748 lines
34 KiB
C++
748 lines
34 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other GpuMaterials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_GPU_HPP__
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#define __OPENCV_GPU_HPP__
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#include <vector>
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#include "opencv2/core/core.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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#include "opencv2/gpu/devmem2d.hpp"
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namespace cv
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{
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namespace gpu
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{
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//////////////////////////////// Initialization ////////////////////////
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//! This is the only function that do not throw exceptions if the library is compiled without Cuda.
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CV_EXPORTS int getCudaEnabledDeviceCount();
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//! Functions below throw cv::Expception if the library is compiled without Cuda.
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CV_EXPORTS string getDeviceName(int device);
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CV_EXPORTS void setDevice(int device);
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CV_EXPORTS int getDevice();
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CV_EXPORTS void getComputeCapability(int device, int& major, int& minor);
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CV_EXPORTS int getNumberOfSMs(int device);
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CV_EXPORTS void getGpuMemInfo(size_t& free, size_t& total);
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//////////////////////////////// GpuMat ////////////////////////////////
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class Stream;
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class CudaMem;
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//! Smart pointer for GPU memory with reference counting. Its interface is mostly similar with cv::Mat.
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class CV_EXPORTS GpuMat
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{
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public:
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//! default constructor
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GpuMat();
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//! constructs GpuMatrix of the specified size and type
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// (_type is CV_8UC1, CV_64FC3, CV_32SC(12) etc.)
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GpuMat(int _rows, int _cols, int _type);
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GpuMat(Size _size, int _type);
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//! constucts GpuMatrix and fills it with the specified value _s.
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GpuMat(int _rows, int _cols, int _type, const Scalar& _s);
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GpuMat(Size _size, int _type, const Scalar& _s);
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//! copy constructor
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GpuMat(const GpuMat& m);
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//! constructor for GpuMatrix headers pointing to user-allocated data
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GpuMat(int _rows, int _cols, int _type, void* _data, size_t _step = Mat::AUTO_STEP);
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GpuMat(Size _size, int _type, void* _data, size_t _step = Mat::AUTO_STEP);
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//! creates a matrix header for a part of the bigger matrix
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GpuMat(const GpuMat& m, const Range& rowRange, const Range& colRange);
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GpuMat(const GpuMat& m, const Rect& roi);
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//! builds GpuMat from Mat. Perfom blocking upload to device.
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explicit GpuMat (const Mat& m);
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//! destructor - calls release()
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~GpuMat();
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//! assignment operators
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GpuMat& operator = (const GpuMat& m);
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//! assignment operator. Perfom blocking upload to device.
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GpuMat& operator = (const Mat& m);
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//! returns lightweight DevMem2D_ structure for passing to nvcc-compiled code.
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// Contains just image size, data ptr and step.
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template <class T> operator DevMem2D_<T>() const;
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//! pefroms blocking upload data to GpuMat. .
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void upload(const cv::Mat& m);
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//! upload async
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void upload(const CudaMem& m, Stream& stream);
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//! downloads data from device to host memory. Blocking calls.
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operator Mat() const;
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void download(cv::Mat& m) const;
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//! download async
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void download(CudaMem& m, Stream& stream) const;
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//! returns a new GpuMatrix header for the specified row
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GpuMat row(int y) const;
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//! returns a new GpuMatrix header for the specified column
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GpuMat col(int x) const;
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//! ... for the specified row span
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GpuMat rowRange(int startrow, int endrow) const;
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GpuMat rowRange(const Range& r) const;
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//! ... for the specified column span
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GpuMat colRange(int startcol, int endcol) const;
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GpuMat colRange(const Range& r) const;
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//! returns deep copy of the GpuMatrix, i.e. the data is copied
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GpuMat clone() const;
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//! copies the GpuMatrix content to "m".
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// It calls m.create(this->size(), this->type()).
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void copyTo( GpuMat& m ) const;
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//! copies those GpuMatrix elements to "m" that are marked with non-zero mask elements.
