mirror of https://github.com/opencv/opencv.git
Vladislav Vinogradov
12 years ago
parent
cad9518928
commit
28b1caa730
38 changed files with 786 additions and 609 deletions
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Camera Calibration and 3D Reconstruction |
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======================================== |
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.. highlight:: cpp |
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gpu::solvePnPRansac |
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------------------- |
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Finds the object pose from 3D-2D point correspondences. |
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.. ocv:function:: void gpu::solvePnPRansac(const Mat& object, const Mat& image, const Mat& camera_mat, const Mat& dist_coef, Mat& rvec, Mat& tvec, bool use_extrinsic_guess=false, int num_iters=100, float max_dist=8.0, int min_inlier_count=100, vector<int>* inliers=NULL) |
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:param object: Single-row matrix of object points. |
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:param image: Single-row matrix of image points. |
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:param camera_mat: 3x3 matrix of intrinsic camera parameters. |
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:param dist_coef: Distortion coefficients. See :ocv:func:`undistortPoints` for details. |
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:param rvec: Output 3D rotation vector. |
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:param tvec: Output 3D translation vector. |
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:param use_extrinsic_guess: Flag to indicate that the function must use ``rvec`` and ``tvec`` as an initial transformation guess. It is not supported for now. |
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:param num_iters: Maximum number of RANSAC iterations. |
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:param max_dist: Euclidean distance threshold to detect whether point is inlier or not. |
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:param min_inlier_count: Flag to indicate that the function must stop if greater or equal number of inliers is achieved. It is not supported for now. |
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:param inliers: Output vector of inlier indices. |
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.. seealso:: :ocv:func:`solvePnPRansac` |
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@ -0,0 +1,135 @@ |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
|
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
|
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// copy or use the software.
|
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//
|
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//
|
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// License Agreement
|
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// For Open Source Computer Vision Library
|
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//
|
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
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// Third party copyrights are property of their respective owners.
|
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//
|
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
|
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//
|
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
|
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//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
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//
|
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// * The name of the copyright holders may not be used to endorse or promote products
|
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// derived from this software without specific prior written permission.
|
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//
|
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// This software is provided by the copyright holders and contributors "as is" and
|
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// any express or implied warranties, including, but not limited to, the implied
|
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
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// In no event shall the Intel Corporation or contributors be liable for any direct,
|
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// indirect, incidental, special, exemplary, or consequential damages
|
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// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
|
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// and on any theory of liability, whether in contract, strict liability,
|
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "perf_precomp.hpp" |
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using namespace std; |
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using namespace testing; |
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using namespace perf; |
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DEF_PARAM_TEST_1(Count, int); |
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//////////////////////////////////////////////////////////////////////
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// ProjectPoints
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PERF_TEST_P(Count, Calib3D_ProjectPoints, |
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Values(5000, 10000, 20000)) |
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{ |
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const int count = GetParam(); |
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cv::Mat src(1, count, CV_32FC3); |
