The Mat class can handle multiple matrix formats from 1 to 4 channels, with different value types (float or uchar), and can be stored CPU and/or GPU side. More...

Functions
	Mat ()
	empty Mat default constructor. More...

	Mat (size_t width, size_t height, MAT_TYPE mat_type, MEM memory_type=MEM::CPU)
	Mat constructor. More...

	Mat (size_t width, size_t height, MAT_TYPE mat_type, sl::uchar1 *ptr, size_t step, MEM memory_type=MEM::CPU)
	Mat constructor from an existing data pointer. More...

	Mat (size_t width, size_t height, MAT_TYPE mat_type, sl::uchar1 ptr_cpu, size_t step_cpu, sl::uchar1 ptr_gpu, size_t step_gpu)
	Mat constructor from two existing data pointers, CPU and GPU. More...

	Mat (Resolution resolution, MAT_TYPE mat_type, MEM memory_type=MEM::CPU)
	Mat constructor. More...

	Mat (Resolution resolution, MAT_TYPE mat_type, sl::uchar1 *ptr, size_t step, MEM memory_type=MEM::CPU)
	Mat constructor from an existing data pointer. More...

	Mat (Resolution resolution, MAT_TYPE mat_type, sl::uchar1 ptr_cpu, size_t step_cpu, sl::uchar1 ptr_gpu, size_t step_gpu)
	Mat constructor from two existing data pointers, CPU and GPU. More...

	Mat (const Mat &mat)
	Mat constructor by copy (shallow copy). More...

void	alloc (size_t width, size_t height, MAT_TYPE mat_type, MEM memory_type=MEM::CPU)
	Allocates the Mat memory. More...

void	alloc (Resolution resolution, MAT_TYPE mat_type, MEM memory_type=MEM::CPU)
	Allocates the Mat memory. More...

	~Mat ()
	Mat destructor. This function calls free to release owned memory. More...

void	free (MEM memory_type=MEM::CPU\|MEM::GPU)
	Free the owned memory. More...

Mat &	operator= (const Mat &that)
	Performs a shallow copy. More...

ERROR_CODE	updateCPUfromGPU (cudaStream_t stream=0)
	Downloads data from DEVICE (GPU) to HOST (CPU), if possible. More...

ERROR_CODE	updateGPUfromCPU (cudaStream_t stream=0, int GPU_id=0)
	Uploads data from HOST (CPU) to DEVICE (GPU), if possible. More...

ERROR_CODE	copyTo (Mat &dst, COPY_TYPE cpyType=COPY_TYPE::CPU_CPU, cudaStream_t stream=0) const
	Copies data an other Mat (deep copy). More...

ERROR_CODE	setFrom (const Mat &src, COPY_TYPE cpyType=COPY_TYPE::CPU_CPU, cudaStream_t stream=0)
	Copies data from an other Mat (deep copy). More...

ERROR_CODE	read (const String &filePath)
	Reads an image from a file. More...

ERROR_CODE	write (const String &filePath, sl::MEM memory_type=sl::MEM::CPU, int compression_level=-1)
	Writes the Mat (only if MEM::CPU is available) into a file defined by its extension. More...

template<typename T >
ERROR_CODE	setTo (T value, sl::MEM memory_type=MEM::CPU)
	Fills the Mat with the given value. More...

template<typename N >
ERROR_CODE	setValue (size_t x, size_t y, N value, sl::MEM memory_type=MEM::CPU)
	Sets a value to a specific point in the matrix. More...

template<typename N >
ERROR_CODE	getValue (size_t x, size_t y, N *value, MEM memory_type=MEM::CPU) const
	Returns the value of a specific point in the matrix. More...

size_t	getWidth () const
	Returns the width of the matrix. More...

size_t	getHeight () const
	Returns the height of the matrix. More...

Resolution	getResolution () const
	Returns the resolution (width and height) of the matrix. More...

size_t	getChannels () const
	Returns the number of values stored in one pixel. More...

MAT_TYPE	getDataType () const
	Returns the format of the matrix. More...

MEM	getMemoryType () const
	Returns the type of memory (CPU and/or GPU). More...

template<typename N >
N *	getPtr (MEM memory_type=MEM::CPU) const
	Returns the CPU or GPU data pointer. More...

size_t	getStepBytes (MEM memory_type=MEM::CPU) const
	Returns the memory step in Bytes (the Bytes size of one pixel row). More...

template<typename N >
size_t	getStep (MEM memory_type=MEM::CPU) const
	Returns the memory step in number of elements (the number of values in one pixel row). More...

size_t	getStep (MEM memory_type=MEM::CPU) const
	Returns the memory step in number of elements (the number of values in one pixel row). More...

size_t	getPixelBytes () const
	Returns the size in bytes of one pixel. More...

size_t	getWidthBytes () const
	Returns the size in bytes of a row. More...