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void copyTo( GpuMat& m, const GpuMat& mask ) const;
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//! converts GpuMatrix to another datatype with optional scalng. See cvConvertScale.
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void convertTo( GpuMat& m, int rtype, double alpha=1, double beta=0 ) const;
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void assignTo( GpuMat& m, int type=-1 ) const;
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//! sets every GpuMatrix element to s
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GpuMat& operator = (const Scalar& s);
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//! sets some of the GpuMatrix elements to s, according to the mask
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GpuMat& setTo(const Scalar& s, const GpuMat& mask=GpuMat());
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//! creates alternative GpuMatrix header for the same data, with different
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// number of channels and/or different number of rows. see cvReshape.
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GpuMat reshape(int _cn, int _rows=0) const;
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//! allocates new GpuMatrix data unless the GpuMatrix already has specified size and type.
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// previous data is unreferenced if needed.
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void create(int _rows, int _cols, int _type);
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void create(Size _size, int _type);
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//! decreases reference counter;
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// deallocate the data when reference counter reaches 0.
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void release();
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//! swaps with other smart pointer
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void swap(GpuMat& mat);
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//! locates GpuMatrix header within a parent GpuMatrix. See below
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void locateROI( Size& wholeSize, Point& ofs ) const;
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//! moves/resizes the current GpuMatrix ROI inside the parent GpuMatrix.
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GpuMat& adjustROI( int dtop, int dbottom, int dleft, int dright );
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//! extracts a rectangular sub-GpuMatrix
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// (this is a generalized form of row, rowRange etc.)
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GpuMat operator()( Range rowRange, Range colRange ) const;
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GpuMat operator()( const Rect& roi ) const;
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//! returns true iff the GpuMatrix data is continuous
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// (i.e. when there are no gaps between successive rows).
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// similar to CV_IS_GpuMat_CONT(cvGpuMat->type)
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bool isContinuous() const;
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//! returns element size in bytes,
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// similar to CV_ELEM_SIZE(cvMat->type)
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size_t elemSize() const;
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//! returns the size of element channel in bytes.
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size_t elemSize1() const;
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//! returns element type, similar to CV_MAT_TYPE(cvMat->type)
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int type() const;
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//! returns element type, similar to CV_MAT_DEPTH(cvMat->type)
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int depth() const;
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//! returns element type, similar to CV_MAT_CN(cvMat->type)
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int channels() const;
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//! returns step/elemSize1()
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size_t step1() const;
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//! returns GpuMatrix size:
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// width == number of columns, height == number of rows
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Size size() const;
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//! returns true if GpuMatrix data is NULL
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bool empty() const;
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//! returns pointer to y-th row
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uchar* ptr(int y=0);
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const uchar* ptr(int y=0) const;
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//! template version of the above method
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template<typename _Tp> _Tp* ptr(int y=0);
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template<typename _Tp> const _Tp* ptr(int y=0) const;
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//! matrix transposition
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GpuMat t() const;
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/*! includes several bit-fields:
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- the magic signature
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- continuity flag
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- depth
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- number of channels
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*/
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int flags;
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//! the number of rows and columns
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int rows, cols;
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//! a distance between successive rows in bytes; includes the gap if any
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size_t step;
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//! pointer to the data
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uchar* data;
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//! pointer to the reference counter;
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// when GpuMatrix points to user-allocated data, the pointer is NULL
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int* refcount;
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//! helper fields used in locateROI and adjustROI
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uchar* datastart;
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uchar* dataend;
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};
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//////////////////////////////// CudaMem ////////////////////////////////
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// CudaMem is limited cv::Mat with page locked memory allocation.
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// Page locked memory is only needed for async and faster coping to GPU.
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// It is convertable to cv::Mat header without reference counting
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// so you can use it with other opencv functions.