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declare.in(src, WARMUP_RNG); |
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const cv::Mat rvec = cv::Mat::ones(1, 3, CV_32FC1); |
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const cv::Mat tvec = cv::Mat::ones(1, 3, CV_32FC1); |
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const cv::Mat camera_mat = cv::Mat::ones(3, 3, CV_32FC1); |
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if (PERF_RUN_GPU()) |
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{ |
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const cv::gpu::GpuMat d_src(src); |
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cv::gpu::GpuMat dst; |
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TEST_CYCLE() cv::gpu::projectPoints(d_src, rvec, tvec, camera_mat, cv::Mat(), dst); |
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GPU_SANITY_CHECK(dst); |
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} |
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else |
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{ |
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cv::Mat dst; |
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TEST_CYCLE() cv::projectPoints(src, rvec, tvec, camera_mat, cv::noArray(), dst); |
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CPU_SANITY_CHECK(dst); |
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} |
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} |
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//////////////////////////////////////////////////////////////////////
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// SolvePnPRansac
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PERF_TEST_P(Count, Calib3D_SolvePnPRansac, |
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Values(5000, 10000, 20000)) |
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{ |
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declare.time(10.0); |
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const int count = GetParam(); |
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cv::Mat object(1, count, CV_32FC3); |
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declare.in(object, WARMUP_RNG); |
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cv::Mat camera_mat(3, 3, CV_32FC1); |
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cv::randu(camera_mat, 0.5, 1); |
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camera_mat.at<float>(0, 1) = 0.f; |
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camera_mat.at<float>(1, 0) = 0.f; |
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camera_mat.at<float>(2, 0) = 0.f; |
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camera_mat.at<float>(2, 1) = 0.f; |
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const cv::Mat dist_coef(1, 8, CV_32F, cv::Scalar::all(0)); |
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cv::Mat rvec_gold(1, 3, CV_32FC1); |
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cv::randu(rvec_gold, 0, 1); |
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cv::Mat tvec_gold(1, 3, CV_32FC1); |
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cv::randu(tvec_gold, 0, 1); |
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std::vector<cv::Point2f> image_vec; |
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cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, dist_coef, image_vec); |
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const cv::Mat image(1, count, CV_32FC2, &image_vec[0]); |
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cv::Mat rvec; |
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cv::Mat tvec; |
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if (PERF_RUN_GPU()) |
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{ |
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TEST_CYCLE() cv::gpu::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); |
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GPU_SANITY_CHECK(rvec, 1e-3); |
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GPU_SANITY_CHECK(tvec, 1e-3); |
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} |
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else |
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{ |
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TEST_CYCLE() cv::solvePnPRansac(object, image, camera_mat, dist_coef, rvec, tvec); |
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CPU_SANITY_CHECK(rvec, 1e-6); |
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CPU_SANITY_CHECK(tvec, 1e-6); |
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} |
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} |
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@ -1,9 +0,0 @@ |
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if(ANDROID OR IOS) |
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ocv_module_disable(gpucalib3d) |
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endif() |
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set(the_description "GPU-accelerated Camera Calibration and 3D Reconstruction") |
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ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef -Wmissing-declarations) |
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ocv_define_module(gpucalib3d opencv_calib3d opencv_gpuarithm) |
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@ -1,8 +0,0 @@ |
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************************************************************* |
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gpu. GPU-accelerated Camera Calibration and 3D Reconstruction |
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************************************************************* |
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.. toctree:: |
