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      1 /*M///////////////////////////////////////////////////////////////////////////////////////
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      9 //
     10 //                           License Agreement
     11 //                For Open Source Computer Vision Library
     12 //
     13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
     14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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     41 //M*/
     42 
     43 #include "precomp.hpp"
     44 
     45 using namespace cv;
     46 using namespace cv::cuda;
     47 
     48 #if !defined HAVE_CUDA || defined(CUDA_DISABLER)
     49 
     50 void cv::cuda::reprojectImageTo3D(InputArray, OutputArray, InputArray, int, Stream&) { throw_no_cuda(); }
     51 void cv::cuda::drawColorDisp(InputArray, OutputArray, int, Stream&) { throw_no_cuda(); }
     52 
     53 #else
     54 
     55 ////////////////////////////////////////////////////////////////////////
     56 // reprojectImageTo3D
     57 
     58 namespace cv { namespace cuda { namespace device
     59 {
     60     template <typename T, typename D>
     61     void reprojectImageTo3D_gpu(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
     62 }}}
     63 
     64 void cv::cuda::reprojectImageTo3D(InputArray _disp, OutputArray _xyz, InputArray _Q, int dst_cn, Stream& stream)
     65 {
     66     using namespace cv::cuda::device;
     67 
     68     typedef void (*func_t)(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
     69     static const func_t funcs[2][4] =
     70     {
     71         {reprojectImageTo3D_gpu<uchar, float3>, 0, 0, reprojectImageTo3D_gpu<short, float3>},
     72         {reprojectImageTo3D_gpu<uchar, float4>, 0, 0, reprojectImageTo3D_gpu<short, float4>}
     73     };
     74 
     75     GpuMat disp = _disp.getGpuMat();
     76     Mat Q = _Q.getMat();
     77 
     78     CV_Assert( disp.type() == CV_8U || disp.type() == CV_16S );
     79     CV_Assert( Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4 && Q.isContinuous() );
     80     CV_Assert( dst_cn == 3 || dst_cn == 4 );
     81 
     82     _xyz.create(disp.size(), CV_MAKE_TYPE(CV_32F, dst_cn));
     83     GpuMat xyz = _xyz.getGpuMat();
     84 
     85     funcs[dst_cn == 4][disp.type()](disp, xyz, Q.ptr<float>(), StreamAccessor::getStream(stream));
     86 }
     87 
     88 ////////////////////////////////////////////////////////////////////////
     89 // drawColorDisp
     90 
     91 namespace cv { namespace cuda { namespace device
     92 {
     93     void drawColorDisp_gpu(const PtrStepSzb& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
     94     void drawColorDisp_gpu(const PtrStepSz<short>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
     95 }}}
     96 
     97 namespace
     98 {
     99     template <typename T>
    100     void drawColorDisp_caller(const GpuMat& src, OutputArray _dst, int ndisp, const cudaStream_t& stream)
    101     {
    102         using namespace ::cv::cuda::device;
    103 
    104         _dst.create(src.size(), CV_8UC4);
    105         GpuMat dst = _dst.getGpuMat();
    106 
    107         drawColorDisp_gpu((PtrStepSz<T>)src, dst, ndisp, stream);
    108     }
    109 }
    110 
    111 void cv::cuda::drawColorDisp(InputArray _src, OutputArray dst, int ndisp, Stream& stream)
    112 {
    113     typedef void (*drawColorDisp_caller_t)(const GpuMat& src, OutputArray dst, int ndisp, const cudaStream_t& stream);
    114     const drawColorDisp_caller_t drawColorDisp_callers[] = {drawColorDisp_caller<unsigned char>, 0, 0, drawColorDisp_caller<short>, 0, 0, 0, 0};
    115 
    116     GpuMat src = _src.getGpuMat();
    117 
    118     CV_Assert( src.type() == CV_8U || src.type() == CV_16S );
    119 
    120     drawColorDisp_callers[src.type()](src, dst, ndisp, StreamAccessor::getStream(stream));
    121 }
    122 
    123 #endif
    124