String	getInfos ()
	Returns the information about the Mat into a String. More...

bool	isInit () const
	Defines whether the Mat is initialized or not. More...

bool	isMemoryOwner () const
	Returns whether the Mat is the owner of the memory it accesses. More...

ERROR_CODE	clone (const Mat &src)
	Duplicates Mat by copy (deep copy). More...

ERROR_CODE	move (Mat &dst)
	Moves Mat data to another Mat. More...

Static Functions
static void	swap (Mat &mat1, Mat &mat2)
	Swaps the content of the provided Mat (only swaps the pointers, no data copy). More...

Attributes
String	name = "n/a"

bool	verbose = false

Timestamp	timestamp = 0

Detailed Description

The Mat class can handle multiple matrix formats from 1 to 4 channels, with different value types (float or uchar), and can be stored CPU and/or GPU side.

Mat is defined in a row-major order, it means that, for an image buffer, the entire first row is stored first, followed by the entire second row, and so on.

The CPU and GPU buffer aren't automatically synchronized for performance reasons, you can use updateCPUfromGPU / updateGPUfromCPU to do it. If you are using the GPU side of the Mat object, you need to make sure to call free before destroying the sl::Camera object. The destruction of the sl::Camera object deletes the CUDA context needed to free the GPU Mat memory.

Constructor and Destructor

◆ Mat() [1/8]

Mat ( )

empty Mat default constructor.

◆ Mat() [2/8]

Mat	(	size_t	width,
		size_t	height,
		MAT_TYPE	mat_type,
		MEM	memory_type = `MEM::CPU`
	)

Mat constructor.

This function directly allocates the requested memory. It calls alloc.

Parameters

width	: width of the matrix in pixels.
height	: height of the matrix in pixels.
mat_type	: the type of the matrix (MAT_TYPE::F32_C1, MAT_TYPE::U8_C4...).
memory_type	: defines where the buffer will be stored. (MEM::CPU and/or MEM::GPU).

◆ Mat() [3/8]

Mat	(	size_t	width,
		size_t	height,
		MAT_TYPE	mat_type,
		sl::uchar1 *	ptr,
		size_t	step,
		MEM	memory_type = `MEM::CPU`
	)

Mat constructor from an existing data pointer.

This function doesn't allocate the memory.

Parameters

width	: width of the matrix in pixels.
height	: height of the matrix in pixels.
mat_type	: the type of the matrix (MAT_TYPE::F32_C1, MAT_TYPE::U8_C4...).
ptr	: pointer to the data array. (CPU or GPU).
step	: step of the data array. (the Bytes size of one pixel row).
memory_type	: defines where the buffer will be stored. (MEM::CPU and/or MEM::GPU).

◆ Mat() [4/8]

Mat	(	size_t	width,
		size_t	height,
		MAT_TYPE	mat_type,
		sl::uchar1 *	ptr_cpu,
		size_t	step_cpu,
		sl::uchar1 *	ptr_gpu,
		size_t	step_gpu
	)

Mat constructor from two existing data pointers, CPU and GPU.

This function doesn't allocate the memory.

Parameters

width	: width of the matrix in pixels.
height	: height of the matrix in pixels.
mat_type	: the type of the matrix (MAT_TYPE::F32_C1, MAT_TYPE::U8_C4...).
ptr_cpu	: CPU pointer to the data array.
step_cpu	: step of the CPU data array (the Bytes size of one pixel row).
ptr_gpu	: GPU pointer to the data array.
step_gpu	: step of the GPU data array (the Bytes size of one pixel row).

◆ Mat() [5/8]

Mat	(	Resolution	resolution,
		MAT_TYPE	mat_type,
		MEM	memory_type = `MEM::CPU`
	)

Mat constructor.

This function directly allocates the requested memory. It calls alloc.

Parameters

resolution	: the size of the matrix in pixels.
mat_type	: the type of the matrix (MAT_TYPE::F32_C1, MAT_TYPE::U8_C4...).
memory_type	: defines where the buffer will be stored (MEM::CPU and/or MEM::GPU).