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class CV_EXPORTS CudaMem
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{
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public:
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enum { ALLOC_PAGE_LOCKED = 1, ALLOC_ZEROCOPY = 2, ALLOC_WRITE_COMBINED = 4 };
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CudaMem();
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CudaMem(const CudaMem& m);
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CudaMem(int _rows, int _cols, int _type, int _alloc_type = ALLOC_PAGE_LOCKED);
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CudaMem(Size _size, int _type, int _alloc_type = ALLOC_PAGE_LOCKED);
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//! creates from cv::Mat with coping data
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explicit CudaMem(const Mat& m, int _alloc_type = ALLOC_PAGE_LOCKED);
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~CudaMem();
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CudaMem& operator = (const CudaMem& m);
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//! returns deep copy of the matrix, i.e. the data is copied
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CudaMem clone() const;
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//! allocates new matrix data unless the matrix already has specified size and type.
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void create(int _rows, int _cols, int _type, int _alloc_type = ALLOC_PAGE_LOCKED);
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void create(Size _size, int _type, int _alloc_type = ALLOC_PAGE_LOCKED);
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//! decrements reference counter and released memory if needed.
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void release();
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//! returns matrix header with disabled reference counting for CudaMem data.
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Mat createMatHeader() const;
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operator Mat() const;
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//! maps host memory into device address space and returns GpuMat header for it. Throws exception if not supported by hardware.
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GpuMat createGpuMatHeader() const;
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operator GpuMat() const;
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//returns if host memory can be mapperd to gpu address space;
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static bool can_device_map_to_host();
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// Please see cv::Mat for descriptions
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bool isContinuous() const;
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size_t elemSize() const;
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size_t elemSize1() const;
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int type() const;
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int depth() const;
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int channels() const;
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size_t step1() const;
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Size size() const;
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bool empty() const;
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// Please see cv::Mat for descriptions
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int flags;
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int rows, cols;
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size_t step;
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uchar* data;
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int* refcount;
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uchar* datastart;
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uchar* dataend;
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int alloc_type;
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};
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//////////////////////////////// CudaStream ////////////////////////////////
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// Encapculates Cuda Stream. Provides interface for async coping.
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// Passed to each function that supports async kernel execution.
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// Reference counting is enabled
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class CV_EXPORTS Stream
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{
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public:
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Stream();
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~Stream();
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Stream(const Stream&);
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Stream& operator=(const Stream&);
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bool queryIfComplete();
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void waitForCompletion();
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//! downloads asynchronously.
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// Warning! cv::Mat must point to page locked memory (i.e. to CudaMem data or to its subMat)
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void enqueueDownload(const GpuMat& src, CudaMem& dst);
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void enqueueDownload(const GpuMat& src, Mat& dst);
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//! uploads asynchronously.
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// Warning! cv::Mat must point to page locked memory (i.e. to CudaMem data or to its ROI)
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void enqueueUpload(const CudaMem& src, GpuMat& dst);
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void enqueueUpload(const Mat& src, GpuMat& dst);
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void enqueueCopy(const GpuMat& src, GpuMat& dst);
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void enqueueMemSet(const GpuMat& src, Scalar val);
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void enqueueMemSet(const GpuMat& src, Scalar val, const GpuMat& mask);
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// converts matrix type, ex from float to uchar depending on type
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void enqueueConvert(const GpuMat& src, GpuMat& dst, int type, double a = 1, double b = 0);
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private:
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void create();
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void release();
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struct Impl;
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Impl *impl;
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friend struct StreamAccessor;
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};
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////////////////////////////// Arithmetics ///////////////////////////////////
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//! adds one matrix to another (c = a + b)
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//! supports CV_8UC1, CV_8UC4, CV_32SC1, CV_32FC1 types
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CV_EXPORTS void add(const GpuMat& a, const GpuMat& b, GpuMat& c);
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//! adds scalar to a matrix (c = a + s)
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//! supports only CV_32FC1 type
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CV_EXPORTS void add(const GpuMat& a, const Scalar& sc, GpuMat& c);
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//! subtracts one matrix from another (c = a - b)
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//! supports CV_8UC1, CV_8UC4, CV_32SC1, CV_32FC1 types
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CV_EXPORTS void subtract(const GpuMat& a, const GpuMat& b, GpuMat& c);
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//! subtracts scalar from a matrix (c = a - s)
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//! supports only CV_32FC1 type
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CV_EXPORTS void subtract(const GpuMat& a, const Scalar& sc, GpuMat& c);
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//! computes element-wise product of the two arrays (c = a * b)
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//! supports CV_8UC1, CV_8UC4, CV_32SC1, CV_32FC1 types
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CV_EXPORTS void multiply(const GpuMat& a, const GpuMat& b, GpuMat& c);
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//! multiplies matrix to a scalar (c = a * s)
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//! supports only CV_32FC1 type
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CV_EXPORTS void multiply(const GpuMat& a, const Scalar& sc, GpuMat& c);
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//! computes element-wise quotient of the two arrays (c = a / b)
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//! supports CV_8UC1, CV_8UC4, CV_32SC1, CV_32FC1 types
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CV_EXPORTS void divide(const GpuMat& a, const GpuMat& b, GpuMat& c);
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//! computes element-wise quotient of matrix and scalar (c = a / s)
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//! supports only CV_32FC1 type
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CV_EXPORTS void divide(const GpuMat& a, const Scalar& sc, GpuMat& c);
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//! transposes the matrix
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//! supports only CV_8UC1 type
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CV_EXPORTS void transpose(const GpuMat& src1, GpuMat& dst);
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//! computes element-wise absolute difference of two arrays (c = abs(a - b))
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//! supports CV_8UC1, CV_8UC4, CV_32SC1, CV_32FC1 types
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CV_EXPORTS void absdiff(const GpuMat& a, const GpuMat& b, GpuMat& c);
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//! computes element-wise absolute difference of array and scalar (c = abs(a - s))
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//! supports only CV_32FC1 type
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CV_EXPORTS void absdiff(const GpuMat& a, const Scalar& s, GpuMat& c);
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//! compares elements of two arrays (c = a <cmpop> b)
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//! supports CV_8UC4, CV_32FC1 types
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CV_EXPORTS void compare(const GpuMat& a, const GpuMat& b, GpuMat& c, int cmpop);
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//! computes mean value and standard deviation of all or selected array elements
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//! supports only CV_8UC1 type
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CV_EXPORTS void meanStdDev(const GpuMat& mtx, Scalar& mean, Scalar& stddev);
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//! computes norm of array
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//! supports NORM_INF, NORM_L1, NORM_L2
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//! supports only CV_8UC1 type
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CV_EXPORTS double norm(const GpuMat& src1, int normType=NORM_L2);
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//! computes norm of the difference between two arrays
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//! supports NORM_INF, NORM_L1, NORM_L2
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//! supports only CV_8UC1 type
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CV_EXPORTS double norm(const GpuMat& src1, const GpuMat& src2, int normType=NORM_L2);
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//! reverses the order of the rows, columns or both in a matrix
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//! supports CV_8UC1, CV_8UC4 types
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CV_EXPORTS void flip(const GpuMat& a, GpuMat& b, int flipCode);
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//! computes sum of array elements
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//! supports CV_8UC1, CV_8UC4 types
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CV_EXPORTS Scalar sum(const GpuMat& m);
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//! finds global minimum and maximum array elements and returns their values
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//! supports only CV_8UC1 type
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CV_EXPORTS void minMax(const GpuMat& src, double* minVal, double* maxVal = 0);
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//! transforms 8-bit unsigned integers using lookup table: dst(i)=lut(src(i))
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//! destination array will have the depth type as lut and the same channels number as source
|
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//! supports CV_8UC1, CV_8UC3 types
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CV_EXPORTS void LUT(const GpuMat& src, const Mat& lut, GpuMat& dst);
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//! makes multi-channel array out of several single-channel arrays
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CV_EXPORTS void merge(const GpuMat* src, size_t n, GpuMat& dst);
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||
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||
//! makes multi-channel array out of several single-channel arrays
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CV_EXPORTS void merge(const vector<GpuMat>& src, GpuMat& dst);
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||
|
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//! makes multi-channel array out of several single-channel arrays (async version)
|
||
CV_EXPORTS void merge(const GpuMat* src, size_t n, GpuMat& dst, const Stream& stream);
|
||
|
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//! makes multi-channel array out of several single-channel arrays (async version)
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CV_EXPORTS void merge(const vector<GpuMat>& src, GpuMat& dst, const Stream& stream);
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||
//! copies each plane of a multi-channel array to a dedicated array
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||
CV_EXPORTS void split(const GpuMat& src, GpuMat* dst);
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||
|
||
//! copies each plane of a multi-channel array to a dedicated array
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||
CV_EXPORTS void split(const GpuMat& src, vector<GpuMat>& dst);
|
||
|
||
//! copies each plane of a multi-channel array to a dedicated array (async version)
|
||
CV_EXPORTS void split(const GpuMat& src, GpuMat* dst, const Stream& stream);
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||
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//! copies each plane of a multi-channel array to a dedicated array (async version)
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CV_EXPORTS void split(const GpuMat& src, vector<GpuMat>& dst, const Stream& stream);
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//! computes exponent of each matrix element (b = e**a)
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||
//! supports only CV_32FC1 type
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CV_EXPORTS void exp(const GpuMat& a, GpuMat& b);
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//! computes natural logarithm of absolute value of each matrix element: b = log(abs(a))
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//! supports only CV_32FC1 type
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||
CV_EXPORTS void log(const GpuMat& a, GpuMat& b);
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//! computes magnitude (magnitude(i)) of each (x(i), y(i)) vector
|
||
CV_EXPORTS void magnitude(const GpuMat& x, const GpuMat& y, GpuMat& magnitude);
|
||
|
||
////////////////////////////// Image processing //////////////////////////////
|
||
|
||
//! DST[x,y] = SRC[xmap[x,y],ymap[x,y]] with bilinear interpolation.
|
||
//! supports CV_8UC1, CV_8UC3 source types and CV_32FC1 map type
|
||
CV_EXPORTS void remap(const GpuMat& src, GpuMat& dst, const GpuMat& xmap, const GpuMat& ymap);
|
||
|
||
//! Does mean shift filtering on GPU.
|
||
CV_EXPORTS void meanShiftFiltering(const GpuMat& src, GpuMat& dst, int sp, int sr,
|
||
TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, 1));
|
||
|
||
//! 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);
|
||
//! Acync version
|
||
CV_EXPORTS void drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp, const Stream& stream);
|
||
|
||
//! Reprojects disparity image to 3D space.
|
||
//! Supports CV_8U and CV_16S types of input disparity.
|
||
//! The output is a 4-channel floating-point (CV_32FC4) 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);
|
||
//! Acync version
|
||
CV_EXPORTS void reprojectImageTo3D(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const Stream& stream);
|
||
|
||
//! converts image from one color space to another
|
||
CV_EXPORTS void cvtColor(const GpuMat& src, GpuMat& dst, int code, int dcn = 0);
|
||
//! Acync version
|
||
CV_EXPORTS void cvtColor(const GpuMat& src, GpuMat& dst, int code, int dcn, const Stream& stream);
|
||
|
||
//! applies fixed threshold to the image.
|
||
//! Now supports only THRESH_TRUNC threshold type and one channels float source.