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:maxdepth: 1 |
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camera_calibration_and_3d_reconstruction |
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@ -0,0 +1,9 @@ |
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if(ANDROID OR IOS) |
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ocv_module_disable(gpustereo) |
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endif() |
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set(the_description "GPU-accelerated Stereo Correspondence") |
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ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations) |
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ocv_define_module(gpustereo opencv_calib3d) |
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@ -0,0 +1,8 @@ |
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************************************************ |
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gpustereo. GPU-accelerated Stereo Correspondence |
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************************************************ |
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.. toctree:: |
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:maxdepth: 1 |
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stereo |
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@ -0,0 +1,235 @@ |
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/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
||||
// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#if !defined CUDA_DISABLER |
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#include "opencv2/core/cuda/common.hpp" |
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#include "opencv2/core/cuda/transform.hpp" |
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#include "opencv2/core/cuda/functional.hpp" |
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#include "opencv2/core/cuda/reduce.hpp" |
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namespace cv { namespace gpu { namespace cudev |
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{ |
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/////////////////////////////////// reprojectImageTo3D /////////////////////////////////////////////// |
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__constant__ float cq[16]; |
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template <typename T, typename D> |
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__global__ void reprojectImageTo3D(const PtrStepSz<T> disp, PtrStep<D> xyz) |
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{ |
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const int x = blockIdx.x * blockDim.x + threadIdx.x; |
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const int y = blockIdx.y * blockDim.y + threadIdx.y; |
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if (y >= disp.rows || x >= disp.cols) |
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return; |
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const float qx = x * cq[ 0] + y * cq[ 1] + cq[ 3]; |
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const float qy = x * cq[ 4] + y * cq[ 5] + cq[ 7]; |
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const float qz = x * cq[ 8] + y * cq[ 9] + cq[11]; |
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const float qw = x * cq[12] + y * cq[13] + cq[15]; |
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const T d = disp(y, x); |
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const float iW = 1.f / (qw + cq[14] * d); |
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D v = VecTraits<D>::all(1.0f); |
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v.x = (qx + cq[2] * d) * iW; |
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v.y = (qy + cq[6] * d) * iW; |
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v.z = (qz + cq[10] * d) * iW; |
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xyz(y, x) = v; |
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} |
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template <typename T, typename D> |
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void reprojectImageTo3D_gpu(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream) |
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{ |
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dim3 block(32, 8); |
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dim3 grid(divUp(disp.cols, block.x), divUp(disp.rows, block.y)); |
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cudaSafeCall( cudaMemcpyToSymbol(cq, q, 16 * sizeof(float)) ); |
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reprojectImageTo3D<T, D><<<grid, block, 0, stream>>>((PtrStepSz<T>)disp, (PtrStepSz<D>)xyz); |
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cudaSafeCall( cudaGetLastError() ); |
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if (stream == 0) |
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cudaSafeCall( cudaDeviceSynchronize() ); |
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} |
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template void reprojectImageTo3D_gpu<uchar, float3>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream); |
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template void reprojectImageTo3D_gpu<uchar, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream); |
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template void reprojectImageTo3D_gpu<short, float3>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream); |
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template void reprojectImageTo3D_gpu<short, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream); |
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/////////////////////////////////// drawColorDisp /////////////////////////////////////////////// |