◆ Mat() [6/8]

Mat	(	Resolution	resolution,
		MAT_TYPE	mat_type,
		sl::uchar1 *	ptr,
		size_t	step,
		MEM	memory_type = `MEM::CPU`
	)

Mat constructor from an existing data pointer.

This function doesn't allocate the memory.

Parameters

resolution	: the size of the matrix in pixels.
mat_type	: the type of the matrix (MAT_TYPE::F32_C1, MAT_TYPE::U8_C4...).
ptr	: pointer to the data array. (CPU or GPU).
step	: step of the data array (the Bytes size of one pixel row).
memory_type	: defines where the buffer will be stored. (MEM::CPU and/or MEM::GPU).

◆ Mat() [7/8]

Mat	(	Resolution	resolution,
		MAT_TYPE	mat_type,
		sl::uchar1 *	ptr_cpu,
		size_t	step_cpu,
		sl::uchar1 *	ptr_gpu,
		size_t	step_gpu
	)

Mat constructor from two existing data pointers, CPU and GPU.

This function doesn't allocate the memory.

Parameters

resolution	: the size of the matrix in pixels.
mat_type	: the type of the matrix (MAT_TYPE::F32_C1, MAT_TYPE::U8_C4...).
ptr_cpu	: CPU pointer to the data array.
step_cpu	: step of the CPU data array (the Bytes size of one pixel row).
ptr_gpu	: GPU pointer to the data array.
step_gpu	: step of the GPU data array (the Bytes size of one pixel row).

◆ Mat() [8/8]

Mat ( const Mat & mat )

Mat constructor by copy (shallow copy).

This function doesn't allocate the memory.

Parameters

mat	: the reference to the Mat to copy.

◆ ~Mat()

~Mat ( )

Mat destructor. This function calls free to release owned memory.

Functions

◆ alloc() [1/2]

void alloc	(	size_t	width,
		size_t	height,
		MAT_TYPE	mat_type,
		MEM	memory_type = `MEM::CPU`
	)

Allocates the Mat memory.

Parameters

width	: width of the matrix in pixels.
height	: height of the matrix in pixels.
mat_type	: the type of the matrix (MAT_TYPE::F32_C1, MAT_TYPE::U8_C4...).
memory_type	: defines where the buffer will be stored. (MEM::CPU and/or MEM::GPU).

Warning: It erases previously allocated memory.

◆ alloc() [2/2]

void alloc	(	Resolution	resolution,
		MAT_TYPE	mat_type,
		MEM	memory_type = `MEM::CPU`
	)

Allocates the Mat memory.

Parameters

resolution	: the size of the matrix in pixels.
mat_type	: the type of the matrix (sl::MAT_TYPE::F32_C1,sl::MAT_TYPE::U8_C4...).
memory_type	: defines where the buffer will be stored. (sl::MEM::CPU and/or sl::MEM::GPU).

Warning: It erases previously allocated memory.

◆ free()

void free ( MEM memory_type = MEM::CPU|MEM::GPU )

Free the owned memory.

Parameters

memory_type : specifies whether you want to free the MEM::CPU and/or MEM::GPU memory.

◆ operator=()

Mat& operator= ( const Mat & that )

Performs a shallow copy.

This function doesn't copy the data array, it only copies the pointer.

Parameters

that	: the Mat to be copied.

Returns: The new Mat object which point to the same data as that.

◆ updateCPUfromGPU()

ERROR_CODE updateCPUfromGPU ( cudaStream_t stream = 0 )

Downloads data from DEVICE (GPU) to HOST (CPU), if possible.

Parameters

stream : specifies the GPU stream to be used to enable Asynchronous overlaping (default 0 is synchronous).

Returns: SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

Note: If no CPU or GPU memory are available for this Mat, some are directly allocated.; If verbose is set to true, you have information in case of failure.

◆ updateGPUfromCPU()

ERROR_CODE updateGPUfromCPU	(	cudaStream_t	stream = `0`,
		int	GPU_id = `0`
	)

Uploads data from HOST (CPU) to DEVICE (GPU), if possible.

Parameters

stream : specifies the GPU stream to be used to enable Asynchronous overlaping (default 0 is synchronous).

Returns: ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

Note: If no CPU or GPU memory are available for this Mat, some are directly allocated.; If verbose is set to true, you have information in case of failure.

◆ copyTo()

ERROR_CODE copyTo	(	Mat &	dst,
		COPY_TYPE	cpyType = `COPY_TYPE::CPU_CPU`,
		cudaStream_t	stream = `0`
	)		const

Copies data an other Mat (deep copy).

