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Open Source Computer Vision Library
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123 lines
4.9 KiB
123 lines
4.9 KiB
/*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 "precomp.hpp" |
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using namespace cv; |
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using namespace cv::cuda; |
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#if !defined HAVE_CUDA || defined(CUDA_DISABLER) |
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void cv::cuda::reprojectImageTo3D(InputArray, OutputArray, InputArray, int, Stream&) { throw_no_cuda(); } |
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void cv::cuda::drawColorDisp(InputArray, OutputArray, int, Stream&) { throw_no_cuda(); } |
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#else |
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//////////////////////////////////////////////////////////////////////// |
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// reprojectImageTo3D |
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namespace cv { namespace cuda { namespace device |
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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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void cv::cuda::reprojectImageTo3D(InputArray _disp, OutputArray _xyz, InputArray _Q, int dst_cn, Stream& stream) |
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{ |
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using namespace cv::cuda::device; |
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typedef void (*func_t)(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream); |
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static const func_t funcs[2][4] = |
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{ |
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{reprojectImageTo3D_gpu<uchar, float3>, 0, 0, reprojectImageTo3D_gpu<short, float3>}, |
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{reprojectImageTo3D_gpu<uchar, float4>, 0, 0, reprojectImageTo3D_gpu<short, float4>} |
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}; |
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GpuMat disp = _disp.getGpuMat(); |
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Mat Q = _Q.getMat(); |
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CV_Assert( disp.type() == CV_8U || disp.type() == CV_16S ); |
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CV_Assert( Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4 && Q.isContinuous() ); |
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CV_Assert( dst_cn == 3 || dst_cn == 4 ); |
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_xyz.create(disp.size(), CV_MAKE_TYPE(CV_32F, dst_cn)); |
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GpuMat xyz = _xyz.getGpuMat(); |
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funcs[dst_cn == 4][disp.type()](disp, xyz, Q.ptr<float>(), StreamAccessor::getStream(stream)); |
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} |
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//////////////////////////////////////////////////////////////////////// |
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// drawColorDisp |
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namespace cv { namespace cuda { namespace device |
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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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void drawColorDisp_gpu(const PtrStepSz<short>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream); |
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}}} |
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namespace |
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{ |
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template <typename T> |
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void drawColorDisp_caller(const GpuMat& src, OutputArray _dst, int ndisp, const cudaStream_t& stream) |
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{ |
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using namespace ::cv::cuda::device; |
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_dst.create(src.size(), CV_8UC4); |
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GpuMat dst = _dst.getGpuMat(); |
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drawColorDisp_gpu((PtrStepSz<T>)src, dst, ndisp, stream); |
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} |
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} |
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void cv::cuda::drawColorDisp(InputArray _src, OutputArray dst, int ndisp, Stream& stream) |
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{ |
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typedef void (*drawColorDisp_caller_t)(const GpuMat& src, OutputArray dst, int ndisp, const cudaStream_t& stream); |
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const drawColorDisp_caller_t drawColorDisp_callers[] = {drawColorDisp_caller<unsigned char>, 0, 0, drawColorDisp_caller<short>, 0, 0, 0, 0}; |
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GpuMat src = _src.getGpuMat(); |
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CV_Assert( src.type() == CV_8U || src.type() == CV_16S ); |
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drawColorDisp_callers[src.type()](src, dst, ndisp, StreamAccessor::getStream(stream)); |
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} |
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#endif
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