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template <typename T> |
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__device__ unsigned int cvtPixel(T d, int ndisp, float S = 1, float V = 1) |
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{ |
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unsigned int H = ((ndisp-d) * 240)/ndisp; |
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unsigned int hi = (H/60) % 6; |
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float f = H/60.f - H/60; |
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float p = V * (1 - S); |
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float q = V * (1 - f * S); |
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float t = V * (1 - (1 - f) * S); |
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float3 res; |
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if (hi == 0) //R = V, G = t, B = p |
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{ |
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res.x = p; |
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res.y = t; |
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res.z = V; |
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} |
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if (hi == 1) // R = q, G = V, B = p |
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{ |
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res.x = p; |
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res.y = V; |
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res.z = q; |
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} |
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if (hi == 2) // R = p, G = V, B = t |
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{ |
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res.x = t; |
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res.y = V; |
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res.z = p; |
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} |
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if (hi == 3) // R = p, G = q, B = V |
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{ |
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res.x = V; |
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res.y = q; |
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res.z = p; |
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} |
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if (hi == 4) // R = t, G = p, B = V |
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{ |
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res.x = V; |
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res.y = p; |
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res.z = t; |
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} |
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if (hi == 5) // R = V, G = p, B = q |
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{ |
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res.x = q; |
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res.y = p; |
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res.z = V; |
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} |
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const unsigned int b = (unsigned int)(::max(0.f, ::min(res.x, 1.f)) * 255.f); |
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const unsigned int g = (unsigned int)(::max(0.f, ::min(res.y, 1.f)) * 255.f); |
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const unsigned int r = (unsigned int)(::max(0.f, ::min(res.z, 1.f)) * 255.f); |
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const unsigned int a = 255U; |
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return (a << 24) + (r << 16) + (g << 8) + b; |
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} |
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__global__ void drawColorDisp(uchar* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp) |
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{ |
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const int x = (blockIdx.x * blockDim.x + threadIdx.x) << 2; |
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const int y = blockIdx.y * blockDim.y + threadIdx.y; |
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if(x < width && y < height) |
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{ |
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uchar4 d4 = *(uchar4*)(disp + y * disp_step + x); |
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uint4 res; |
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res.x = cvtPixel(d4.x, ndisp); |
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res.y = cvtPixel(d4.y, ndisp); |
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res.z = cvtPixel(d4.z, ndisp); |
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res.w = cvtPixel(d4.w, ndisp); |
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uint4* line = (uint4*)(out_image + y * out_step); |
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line[x >> 2] = res; |
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} |
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} |
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__global__ void drawColorDisp(short* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp) |
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{ |
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const int x = (blockIdx.x * blockDim.x + threadIdx.x) << 1; |
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const int y = blockIdx.y * blockDim.y + threadIdx.y; |
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if(x < width && y < height) |
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{ |
