void vm::scanner::cuda::renderTangentColors(const Normals& normals, Image& image)
{
image.create(normals.rows(), normals.cols());
const device::Normals& n = (const device::Normals&)normals;
device::Image& i = (device::Image&)image;
device::renderTangentColors(n, i);
waitAllDefaultStream();
}
void kf::cuda::renderTangentColors(const Normals& normals, Image& image)
{
image.create(normals.rows(), normals.cols());
const impl::Normals& n = (const impl::Normals&)normals;
impl::Image& i = (impl::Image&)image;
impl::renderTangentColors(n, i);
waitAllDefaultStream();
}
void vm::scanner::cuda::renderImage(const Cloud& points, const Normals& normals, const Intr& intr, const Vec3f& light_pose, Image& image)
{
image.create(points.rows(), points.cols());
const device::Points& p = (const device::Points&)points;
const device::Normals& n = (const device::Normals&)normals;
device::Reprojector reproj(intr.fx, intr.fy, intr.cx, intr.fy);
device::Vec3f light = device_cast<device::Vec3f>(light_pose);
device::Image& i = (device::Image&)image;
device::renderImage(p, n, reproj, light, i);
waitAllDefaultStream();
}
void vm::scanner::cuda::renderImage(const Depth& depth, const Normals& normals, const Intr& intr, const Vec3f& light_pose, Image& image)
{
image.create(depth.rows(), depth.cols());
const device::Depth& d = (const device::Depth&)depth;
const device::Normals& n = (const device::Normals&)normals;
device::Reprojector reproj(intr.fx, intr.fy, intr.cx, intr.fy);
device::Vec3f light = device_cast<device::Vec3f>(light_pose);
device::Image& i = (device::Image&)image;
device::renderImage(d, n, reproj, light, i);
waitAllDefaultStream();
}
void kf::cuda::renderImage(const Points& points, const Normals& normals, const Intr& intr, const cv::Vec3f& light_pose, Image& image)
{
image.create(points.rows(), points.cols());
const impl::Points& p = (const impl::Points&)points;
const impl::Normals& n = (const impl::Normals&)normals;
impl::Reprojector reproj(intr.fx, intr.fy, intr.cx, intr.fy);
impl::Vec3f light = device_cast<impl::Vec3f>(light_pose);
impl::Image& i = (impl::Image&)image;
impl::renderImage(p, n, reproj, light, i);
waitAllDefaultStream();
}