Parameters

dst	: the Mat where the data will be copied.
cpyType	: specifies the memories that will be used for the copy.
stream	: specifies the GPU stream to be used to enable Asynchronous overlaping (default 0 is synchronous).

Returns: ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

Note: If the destination is not allocated or or doesn't have a compatible MAT_TYPE or Resolution, current memory is freed and new memory is directly allocated.

◆ setFrom()

ERROR_CODE setFrom	(	const Mat &	src,
		COPY_TYPE	cpyType = `COPY_TYPE::CPU_CPU`,
		cudaStream_t	stream = `0`
	)

Copies data from an other Mat (deep copy).

Parameters

src	: the Mat where the data will be copied from.
cpyType	: specifies the memories that will be used for the update.
stream	: specifies the GPU stream to be used to enable Asynchronous overlaping (default 0 is synchronous).

Returns: ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

Note: If the current Mat is not allocated or doesn't have a compatible MAT_TYPE or Resolution with the source, current memory is freed and new memory is directly allocated.

◆ read()

ERROR_CODE read ( const String & filePath )

Reads an image from a file.

Parameters

filePath : file path including the name and extension.

Returns: ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

Note: This function only support images such as JPG or PNG, and can't load float format such as PCD, PLY, etc

◆ write()

ERROR_CODE write	(	const String &	filePath,
		sl::MEM	memory_type = `sl::MEM::CPU`,
		int	compression_level = `-1`
	)

Writes the Mat (only if MEM::CPU is available) into a file defined by its extension.

Parameters

filePath	: file path including the name and extension.
memory_type	: memory type (CPU or GPU) of the Mat.
compression_level	: level of compression between 0 (lowest compression == highest size == highest quality(jpg)) and 100 (highest compression == lowest size == lowest quality(jpg)).

Note: Specific/default value for compression_level = -1 : This will set the default quality for PNG(30) or JPEG(5).; compression_level is only supported for U8_Cx MAT_TYPE.

Returns: ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

Note: Supported MAT_TYPE are : MAT_TYPE::F32_C1 for PNG/PFM/PGM, MAT_TYPE::F32_C3 for PCD/PLY/VTK/XYZ, MAT_TYPE::F32_C4 for PCD/PLY/VTK/WYZ, MAT_TYPE::U8_C1 for PNG/JPG, MAT_TYPE::U8_C3 for PNG/JPG, MAT_TYPE::U8_C4 for PNG/JPG,

◆ setTo()

ERROR_CODE setTo	(	T	value,
		sl::MEM	memory_type = `MEM::CPU`
	)

Fills the Mat with the given value.

This function overwrites all the matrix.

Parameters

value	: the value to be copied all over the matrix.
memory_type	: defines which buffer to fill, CPU and/or GPU.

Note: This function is templated for uchar1, uchar2, uchar3, uchar4, float1, float2, float3, float4.

◆ setValue()

ERROR_CODE setValue	(	size_t	x,
		size_t	y,
		N	value,
		sl::MEM	memory_type = `MEM::CPU`
	)

Sets a value to a specific point in the matrix.

Parameters

x	: specifies the column.
y	: specifies the row.
value	: the value to be set.
memory_type	: defines which memory will be updated.

Returns: ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

Note: This function is templated for uchar1, uchar2, uchar3, uchar4, float1, float2, float3, float4.

Warning: Not efficient for MEM::GPU, use it on sparse data.

◆ getValue()

ERROR_CODE getValue	(	size_t	x,
		size_t	y,
		N *	value,
		MEM	memory_type = `MEM::CPU`
	)		const

Returns the value of a specific point in the matrix.

Parameters

x	: specifies the column
y	: specifies the row
memory_type	: defines which memory should be read.

Returns: ERROR_CODE::SUCCESS if everything went well, ERROR_CODE::FAILURE otherwise.

Note: This function is templated for uchar1, uchar2, uchar3, uchar4, float1, float2, float3, float4.

Warning: Not efficient for MEM::GPU, use it on sparse data.

◆ getWidth()

size_t getWidth ( ) const

inline

Returns the width of the matrix.

Returns: The width of the matrix in pixels.

◆ getHeight()

size_t getHeight ( ) const

inline

Returns the height of the matrix.

Returns: The height of the matrix in pixels.

◆ getResolution()

Resolution getResolution ( ) const

inline

Returns the resolution (width and height) of the matrix.

Returns: The resolution of the matrix in pixels.

◆ getChannels()

size_t getChannels ( ) const

inline

Returns the number of values stored in one pixel.

