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added support of 3-channels output to gpu::reprojectImageTo3D

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minor refactoring of gpu tests
This commit is contained in:
Vladislav Vinogradov
2012-03-28 12:48:28 +00:00
parent 07ec83cd1f
commit 8e3f1c09d2
8 changed files with 713 additions and 847 deletions
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40
modules/gpu/src/imgproc.cpp
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@@ -50,7 +50,7 @@ using namespace cv::gpu;
void cv::gpu::meanShiftFiltering(const GpuMat&, GpuMat&, int, int, TermCriteria, Stream&) { throw_nogpu(); }
void cv::gpu::meanShiftProc(const GpuMat&, GpuMat&, GpuMat&, int, int, TermCriteria, Stream&) { throw_nogpu(); }
void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int, Stream&) { throw_nogpu(); }
void cv::gpu::reprojectImageTo3D(const GpuMat&, GpuMat&, const Mat&, Stream&) { throw_nogpu(); }
void cv::gpu::reprojectImageTo3D(const GpuMat&, GpuMat&, const Mat&, int, Stream&) { throw_nogpu(); }
void cv::gpu::copyMakeBorder(const GpuMat&, GpuMat&, int, int, int, int, int, const Scalar&, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpPlaneMaps(Size, Rect, const Mat&, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpCylindricalMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
@@ -213,33 +213,29 @@ namespace cv { namespace gpu { namespace device
{
namespace imgproc
{
void reprojectImageTo3D_gpu(const DevMem2Db& 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);
template <typename T, typename D>
void reprojectImageTo3D_gpu(const DevMem2Db disp, DevMem2Db xyz, const float* q, cudaStream_t stream);
}
}}}
namespace
void cv::gpu::reprojectImageTo3D(const GpuMat& disp, GpuMat& xyz, const Mat& Q, int dst_cn, Stream& stream)
{
template <typename T>
void reprojectImageTo3D_caller(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const cudaStream_t& stream)
using namespace cv::gpu::device::imgproc;
typedef void (*func_t)(const DevMem2Db disp, DevMem2Db xyz, const float* q, cudaStream_t stream);
static const func_t funcs[2][4] =
{
using namespace ::cv::gpu::device::imgproc;
{reprojectImageTo3D_gpu<uchar, float3>, 0, 0, reprojectImageTo3D_gpu<short, float3>},
{reprojectImageTo3D_gpu<uchar, float4>, 0, 0, reprojectImageTo3D_gpu<short, float4>}
};
xyzw.create(disp.rows, disp.cols, CV_32FC4);
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);
reprojectImageTo3D_gpu((DevMem2D_<T>)disp, xyzw, Q.ptr<float>(), stream);
}
xyz.create(disp.size(), CV_MAKE_TYPE(CV_32F, dst_cn));
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(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, 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));
funcs[dst_cn == 4][disp.type()](disp, xyz, Q.ptr<float>(), StreamAccessor::getStream(stream));
}
////////////////////////////////////////////////////////////////////////
@@ -1513,9 +1509,11 @@ void cv::gpu::Canny(const GpuMat& src, CannyBuf& buf, GpuMat& dst, double low_th
{
using namespace ::cv::gpu::device::canny;
CV_Assert(TargetArchs::builtWith(SHARED_ATOMICS) && DeviceInfo().supports(SHARED_ATOMICS));
CV_Assert(src.type() == CV_8UC1);
if (!TargetArchs::builtWith(SHARED_ATOMICS) || !DeviceInfo().supports(SHARED_ATOMICS))
CV_Error(CV_StsNotImplemented, "The device doesn't support shared atomics");
if( low_thresh > high_thresh )
std::swap( low_thresh, high_thresh);