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cudastereo: reprojectImageTo3D: enabled CV_32S and CV_32F disparity formats

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This is to achieve parity with the CPU equivalent.
This commit is contained in:
Rok Mandeljc
2015-03-24 17:23:21 +01:00
committed by Rok Mandeljc
parent 8b554d3c2d
commit 9f82ac18d4
2 changed files with 8 additions and 4 deletions
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4
modules/cudastereo/src/cuda/util.cu
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@@ -98,6 +98,10 @@ namespace cv { namespace cuda { namespace device
template void reprojectImageTo3D_gpu<uchar, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
template void reprojectImageTo3D_gpu<short, float3>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
template void reprojectImageTo3D_gpu<short, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
template void reprojectImageTo3D_gpu<int, float3>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
template void reprojectImageTo3D_gpu<int, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
template void reprojectImageTo3D_gpu<float, float3>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
template void reprojectImageTo3D_gpu<float, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
/////////////////////////////////// drawColorDisp ///////////////////////////////////////////////

8
modules/cudastereo/src/util.cpp
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@@ -66,16 +66,16 @@ void cv::cuda::reprojectImageTo3D(InputArray _disp, OutputArray _xyz, InputArray
using namespace cv::cuda::device;
typedef void (*func_t)(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
static const func_t funcs[2][4] =
static const func_t funcs[2][6] =
{
{reprojectImageTo3D_gpu<uchar, float3>, 0, 0, reprojectImageTo3D_gpu<short, float3>},
{reprojectImageTo3D_gpu<uchar, float4>, 0, 0, reprojectImageTo3D_gpu<short, float4>}
{reprojectImageTo3D_gpu<uchar, float3>, 0, 0, reprojectImageTo3D_gpu<short, float3>, reprojectImageTo3D_gpu<int, float3>, reprojectImageTo3D_gpu<float, float3>},
{reprojectImageTo3D_gpu<uchar, float4>, 0, 0, reprojectImageTo3D_gpu<short, float4>, reprojectImageTo3D_gpu<int, float4>, reprojectImageTo3D_gpu<float, float4>}
};
GpuMat disp = _disp.getGpuMat();
Mat Q = _Q.getMat();
CV_Assert( disp.type() == CV_8U || disp.type() == CV_16S );
CV_Assert( disp.type() == CV_8U || disp.type() == CV_16S || disp.type() == CV_32S || disp.type() == CV_32F );
CV_Assert( Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4 && Q.isContinuous() );
CV_Assert( dst_cn == 3 || dst_cn == 4 );