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switched to Input/Output Array in reprojectImageTo3D & drawColorDisp

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This commit is contained in:
Vladislav Vinogradov
2013-05-08 16:51:43 +04:00
parent 3a02e599e0
commit a380c473b9
2 changed files with 25 additions and 20 deletions
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9
modules/gpustereo/include/opencv2/gpustereo.hpp
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@@ -172,21 +172,20 @@ public:
CV_EXPORTS Ptr<gpu::DisparityBilateralFilter>
createDisparityBilateralFilter(int ndisp = 64, int radius = 3, int iters = 1);
/////////////////////////////////////////
// Utility
//! Reprojects disparity image to 3D space.
//! Supports CV_8U and CV_16S types of input disparity.
//! The output is a 3- or 4-channel floating-point matrix.
//! Each element of this matrix will contain the 3D coordinates of the point (x,y,z,1), computed from the disparity map.
//! Q is the 4x4 perspective transformation matrix that can be obtained with cvStereoRectify.
CV_EXPORTS void reprojectImageTo3D(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, int dst_cn = 4, Stream& stream = Stream::Null());
CV_EXPORTS void reprojectImageTo3D(InputArray disp, OutputArray xyzw, InputArray Q, int dst_cn = 4, Stream& stream = Stream::Null());
//! Does coloring of disparity image: [0..ndisp) -> [0..240, 1, 1] in HSV.
//! Supported types of input disparity: CV_8U, CV_16S.
//! Output disparity has CV_8UC4 type in BGRA format (alpha = 255).
CV_EXPORTS void drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp, Stream& stream = Stream::Null());
CV_EXPORTS void drawColorDisp(InputArray src_disp, OutputArray dst_disp, int ndisp, Stream& stream = Stream::Null());
}} // namespace cv { namespace gpu {

36
modules/gpustereo/src/util.cpp
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@@ -47,8 +47,8 @@ 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(); }
void cv::gpu::reprojectImageTo3D(InputArray, OutputArray, InputArray, int, Stream&) { throw_no_cuda(); }
void cv::gpu::drawColorDisp(InputArray, OutputArray, int, Stream&) { throw_no_cuda(); }
#else
@@ -61,7 +61,7 @@ namespace cv { namespace gpu { namespace cudev
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)
void cv::gpu::reprojectImageTo3D(InputArray _disp, OutputArray _xyz, InputArray _Q, int dst_cn, Stream& stream)
{
using namespace cv::gpu::cudev;
@@ -72,11 +72,15 @@ void cv::gpu::reprojectImageTo3D(const GpuMat& disp, GpuMat& xyz, const Mat& Q,
{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);
GpuMat disp = _disp.getGpuMat();
Mat Q = _Q.getMat();
xyz.create(disp.size(), CV_MAKE_TYPE(CV_32F, dst_cn));
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));
GpuMat xyz = _xyz.getGpuMat();
funcs[dst_cn == 4][disp.type()](disp, xyz, Q.ptr<float>(), StreamAccessor::getStream(stream));
}
@@ -93,23 +97,25 @@ namespace cv { namespace gpu { namespace cudev
namespace
{
template <typename T>
void drawColorDisp_caller(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream)
void drawColorDisp_caller(const GpuMat& src, OutputArray _dst, int ndisp, const cudaStream_t& stream)
{
using namespace ::cv::gpu::cudev;
dst.create(src.size(), CV_8UC4);
_dst.create(src.size(), CV_8UC4);
GpuMat dst = _dst.getGpuMat();
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)
void cv::gpu::drawColorDisp(InputArray _src, OutputArray dst, int ndisp, Stream& stream)
{
CV_Assert(src.type() == CV_8U || src.type() == CV_16S);
typedef void (*drawColorDisp_caller_t)(const GpuMat& src, OutputArray 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};
GpuMat src = _src.getGpuMat();
CV_Assert( src.type() == CV_8U || src.type() == CV_16S );
drawColorDisp_callers[src.type()](src, dst, ndisp, StreamAccessor::getStream(stream));
}