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renamed colorizeDisp to drawColorDisp, added acync version of drawColorDisp and reprojectImageTo3D_GPU.

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This commit is contained in:
Vladislav Vinogradov
2010-08-25 06:30:11 +00:00
parent 24427d593f
commit 1febf345bf
3 changed files with 86 additions and 50 deletions
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74
modules/gpu/src/imgproc_gpu.cpp
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@@ -49,8 +49,10 @@ using namespace cv::gpu;
void cv::gpu::remap(const GpuMat&, const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::meanShiftFiltering_GPU(const GpuMat&, GpuMat&, int, int, TermCriteria ) { throw_nogpu(); }
void cv::gpu::colorizeDisp(const GpuMat&, GpuMat&, int) { throw_nogpu(); }
void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int) { throw_nogpu(); }
void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int, const Stream&) { throw_nogpu(); }
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat&, GpuMat&, const Mat&) { throw_nogpu(); }
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat&, GpuMat&, const Mat&, const Stream&) { throw_nogpu(); }
#else /* !defined (HAVE_CUDA) */
@@ -62,11 +64,11 @@ namespace cv { namespace gpu
extern "C" void meanShiftFiltering_gpu(const DevMem2D& src, DevMem2D dst, int sp, int sr, int maxIter, float eps);
void colorizeDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp);
void colorizeDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp);
void drawColorDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream);
void drawColorDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream);
void reprojectImageTo3D_gpu(const DevMem2D& disp, const DevMem2Df& xyzw, const float* q);
void reprojectImageTo3D_gpu(const DevMem2D_<short>& disp, const DevMem2Df& xyzw, const float* q);
void reprojectImageTo3D_gpu(const DevMem2D& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream);
void reprojectImageTo3D_gpu(const DevMem2D_<short>& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream);
}
}}
@@ -109,47 +111,63 @@ void cv::gpu::meanShiftFiltering_GPU(const GpuMat& src, GpuMat& dst, int sp, int
namespace
{
template <typename T>
void colorizeDisp_caller(const GpuMat& src, GpuMat& dst, int ndisp)
{
impl::colorizeDisp_gpu((DevMem2D_<T>)src, dst, ndisp);
void drawColorDisp_caller(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream)
{
GpuMat out;
if (&dst != &src)
out = dst;
out.create(src.size(), CV_8UC4);
impl::drawColorDisp_gpu((DevMem2D_<T>)src, out, ndisp, stream);
dst = out;
}
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::colorizeDisp(const GpuMat& src, GpuMat& dst, int ndisp)
void cv::gpu::drawColorDisp(const GpuMat& src, GpuMat& dst, int ndisp)
{
typedef void (*colorizeDisp_caller_t)(const GpuMat& src, GpuMat& dst, int ndisp);
static const colorizeDisp_caller_t callers[] = {colorizeDisp_caller<uchar>, 0, 0, colorizeDisp_caller<short>, 0, 0, 0, 0};
CV_Assert(src.type() == CV_8U || src.type() == CV_16S);
GpuMat out;
if (&dst != &src)
out = dst;
out.create(src.size(), CV_8UC4);
callers[src.type()](src, out, ndisp);
dst = out;
drawColorDisp_callers[src.type()](src, dst, ndisp, 0);
}
void cv::gpu::drawColorDisp(const GpuMat& src, GpuMat& dst, int ndisp, const Stream& stream)
{
CV_Assert(src.type() == CV_8U || src.type() == CV_16S);
drawColorDisp_callers[src.type()](src, dst, ndisp, StreamAccessor::getStream(stream));
}
namespace
{
template <typename T>
void reprojectImageTo3D_caller(const GpuMat& disp, GpuMat& xyzw, const Mat& Q)
{
impl::reprojectImageTo3D_gpu((DevMem2D_<T>)disp, xyzw, Q.ptr<float>());
void reprojectImageTo3D_caller(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const cudaStream_t& stream)
{
xyzw.create(disp.rows, disp.cols, CV_32FC4);
impl::reprojectImageTo3D_gpu((DevMem2D_<T>)disp, xyzw, Q.ptr<float>(), stream);
}
typedef void (*reprojectImageTo3D_caller_t)(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const cudaStream_t& stream);
const reprojectImageTo3D_caller_t reprojectImageTo3D_callers[] = {reprojectImageTo3D_caller<unsigned char>, 0, 0, reprojectImageTo3D_caller<short>, 0, 0, 0, 0};
}
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat& disp, GpuMat& xyzw, const Mat& Q)
{
typedef void (*reprojectImageTo3D_caller_t)(const GpuMat& disp, GpuMat& xyzw, const Mat& Q);
static const reprojectImageTo3D_caller_t callers[] = {reprojectImageTo3D_caller<uchar>, 0, 0, reprojectImageTo3D_caller<short>, 0, 0, 0, 0};
CV_Assert((disp.type() == CV_8U || disp.type() == CV_16S) && Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4);
xyzw.create(disp.rows, disp.cols, CV_32FC4);
callers[disp.type()](disp, xyzw, Q);
reprojectImageTo3D_callers[disp.type()](disp, xyzw, Q, 0);
}
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const Stream& stream)
{
CV_Assert((disp.type() == CV_8U || disp.type() == CV_16S) && Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4);
reprojectImageTo3D_callers[disp.type()](disp, xyzw, Q, StreamAccessor::getStream(stream));
}
#endif /* !defined (HAVE_CUDA) */