_z & 1 \end{matrix} \right]^T \). The scale is placed in the last element of the translation vector. That is, \( t_k = \left[ \begin{matrix} t_x & t_y & t_z & s_k \end{matrix} \right]^T \).

Constructor & Destructor Documentation

cl_algo::ICP::ICPPowerMethod::ICPPowerMethod	(	clutils::CLEnv &	_env,
		clutils::CLEnvInfo< 1 >	_info
	)

Configures an OpenCL environment as specified by _info.

Parameters

[in]	_env	opencl environment.
[in]	_info	opencl configuration. It specifies the context, queue, etc, to be used.

Member Function Documentation

cl::Memory & cl_algo::ICP::ICPPowerMethod::get ( ICPPowerMethod::Memory mem )

Returns a reference to an internal memory object.

This interface exists to allow CL memory sharing between different kernels.

Parameters

[in] mem enumeration value specifying the requested memory object.

Returns: A reference to the requested memory object.

void cl_algo::ICP::ICPPowerMethod::init ( Staging _staging = Staging::IO )

Configures kernel execution parameters.

Sets up memory objects as necessary, and defines the kernel workspaces.

Note: If you have assigned a memory object to one member variable of the class before the call to init, then that memory will be maintained. Otherwise, a new memory object will be created.

Parameters

[in] _staging flag to indicate whether or not to instantiate the staging buffers.

void * cl_algo::ICP::ICPPowerMethod::read	(	ICPPowerMethod::Memory	mem = `ICPPowerMethod::Memory::H_OUT_T_K`,
		bool	block = `CL_TRUE`,
		const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Performs a data transfer to a staging buffer.

The transfer happens from a device buffer to the associated (specified) staging buffer on the host.

Parameters

[in]	mem	enumeration value specifying an output staging buffer.
[in]	block	a flag to indicate whether to perform a blocking or a non-blocking operation.
[in]	events	a wait-list of events.
[out]	event	event associated with the read operation to the staging buffer.

void cl_algo::ICP::ICPPowerMethod::run	(	const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Executes the necessary kernels.

The function call is non-blocking.

Parameters

[in]	events	a wait-list of events.
[out]	event	event associated with the kernel execution.

template<typename period >

double cl_algo::ICP::ICPPowerMethod::run	(	clutils::GPUTimer< period > &	timer,
		const std::vector< cl::Event > *	events = `nullptr`
	)

inline

Executes the necessary kernels.

This run instance is used for profiling.

Parameters

[in]	timer	`GPUTimer` that does the profiling of the kernel executions.
[in]	events	a wait-list of events.

Returns: Τhe total execution time measured by the timer.

void cl_algo::ICP::ICPPowerMethod::write	(	ICPPowerMethod::Memory	mem = `ICPPowerMethod::Memory::D_IN_S`,
		void *	ptr = `nullptr`,
		bool	block = `CL_FALSE`,
		const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Performs a data transfer to a device buffer.

The transfer happens from a staging buffer on the host to the associated (specified) device buffer.

Parameters

[in]	mem	enumeration value specifying an input device buffer.
[in]	ptr	a pointer to an array holding input data. If not NULL, the data from `ptr` will be copied to the associated staging buffer.
[in]	block	a flag to indicate whether to perform a blocking or a non-blocking operation.
[in]	events	a wait-list of events.
[out]	event	event associated with the write operation to the device buffer.

Member Data Documentation

cl_float* cl_algo::ICP::ICPPowerMethod::hPtrInMean

Mapping of the input staging buffer for the fixed and moving set means.

cl_float* cl_algo::ICP::ICPPowerMethod::hPtrInS

Mapping of the input staging buffer for the sums of products.

cl_float* cl_algo::ICP::ICPPowerMethod::hPtrOutTk

Mapping of the output staging buffer for the incremental parameters.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation