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added reprojectImageTo3D_GPU

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This commit is contained in:
Vladislav Vinogradov
2010-08-23 14:19:22 +00:00
parent f1fa323456
commit ec4ce050f9
3 changed files with 99 additions and 7 deletions
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modules/gpu/src/imgproc_gpu.cpp
+25
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@@ -50,6 +50,7 @@ using namespace cv::gpu;
void cv::gpu::remap(const GpuMat&, const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::meanShiftFiltering_GPU(const GpuMat&, GpuMat&, int, int, TermCriteria ) { throw_nogpu(); }
void cv::gpu::colorizeDisp(const GpuMat&, GpuMat&, int) { throw_nogpu(); }
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat&, GpuMat&, const Mat&) { throw_nogpu(); }
#else /* !defined (HAVE_CUDA) */
@@ -63,6 +64,9 @@ namespace cv { namespace gpu
void colorizeDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp);
void colorizeDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp);
void reprojectImageTo3D_gpu(const DevMem2D& disp, const DevMem2Df& xyzw, const float* q);
void reprojectImageTo3D_gpu(const DevMem2D_<short>& disp, const DevMem2Df& xyzw, const float* q);
}
}}
@@ -127,4 +131,25 @@ void cv::gpu::colorizeDisp(const GpuMat& src, GpuMat& dst, int ndisp)
dst = out;
}
namespace
{
template <typename T>
void reprojectImageTo3D_caller(const GpuMat& disp, GpuMat& xyzw, const Mat& Q)
{
impl::reprojectImageTo3D_gpu((DevMem2D_<T>)disp, xyzw, Q.ptr<float>());
}
}
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat& disp, GpuMat& xyzw, const Mat& Q)
{
typedef void (*reprojectImageTo3D_caller_t)(const GpuMat& disp, GpuMat& xyzw, const Mat& Q);
static const reprojectImageTo3D_caller_t callers[] = {reprojectImageTo3D_caller<uchar>, 0, 0, reprojectImageTo3D_caller<short>, 0, 0, 0, 0};
CV_Assert((disp.type() == CV_8U || disp.type() == CV_16S) && Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4);
xyzw.create(disp.rows, disp.cols, CV_32FC4);
callers[disp.type()](disp, xyzw, Q);
}
#endif /* !defined (HAVE_CUDA) */