move the rest cuda functions to cuda legacy

modules/cuda/include/opencv2/cuda.hpp

@@ -63,34 +63,6 @@ namespace cv { namespace cuda {
 //! @addtogroup cuda_calib3d
 //! @{
 
-CV_EXPORTS void transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
-                                GpuMat& dst, Stream& stream = Stream::Null());
-
-CV_EXPORTS void projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
-                              const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst,
-                              Stream& stream = Stream::Null());
-
-/** @brief Finds the object pose from 3D-2D point correspondences.
-
-@param object Single-row matrix of object points.
-@param image Single-row matrix of image points.
-@param camera_mat 3x3 matrix of intrinsic camera parameters.
-@param dist_coef Distortion coefficients. See undistortPoints for details.
-@param rvec Output 3D rotation vector.
-@param tvec Output 3D translation vector.
-@param use_extrinsic_guess Flag to indicate that the function must use rvec and tvec as an
-initial transformation guess. It is not supported for now.
-@param num_iters Maximum number of RANSAC iterations.
-@param max_dist Euclidean distance threshold to detect whether point is inlier or not.
-@param min_inlier_count Flag to indicate that the function must stop if greater or equal number
-of inliers is achieved. It is not supported for now.
-@param inliers Output vector of inlier indices.
- */
-CV_EXPORTS void solvePnPRansac(const Mat& object, const Mat& image, const Mat& camera_mat,
-                               const Mat& dist_coef, Mat& rvec, Mat& tvec, bool use_extrinsic_guess=false,
-                               int num_iters=100, float max_dist=8.0, int min_inlier_count=100,
-                               std::vector<int>* inliers=NULL);
-
 //! @}
 
 }} // namespace cv { namespace cuda {

modules/cudalegacy/CMakeLists.txt

@@ -6,4 +6,5 @@ set(the_description "CUDA-accelerated Computer Vision (legacy)")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4130 /wd4324 /wd4512 /wd4310 -Wundef -Wmissing-declarations -Wuninitialized -Wshadow)
 
-ocv_define_module(cudalegacy opencv_core opencv_video OPTIONAL opencv_objdetect opencv_imgproc opencv_cudaarithm opencv_cudafilters opencv_cudaimgproc)
+ocv_define_module(cudalegacy opencv_core opencv_video
+  OPTIONAL opencv_objdetect opencv_imgproc opencv_calib3d opencv_cudaarithm opencv_cudafilters opencv_cudaimgproc)

modules/cudalegacy/include/opencv2/cudalegacy.hpp

@@ -251,6 +251,38 @@ CV_EXPORTS void connectivityMask(const GpuMat& image, GpuMat& mask, const cv::Sc
 //! performs connected componnents labeling.
 CV_EXPORTS void labelComponents(const GpuMat& mask, GpuMat& components, int flags = 0, Stream& stream = Stream::Null());
 
+//
+// Calib3d
+//
+
+CV_EXPORTS void transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
+                                GpuMat& dst, Stream& stream = Stream::Null());
+
+CV_EXPORTS void projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
+                              const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst,
+                              Stream& stream = Stream::Null());
+
+/** @brief Finds the object pose from 3D-2D point correspondences.
+
+@param object Single-row matrix of object points.
+@param image Single-row matrix of image points.
+@param camera_mat 3x3 matrix of intrinsic camera parameters.
+@param dist_coef Distortion coefficients. See undistortPoints for details.
+@param rvec Output 3D rotation vector.
+@param tvec Output 3D translation vector.
+@param use_extrinsic_guess Flag to indicate that the function must use rvec and tvec as an
+initial transformation guess. It is not supported for now.
+@param num_iters Maximum number of RANSAC iterations.
+@param max_dist Euclidean distance threshold to detect whether point is inlier or not.
+@param min_inlier_count Flag to indicate that the function must stop if greater or equal number
+of inliers is achieved. It is not supported for now.
+@param inliers Output vector of inlier indices.
+ */
+CV_EXPORTS void solvePnPRansac(const Mat& object, const Mat& image, const Mat& camera_mat,
+                               const Mat& dist_coef, Mat& rvec, Mat& tvec, bool use_extrinsic_guess=false,
+                               int num_iters=100, float max_dist=8.0, int min_inlier_count=100,
+                               std::vector<int>* inliers=NULL);
+
 //! @}
 
 }}

modules/cudalegacy/perf/perf_calib3d.cpp

@@ -42,6 +42,10 @@
 
 #include "perf_precomp.hpp"
 
+#ifdef HAVE_OPENCV_CALIB3D
+
+#include "opencv2/calib3d.hpp"
+
 using namespace std;
 using namespace testing;
 using namespace perf;
@@ -133,3 +137,5 @@ PERF_TEST_P(Count, Calib3D_SolvePnPRansac,
         CPU_SANITY_CHECK(tvec, 1e-6);
     }
 }
+
+#endif

modules/cudalegacy/src/calib3d.cpp

@@ -45,7 +45,7 @@
 using namespace cv;
 using namespace cv::cuda;
 
-#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
+#if !defined HAVE_CUDA || !defined HAVE_OPENCV_CALIB3D || defined(CUDA_DISABLER)
 
 void cv::cuda::transformPoints(const GpuMat&, const Mat&, const Mat&, GpuMat&, Stream&) { throw_no_cuda(); }
 

modules/cudalegacy/src/precomp.hpp

@@ -56,6 +56,10 @@
 #  include "opencv2/objdetect.hpp"
 #endif
 
+#ifdef HAVE_OPENCV_CALIB3D
+#  include "opencv2/calib3d.hpp"
+#endif
+
 #ifdef HAVE_OPENCV_CUDAARITHM
 #  include "opencv2/cudaarithm.hpp"
 #endif

modules/cudalegacy/test/test_calib3d.cpp

@@ -42,7 +42,9 @@
 
 #include "test_precomp.hpp"
 
-#ifdef HAVE_CUDA
+#if defined HAVE_CUDA && defined HAVE_OPENCV_CALIB3D
+
+#include "opencv2/calib3d.hpp"
 
 using namespace cvtest;
 

modules/cudalegacy/test/test_precomp.hpp

@@ -74,6 +74,8 @@
 
 #include "opencv2/core/private.cuda.hpp"
 
+#include "opencv2/opencv_modules.hpp"
+
 #include "cvconfig.h"
 
 #include "NCVTest.hpp"

samples/gpu/performance/tests.cpp

@@ -3,7 +3,7 @@
 #include "opencv2/highgui.hpp"
 #include "opencv2/calib3d.hpp"
 #include "opencv2/video.hpp"
-#include "opencv2/cuda.hpp"
+#include "opencv2/cudalegacy.hpp"
 #include "opencv2/cudaimgproc.hpp"
 #include "opencv2/cudaarithm.hpp"
 #include "opencv2/cudawarping.hpp"