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short2 d2 = *(short2*)(disp + y * disp_step + x); |
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uint2 res; |
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res.x = cvtPixel(d2.x, ndisp); |
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res.y = cvtPixel(d2.y, ndisp); |
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uint2* line = (uint2*)(out_image + y * out_step); |
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line[x >> 1] = res; |
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} |
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} |
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void drawColorDisp_gpu(const PtrStepSzb& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream) |
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{ |
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dim3 threads(16, 16, 1); |
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dim3 grid(1, 1, 1); |
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grid.x = divUp(src.cols, threads.x << 2); |
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grid.y = divUp(src.rows, threads.y); |
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drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step, dst.data, dst.step, src.cols, src.rows, ndisp); |
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cudaSafeCall( cudaGetLastError() ); |
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if (stream == 0) |
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cudaSafeCall( cudaDeviceSynchronize() ); |
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} |
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void drawColorDisp_gpu(const PtrStepSz<short>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream) |
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{ |
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dim3 threads(32, 8, 1); |
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dim3 grid(1, 1, 1); |
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grid.x = divUp(src.cols, threads.x << 1); |
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grid.y = divUp(src.rows, threads.y); |
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drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step / sizeof(short), dst.data, dst.step, src.cols, src.rows, ndisp); |
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cudaSafeCall( cudaGetLastError() ); |
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if (stream == 0) |
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cudaSafeCall( cudaDeviceSynchronize() ); |
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} |
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}}} // namespace cv { namespace gpu { namespace cudev |
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#endif /* CUDA_DISABLER */ |
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@ -0,0 +1,117 @@ |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
|
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
|
||||
#include "precomp.hpp" |
||||
|
||||
using namespace cv; |
||||
using namespace cv::gpu; |
||||
|
||||
#if !defined HAVE_CUDA || defined(CUDA_DISABLER) |
||||
|
||||
void cv::gpu::reprojectImageTo3D(const GpuMat&, GpuMat&, const Mat&, int, Stream&) { throw_no_cuda(); } |
||||
void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int, Stream&) { throw_no_cuda(); } |
||||
|
||||
#else |
||||
|
||||
////////////////////////////////////////////////////////////////////////
|
||||
// reprojectImageTo3D
|
||||
|
||||
namespace cv { namespace gpu { namespace cudev |
||||
{ |
||||
template <typename T, typename D> |
||||
void reprojectImageTo3D_gpu(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream); |
||||
}}} |
||||
|
||||
void cv::gpu::reprojectImageTo3D(const GpuMat& disp, GpuMat& xyz, const Mat& Q, int dst_cn, Stream& stream) |
||||
{ |
||||
using namespace cv::gpu::cudev; |
||||
|
||||
typedef void (*func_t)(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream); |
||||
static const func_t funcs[2][4] = |
||||
{ |
||||
{reprojectImageTo3D_gpu<uchar, float3>, 0, 0, reprojectImageTo3D_gpu<short, float3>}, |
||||
{reprojectImageTo3D_gpu<uchar, float4>, 0, 0, reprojectImageTo3D_gpu<short, float4>} |
||||
}; |
||||
|
||||
CV_Assert(disp.type() == CV_8U || disp.type() == CV_16S); |
||||
CV_Assert(Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4 && Q.isContinuous()); |
||||
CV_Assert(dst_cn == 3 || dst_cn == 4); |
||||
|
||||
xyz.create(disp.size(), CV_MAKE_TYPE(CV_32F, dst_cn)); |
||||
|
||||
funcs[dst_cn == 4][disp.type()](disp, xyz, Q.ptr<float>(), StreamAccessor::getStream(stream)); |
||||
} |
||||
|
||||
////////////////////////////////////////////////////////////////////////
|
||||
// drawColorDisp
|
||||
|
||||
namespace cv { namespace gpu { namespace cudev |
||||
{ |
||||
void drawColorDisp_gpu(const PtrStepSzb& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream); |
||||
void drawColorDisp_gpu(const PtrStepSz<short>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream); |
||||
}}} |
||||
|
||||
namespace |
||||
{ |
||||
template <typename T> |
||||
void drawColorDisp_caller(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream) |
||||
{ |
||||
using namespace ::cv::gpu::cudev; |
||||
|
||||
dst.create(src.size(), CV_8UC4); |
||||
|
||||
drawColorDisp_gpu((PtrStepSz<T>)src, dst, ndisp, stream); |
||||
} |
||||
|
||||
typedef void (*drawColorDisp_caller_t)(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream); |
||||
|
||||
const drawColorDisp_caller_t drawColorDisp_callers[] = {drawColorDisp_caller<unsigned char>, 0, 0, drawColorDisp_caller<short>, 0, 0, 0, 0}; |
||||
} |
||||
|
||||
void cv::gpu::drawColorDisp(const GpuMat& src, GpuMat& dst, int ndisp, Stream& stream) |
||||
{ |
||||
CV_Assert(src.type() == CV_8U || src.type() == CV_16S); |
||||
|
||||