|
||
CV_EXPORTS double threshold(const GpuMat& src, GpuMat& dst, double thresh);
|
||
|
||
//! resizes the image
|
||
//! Supports INTER_NEAREST, INTER_LINEAR
|
||
//! supports CV_8UC1, CV_8UC4 types
|
||
CV_EXPORTS void resize(const GpuMat& src, GpuMat& dst, Size dsize, double fx=0, double fy=0, int interpolation = INTER_LINEAR);
|
||
|
||
//! warps the image using affine transformation
|
||
//! Supports INTER_NEAREST, INTER_LINEAR, INTER_CUBIC
|
||
CV_EXPORTS void warpAffine(const GpuMat& src, GpuMat& dst, const Mat& M, Size dsize, int flags = INTER_LINEAR);
|
||
|
||
//! warps the image using perspective transformation
|
||
//! Supports INTER_NEAREST, INTER_LINEAR, INTER_CUBIC
|
||
CV_EXPORTS void warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size dsize, int flags = INTER_LINEAR);
|
||
|
||
//! rotate 8bit single or four channel image
|
||
//! Supports INTER_NEAREST, INTER_LINEAR, INTER_CUBIC
|
||
//! supports CV_8UC1, CV_8UC4 types
|
||
CV_EXPORTS void rotate(const GpuMat& src, GpuMat& dst, Size dsize, double angle, double xShift = 0, double yShift = 0, int interpolation = INTER_LINEAR);
|
||
|
||
//! copies 2D array to a larger destination array and pads borders with user-specifiable constant
|
||
//! supports CV_8UC1, CV_8UC4, CV_32SC1 types
|
||
CV_EXPORTS void copyMakeBorder(const GpuMat& src, GpuMat& dst, int top, int bottom, int left, int right, const Scalar& value = Scalar());
|
||
|
||
//! computes the integral image and integral for the squared image
|
||
//! sum will have CV_32S type, sqsum - CV32F type
|
||
//! supports only CV_32FC1 source type
|
||
CV_EXPORTS void integral(GpuMat& src, GpuMat& sum, GpuMat& sqsum);
|
||
|
||
//! smooths the image using the normalized box filter
|
||
//! supports CV_8UC1, CV_8UC4 types and kernel size 3, 5, 7
|
||
CV_EXPORTS void boxFilter(const GpuMat& src, GpuMat& dst, Size ksize, Point anchor = Point(-1,-1));
|
||
|
||
//! a synonym for normalized box filter
|
||
static inline void blur(const GpuMat& src, GpuMat& dst, Size ksize, Point anchor = Point(-1,-1)) { boxFilter(src, dst, ksize, anchor); }
|
||
|
||
//! erodes the image (applies the local minimum operator)
|
||
CV_EXPORTS void erode( const GpuMat& src, GpuMat& dst, const Mat& kernel, Point anchor, int iterations);
|
||
|
||
//! dilates the image (applies the local maximum operator)
|
||
CV_EXPORTS void dilate( const GpuMat& src, GpuMat& dst, const Mat& kernel, Point anchor, int iterations);
|
||
|
||
//! applies an advanced morphological operation to the image
|
||
CV_EXPORTS void morphologyEx( const GpuMat& src, GpuMat& dst, int op, const Mat& kernel, Point anchor, int iterations);
|
||
|
||
//////////////////////////////// StereoBM_GPU ////////////////////////////////
|
||
|
||
class CV_EXPORTS StereoBM_GPU
|
||
{
|
||
public:
|
||
enum { BASIC_PRESET = 0, PREFILTER_XSOBEL = 1 };
|
||
|
||
enum { DEFAULT_NDISP = 64, DEFAULT_WINSZ = 19 };
|
||
|
||
//! the default constructor
|
||
StereoBM_GPU();
|
||
//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
|
||
StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ);
|
||
|
||
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
|
||
//! Output disparity has CV_8U type.
|
||
void operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity);
|
||
|
||
//! Acync version
|
||
void operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, const Stream & stream);
|
||
|
||
//! Some heuristics that tries to estmate
|
||
// if current GPU will be faster then CPU in this algorithm.
|
||
// It queries current active device.
