ocl_icp_reg.hpp

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#ifndef OCL_ICP_SBS_HPP
#define OCL_ICP_SBS_HPP

#include <GL/glew.h>  // Add before CLUtils.hpp
#include <CLUtils.hpp>
#include <ICP/algorithms.hpp>
#include <eigen3/Eigen/Dense>


class CLEnvGL : public clutils::CLEnv
{
public:
    CLEnvGL (GLuint *glPC4DBuffer, GLuint *glRGBABuffer, int width, int height);

private:
    void initGLMemObjects ();

    GLuint *glPC4DBuffer, *glRGBABuffer;
    int width, height;
};


template <cl_algo::ICP::ICPStepConfigT RC, cl_algo::ICP::ICPStepConfigW WC>
class ICPReg
{
public:
    ICPReg (GLuint *glPC4DBuffer, GLuint *glRGBABuffer);
    void init (std::vector<cl_float8> pc8d1, std::vector<cl_float8> pc8d2);
    void registerPC ();

private:
    unsigned int width, height, n, m, r;
    CLEnvGL env;
    clutils::CLEnvInfo<1> infoRBC, infoICP;
    cl::Context &context;
    cl::CommandQueue &queue;
    
    GLuint *glPC4DBuffer, *glRGBABuffer;
    cl_float blue[4], green[4], dummy[4];
    std::vector<cl_float4> vBlue, vGreen, vDummy;
    std::vector<cl::BufferGL> dBufferGL;
    
    cl::size_t<3> src_origin_g, src_origin_c;
    cl::size_t<3> dst_origin_1, dst_origin_2;
    cl::size_t<3> region;
    float a, c;
    unsigned int max_iterations;
    double angle_threshold;
    double translation_threshold;

    cl_algo::ICP::ICPLMs fLM, mLM;
    cl_algo::ICP::ICP<RC, WC> reg;
    cl_algo::ICP::ICPTransform<cl_algo::ICP::ICPTransformConfig::QUATERNION> transform;

};

#endif  // OCL_ICP_SBS_HPP