drawColorDisp_callers[src.type()](src, dst, ndisp, StreamAccessor::getStream(stream)); |
||||
} |
||||
|
||||
#endif |
||||
@ -0,0 +1,207 @@ |
||||
/*M///////////////////////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
||||
// and/or other materials provided with the distribution.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// This software is provided by the copyright holders and contributors "as is" and
|
||||
// any express or implied warranties, including, but not limited to, the implied
|
||||
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
||||
// (including, but not limited to, procurement of substitute goods or services;
|
||||
// loss of use, data, or profits; or business interruption) however caused
|
||||
// and on any theory of liability, whether in contract, strict liability,
|
||||
// or tort (including negligence or otherwise) arising in any way out of
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
|
||||
#include "test_precomp.hpp" |
||||
|
||||
#ifdef HAVE_CUDA |
||||
|
||||
using namespace cvtest; |
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
// StereoBM
|
||||
|
||||
struct StereoBM : testing::TestWithParam<cv::gpu::DeviceInfo> |
||||
{ |
||||
cv::gpu::DeviceInfo devInfo; |
||||
|
||||
virtual void SetUp() |
||||
{ |
||||
devInfo = GetParam(); |
||||
|
||||
cv::gpu::setDevice(devInfo.deviceID()); |
||||
} |
||||
}; |
||||
|
||||
GPU_TEST_P(StereoBM, Regression) |
||||
{ |
||||
cv::Mat left_image = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE); |
||||
cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE); |
||||
cv::Mat disp_gold = readImage("stereobm/aloe-disp.png", cv::IMREAD_GRAYSCALE); |
||||
|
||||
ASSERT_FALSE(left_image.empty()); |
||||
ASSERT_FALSE(right_image.empty()); |
||||
ASSERT_FALSE(disp_gold.empty()); |
||||
|
||||
cv::gpu::StereoBM_GPU bm(0, 128, 19); |
||||
cv::gpu::GpuMat disp; |
||||
|
||||
bm(loadMat(left_image), loadMat(right_image), disp); |
||||
|
||||
EXPECT_MAT_NEAR(disp_gold, disp, 0.0); |
||||
} |
||||
|
||||
INSTANTIATE_TEST_CASE_P(GPU_Stereo, StereoBM, ALL_DEVICES); |
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
// StereoBeliefPropagation
|
||||
|
||||
struct StereoBeliefPropagation : testing::TestWithParam<cv::gpu::DeviceInfo> |
||||
{ |
||||
cv::gpu::DeviceInfo devInfo; |
||||
|
||||
virtual void SetUp() |
||||
{ |
||||
devInfo = GetParam(); |
||||
|
||||
cv::gpu::setDevice(devInfo.deviceID()); |
||||
} |
||||
}; |
||||
|
||||
GPU_TEST_P(StereoBeliefPropagation, Regression) |
||||
{ |
||||
cv::Mat left_image = readImage("stereobp/aloe-L.png"); |
||||
cv::Mat right_image = readImage("stereobp/aloe-R.png"); |
||||
cv::Mat disp_gold = readImage("stereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE); |
||||
|
||||
ASSERT_FALSE(left_image.empty()); |
||||
ASSERT_FALSE(right_image.empty()); |
||||
ASSERT_FALSE(disp_gold.empty()); |
||||
|
||||
cv::gpu::StereoBeliefPropagation bp(64, 8, 2, 25, 0.1f, 15, 1, CV_16S); |
||||
cv::gpu::GpuMat disp; |
||||
|
||||
bp(loadMat(left_image), loadMat(right_image), disp); |
||||
|
||||
cv::Mat h_disp(disp); |
||||
h_disp.convertTo(h_disp, disp_gold.depth()); |
||||
|
||||
EXPECT_MAT_NEAR(disp_gold, h_disp, 0.0); |
||||
} |
||||
|
||||
INSTANTIATE_TEST_CASE_P(GPU_Stereo, StereoBeliefPropagation, ALL_DEVICES); |
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
// StereoConstantSpaceBP
|
||||
|
||||
struct StereoConstantSpaceBP : testing::TestWithParam<cv::gpu::DeviceInfo> |
||||
{ |
||||
cv::gpu::DeviceInfo devInfo; |
||||
|
||||
virtual void SetUp() |
||||
{ |
||||
devInfo = GetParam(); |
||||
|
||||
cv::gpu::setDevice(devInfo.deviceID()); |
||||
} |
||||
}; |
||||
|
||||
GPU_TEST_P(StereoConstantSpaceBP, Regression) |
||||
{ |
||||
cv::Mat left_image = readImage("csstereobp/aloe-L.png"); |
||||
cv::Mat right_image = readImage("csstereobp/aloe-R.png"); |
||||
|
||||
cv::Mat disp_gold; |
||||
|
||||
if (supportFeature(devInfo, cv::gpu::FEATURE_SET_COMPUTE_20)) |
||||
disp_gold = readImage("csstereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE); |
||||
else |
||||
disp_gold = readImage("csstereobp/aloe-disp_CC1X.png", cv::IMREAD_GRAYSCALE); |
||||
|
||||
ASSERT_FALSE(left_image.empty()); |
||||
ASSERT_FALSE(right_image.empty()); |
||||
ASSERT_FALSE(disp_gold.empty()); |
||||
|
||||
cv::gpu::StereoConstantSpaceBP csbp(128, 16, 4, 4); |
||||
cv::gpu::GpuMat disp; |
||||
|
||||
csbp(loadMat(left_image), loadMat(right_image), disp); |
||||
|
||||
cv::Mat h_disp(disp); |
||||
h_disp.convertTo(h_disp, disp_gold.depth()); |
||||
|
||||
EXPECT_MAT_NEAR(disp_gold, h_disp, 1.0); |
||||
} |
||||
|
||||
INSTANTIATE_TEST_CASE_P(GPU_Stereo, StereoConstantSpaceBP, ALL_DEVICES); |
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// reprojectImageTo3D
|
||||
|
||||
PARAM_TEST_CASE(ReprojectImageTo3D, cv::gpu::DeviceInfo, cv::Size, MatDepth, UseRoi) |
||||
{ |
||||
cv::gpu::DeviceInfo devInfo; |
||||
cv::Size size; |
||||
int depth; |
||||
bool useRoi; |
||||
|
||||
virtual void SetUp() |
||||
{ |
||||
devInfo = GET_PARAM(0); |
||||
size = GET_PARAM(1); |
||||
depth = GET_PARAM(2); |
||||
useRoi = GET_PARAM(3); |
||||
|
||||
cv::gpu::setDevice(devInfo.deviceID()); |
||||
} |
||||
}; |
||||
|
||||
GPU_TEST_P(ReprojectImageTo3D, Accuracy) |
||||
{ |
||||
cv::Mat disp = randomMat(size, depth, 5.0, 30.0); |
||||
cv::Mat Q = randomMat(cv::Size(4, 4), CV_32FC1, 0.1, 1.0); |
||||
|
||||
cv::gpu::GpuMat dst; |
||||
cv::gpu::reprojectImageTo3D(loadMat(disp, useRoi), dst, Q, 3); |
||||
|
||||
cv::Mat dst_gold; |
||||
cv::reprojectImageTo3D(disp, dst_gold, Q, false); |
||||
|
||||
EXPECT_MAT_NEAR(dst_gold, dst, 1e-5); |
||||
} |
||||
|
||||
INSTANTIATE_TEST_CASE_P(GPU_Stereo, ReprojectImageTo3D, testing::Combine( |
||||
ALL_DEVICES, |
||||
DIFFERENT_SIZES, |
||||
testing::Values(MatDepth(CV_8U), MatDepth(CV_16S)), |
||||
WHOLE_SUBMAT)); |
||||
|
||||
#endif // HAVE_CUDA
|
||||
Loading…
Reference in new issue