|
||
static bool checkIfGpuCallReasonable();
|
||
|
||
int ndisp;
|
||
int winSize;
|
||
int preset;
|
||
|
||
// If avergeTexThreshold == 0 => post procesing is disabled
|
||
// If avergeTexThreshold != 0 then disparity is set 0 in each point (x,y) where for left image
|
||
// SumOfHorizontalGradiensInWindow(x, y, winSize) < (winSize * winSize) * avergeTexThreshold
|
||
// i.e. input left image is low textured.
|
||
float avergeTexThreshold;
|
||
private:
|
||
GpuMat minSSD, leBuf, riBuf;
|
||
};
|
||
|
||
////////////////////////// StereoBeliefPropagation ///////////////////////////
|
||
// "Efficient Belief Propagation for Early Vision"
|
||
// P.Felzenszwalb
|
||
|
||
class CV_EXPORTS StereoBeliefPropagation
|
||
{
|
||
public:
|
||
enum { DEFAULT_NDISP = 64 };
|
||
enum { DEFAULT_ITERS = 5 };
|
||
enum { DEFAULT_LEVELS = 5 };
|
||
|
||
static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels);
|
||
|
||
//! the default constructor
|
||
explicit StereoBeliefPropagation(int ndisp = DEFAULT_NDISP,
|
||
int iters = DEFAULT_ITERS,
|
||
int levels = DEFAULT_LEVELS,
|
||
int msg_type = CV_32F);
|
||
|
||
//! the full constructor taking the number of disparities, number of BP iterations on each level,
|
||
//! number of levels, truncation of data cost, data weight,
|
||
//! truncation of discontinuity cost and discontinuity single jump
|
||
//! DataTerm = data_weight * min(fabs(I2-I1), max_data_term)
|
||
//! DiscTerm = min(disc_single_jump * fabs(f1-f2), max_disc_term)
|
||
//! please see paper for more details
|
||
StereoBeliefPropagation(int ndisp, int iters, int levels,
|
||
float max_data_term, float data_weight,
|
||
float max_disc_term, float disc_single_jump,
|
||
int msg_type = CV_32F);
|
||
|
||
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair,
|
||
//! if disparity is empty output type will be CV_16S else output type will be disparity.type().
|
||
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity);
|
||
|
||
//! Acync version
|
||
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream);
|
||
|
||
|
||
//! version for user specified data term
|
||
void operator()(const GpuMat& data, GpuMat& disparity);
|
||
void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream);
|
||
|
||
int ndisp;
|
||
|
||
int iters;
|
||
int levels;
|
||
|
||
float max_data_term;
|
||
float data_weight;
|
||
float max_disc_term;
|
||
float disc_single_jump;
|
||
|
||
int msg_type;
|
||
private:
|
||
GpuMat u, d, l, r, u2, d2, l2, r2;
|
||
std::vector<GpuMat> datas;
|
||
GpuMat out;
|
||
};
|
||
|
||
/////////////////////////// StereoConstantSpaceBP ///////////////////////////
|
||
// "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
|
||
// Qingxiong Yang, Liang Wang<6E>, Narendra Ahuja
|
||
// http://vision.ai.uiuc.edu/~qyang6/
|
||
|
||
class CV_EXPORTS StereoConstantSpaceBP
|
||
{
|
||
public:
|
||
enum { DEFAULT_NDISP = 128 };
|
||
enum { DEFAULT_ITERS = 8 };
|
||
enum { DEFAULT_LEVELS = 4 };
|
||
enum { DEFAULT_NR_PLANE = 4 };
|
||
|
||
static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane);
|
||
|
||
//! the default constructor
|
||
explicit StereoConstantSpaceBP(int ndisp = DEFAULT_NDISP,
|
||
int iters = DEFAULT_ITERS,
|
||
int levels = DEFAULT_LEVELS,
|
||
int nr_plane = DEFAULT_NR_PLANE,
|
||
int msg_type = CV_32F);
|
||
|
||
//! the full constructor taking the number of disparities, number of BP iterations on each level,
|
||
//! number of levels, number of active disparity on the first level, truncation of data cost, data weight,
|
||
//! truncation of discontinuity cost, discontinuity single jump and minimum disparity threshold
|
||
StereoConstantSpaceBP(int ndisp, int iters, int levels, int nr_plane,
|
||
float max_data_term, float data_weight, float max_disc_term, float disc_single_jump,
|
||
int min_disp_th = 0,
|
||
int msg_type = CV_32F);
|
||
|
||
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair,
|
||
//! if disparity is empty output type will be CV_16S else output type will be disparity.type().