Returns: The number of values in a pixel.

◆ getDataType()

MAT_TYPE getDataType ( ) const

inline

Returns the format of the matrix.

Returns: The format of the current Mat.

◆ getMemoryType()

MEM getMemoryType ( ) const

inline

Returns the type of memory (CPU and/or GPU).

Returns: The type of allocated memory.

◆ getPtr()

N* getPtr ( MEM memory_type = MEM::CPU ) const

Returns the CPU or GPU data pointer.

Parameters

memory_type : specifies whether you want MEM::CPU or MEM::GPU step.

Returns: The pointer of the Mat data.

◆ getStepBytes()

size_t getStepBytes ( MEM memory_type = MEM::CPU ) const

Returns the memory step in Bytes (the Bytes size of one pixel row).

Parameters

memory_type : specifies whether you want MEM::CPU or MEM::GPU step.

Returns: The step in bytes of the specified memory.

◆ getStep() [1/2]

size_t getStep ( MEM memory_type = MEM::CPU ) const

inline

Returns the memory step in number of elements (the number of values in one pixel row).

Parameters

memory_type : specifies whether you want MEM::CPU or MEM::GPU step.

Returns: The step in number of elements.

◆ getStep() [2/2]

size_t getStep ( MEM memory_type = MEM::CPU ) const

inline

Returns the memory step in number of elements (the number of values in one pixel row).

Parameters

memory_type : specifies whether you want MEM::CPU or MEM::GPU step.

Returns: The step in number of elements.

◆ getPixelBytes()

size_t getPixelBytes ( ) const

inline

Returns the size in bytes of one pixel.

Returns: The size in bytes of a pixel.

◆ getWidthBytes()

size_t getWidthBytes ( ) const

inline

Returns the size in bytes of a row.

Returns: The size in bytes of a row.

◆ getInfos()

String getInfos ( )

Returns the information about the Mat into a String.

Returns: A string containing the Mat information.

◆ isInit()

bool isInit ( ) const

inline

Defines whether the Mat is initialized or not.

Returns: True if current Mat has been allocated (by the constructor or therefore).

◆ isMemoryOwner()

bool isMemoryOwner ( ) const

inline

Returns whether the Mat is the owner of the memory it accesses.

If not, the memory won't be freed if the Mat is destroyed.

Returns: True if the Mat is owning its memory, else false.

◆ clone()

ERROR_CODE clone ( const Mat & src )

Duplicates Mat by copy (deep copy).

Parameters

src	: the reference to the Mat to copy. This function copies the data array(s), it marks the new Mat as the memory owner.

◆ move()

ERROR_CODE move ( Mat & dst )

Moves Mat data to another Mat.

This function gives the attribute of the current Mat to the specified one. (No copy).

Parameters

dst	: the reference to the Mat to move.

Note: : the current Mat is then no more usable since its loose its attributes.

◆ swap()

static void swap	(	Mat &	mat1,
		Mat &	mat2
	)

static

Swaps the content of the provided Mat (only swaps the pointers, no data copy).

This function swaps the pointers of the given Mat.

Parameters

mat1	: the first mat.
mat2	: the second mat.

Variables

◆ name

String name = "n/a"

◆ verbose

bool verbose = false

◆ timestamp

Timestamp timestamp = 0

Functions

Static Functions

Attributes

Detailed Description

Constructor and Destructor

◆ Mat() [1/8]

◆ Mat() [2/8]

◆ Mat() [3/8]

◆ Mat() [4/8]

◆ Mat() [5/8]

◆ Mat() [6/8]

◆ Mat() [7/8]

◆ Mat() [8/8]

◆ ~Mat()

Functions

◆ alloc() [1/2]

◆ alloc() [2/2]

◆ free()

◆ operator=()

◆ updateCPUfromGPU()

◆ updateGPUfromCPU()

◆ copyTo()

◆ setFrom()

◆ read()

◆ write()

◆ setTo()

◆ setValue()

◆ getValue()

◆ getWidth()

◆ getHeight()

◆ getResolution()

◆ getChannels()

◆ getDataType()

◆ getMemoryType()

◆ getPtr()

◆ getStepBytes()

◆ getStep() [1/2]

◆ getStep() [2/2]

◆ getPixelBytes()

◆ getWidthBytes()

◆ getInfos()

◆ isInit()

◆ isMemoryOwner()

◆ clone()

◆ move()

◆ swap()

Variables

◆ name

◆ verbose

◆ timestamp