|
||
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity);
|
||
|
||
//! Acync version
|
||
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream);
|
||
|
||
int ndisp;
|
||
|
||
int iters;
|
||
int levels;
|
||
|
||
int nr_plane;
|
||
|
||
float max_data_term;
|
||
float data_weight;
|
||
float max_disc_term;
|
||
float disc_single_jump;
|
||
|
||
int min_disp_th;
|
||
|
||
int msg_type;
|
||
|
||
bool use_local_init_data_cost;
|
||
private:
|
||
GpuMat u[2], d[2], l[2], r[2];
|
||
GpuMat disp_selected_pyr[2];
|
||
|
||
GpuMat data_cost;
|
||
GpuMat data_cost_selected;
|
||
|
||
GpuMat temp;
|
||
|
||
GpuMat out;
|
||
};
|
||
|
||
/////////////////////////// DisparityBilateralFilter ///////////////////////////
|
||
// Disparity map refinement using joint bilateral filtering given a single color image.
|
||
// Qingxiong Yang, Liang Wang<6E>, Narendra Ahuja
|
||
// http://vision.ai.uiuc.edu/~qyang6/
|
||
|
||
class CV_EXPORTS DisparityBilateralFilter
|
||
{
|
||
public:
|
||
enum { DEFAULT_NDISP = 64 };
|
||
enum { DEFAULT_RADIUS = 3 };
|
||
enum { DEFAULT_ITERS = 1 };
|
||
|
||
//! the default constructor
|
||
explicit DisparityBilateralFilter(int ndisp = DEFAULT_NDISP, int radius = DEFAULT_RADIUS, int iters = DEFAULT_ITERS);
|
||
|
||
//! the full constructor taking the number of disparities, filter radius,
|
||
//! number of iterations, truncation of data continuity, truncation of disparity continuity
|
||
//! and filter range sigma
|
||
DisparityBilateralFilter(int ndisp, int radius, int iters, float edge_threshold, float max_disc_threshold, float sigma_range);
|
||
|
||
//! the disparity map refinement operator. Refine disparity map using joint bilateral filtering given a single color image.
|
||
//! disparity must have CV_8U or CV_16S type, image must have CV_8UC1 or CV_8UC3 type.
|
||
void operator()(const GpuMat& disparity, const GpuMat& image, GpuMat& dst);
|
||
|
||
//! Acync version
|
||
void operator()(const GpuMat& disparity, const GpuMat& image, GpuMat& dst, Stream& stream);
|
||
|
||
private:
|
||
int ndisp;
|
||
int radius;
|
||
int iters;
|
||
|
||
float edge_threshold;
|
||
float max_disc_threshold;
|
||
float sigma_range;
|
||
|
||
GpuMat table_color;
|
||
GpuMat table_space;
|
||
};
|
||
}
|
||
|
||
//! Speckle filtering - filters small connected components on diparity image.
|
||
//! It sets pixel (x,y) to newVal if it coresponds to small CC with size < maxSpeckleSize.
|
||
//! Threshold for border between CC is diffThreshold;
|
||
CV_EXPORTS void filterSpeckles( Mat& img, uchar newVal, int maxSpeckleSize, uchar diffThreshold, Mat& buf);
|
||
|
||
}
|
||
#include "opencv2/gpu/matrix_operations.hpp"
|
||
|
||
#endif /* __OPENCV_GPU_HPP__ */
|