void HybKinectfu::copyFrameToGPU(const DepthFrameData& depth_frame,const ColorFrameData& color_frame)
{
cv::Mat mat_depth=depth_frame.mat();
int rows=mat_depth.rows,cols=mat_depth.cols;
DepthfMap2D depth_data_cpu(CPU,cols,rows);
depth_data_cpu.clearData();
for(int row=0;row<rows;row++)
{
for(int col=0;col<cols;col++)
{
float v=mat_depth.at<unsigned short>(row,col)*0.001;//millimeter to meters
depth_data_cpu.at(col,row)=v;
}
}
CudaDeviceDataMan::instance()->raw_depth.copyDataFrom(depth_data_cpu);
if(AppParams::instance()->_switch_params.useRGBData)
{
cv::Mat mat_rgb=color_frame.mat();
rows=color_frame.mat().rows,cols=color_frame.mat().cols;
Color3uMap2D rgb_data_cpu(CPU,cols,rows);
rgb_data_cpu.clearData();
for(int row=0;row<rows;row++)
{
for(int col=0;col<cols;col++)
{
cv::Vec3b v=mat_rgb.at<cv::Vec3b>(row,col);
rgb_data_cpu.at(col,row)=make_uchar3(v[0],v[1],v[2]);
}
}
CudaDeviceDataMan::instance()->raw_rgb.copyDataFrom(rgb_data_cpu);
}
}
static inline __host__ __device__ uchar3 _pixMake(Ncv8u x, Ncv8u y, Ncv8u z) {return make_uchar3(x,y,z);}
template<> inline __host__ __device__ uchar3 _pixMakeZero<uchar3>() {return make_uchar3(0,0,0);}
int main(int argc, char** argv)
{
std::cout << "Starting iu_image_cpu_unittest ..." << std::endl;
// test image size
IuSize sz(79,63);
iu::ImageCpu_8u_C1 im_cpu_8u_C1(sz);
iu::ImageCpu_8u_C2 im_cpu_8u_C2(sz);
iu::ImageCpu_8u_C3 im_cpu_8u_C3(sz);
iu::ImageCpu_8u_C4 im_cpu_8u_C4(sz);
iu::ImageCpu_32f_C1 im_cpu_32f_C1(sz);
iu::ImageCpu_32f_C2 im_cpu_32f_C2(sz);
iu::ImageCpu_32f_C3 im_cpu_32f_C3(sz);
iu::ImageCpu_32f_C4 im_cpu_32f_C4(sz);
unsigned char set_value_8u_C1 = 1;
uchar2 set_value_8u_C2 = make_uchar2(2,2);
uchar3 set_value_8u_C3 = make_uchar3(3,3,3);
uchar4 set_value_8u_C4 = make_uchar4(4,4,4,4);
float set_value_32f_C1 = 1.1f;
float2 set_value_32f_C2 = make_float2(2.2f);
float3 set_value_32f_C3 = make_float3(3.3f);
float4 set_value_32f_C4 = make_float4(4.4f);
// set values test
{
std::cout << "testing setValue on cpu ..." << std::endl;
iu::setValue(set_value_8u_C1, &im_cpu_8u_C1, im_cpu_8u_C1.roi());
iu::setValue(set_value_8u_C2, &im_cpu_8u_C2, im_cpu_8u_C2.roi());
iu::setValue(set_value_8u_C3, &im_cpu_8u_C3, im_cpu_8u_C3.roi());
iu::setValue(set_value_8u_C4, &im_cpu_8u_C4, im_cpu_8u_C4.roi());
iu::setValue(set_value_32f_C1, &im_cpu_32f_C1, im_cpu_32f_C1.roi());
iu::setValue(set_value_32f_C2, &im_cpu_32f_C2, im_cpu_32f_C2.roi());
iu::setValue(set_value_32f_C3, &im_cpu_32f_C3, im_cpu_32f_C3.roi());
iu::setValue(set_value_32f_C4, &im_cpu_32f_C4, im_cpu_32f_C4.roi());
// check if set values are correct
for (unsigned int y = 0; y<sz.height; ++y)
{
for (unsigned int x = 0; x<sz.width; ++x)
{
// 8-bit
if( *im_cpu_8u_C1.data(x,y) != set_value_8u_C1)
return EXIT_FAILURE;
if( *im_cpu_8u_C2.data(x,y) != set_value_8u_C2)
return EXIT_FAILURE;
if( *im_cpu_8u_C3.data(x,y) != set_value_8u_C3)
return EXIT_FAILURE;
if( *im_cpu_8u_C4.data(x,y) != set_value_8u_C4)
return EXIT_FAILURE;
// 32-bit
if( *im_cpu_32f_C1.data(x,y) != set_value_32f_C1)
return EXIT_FAILURE;
if( *im_cpu_32f_C2.data(x,y) != set_value_32f_C2)
return EXIT_FAILURE;
if( *im_cpu_32f_C3.data(x,y) != set_value_32f_C3)
return EXIT_FAILURE;
if( *im_cpu_32f_C4.data(x,y) != set_value_32f_C4)
return EXIT_FAILURE;
}
}
}
// copy test
{
std::cout << "testing copy cpu -> cpu ..." << std::endl;
iu::ImageCpu_8u_C1 cp_cpu_8u_C1(sz);
iu::ImageCpu_8u_C2 cp_cpu_8u_C2(sz);
iu::ImageCpu_8u_C3 cp_cpu_8u_C3(sz);
iu::ImageCpu_8u_C4 cp_cpu_8u_C4(sz);
iu::ImageCpu_32f_C1 cp_cpu_32f_C1(sz);
iu::ImageCpu_32f_C2 cp_cpu_32f_C2(sz);
iu::ImageCpu_32f_C3 cp_cpu_32f_C3(sz);
iu::ImageCpu_32f_C4 cp_cpu_32f_C4(sz);
iu::copy(&im_cpu_8u_C1, &cp_cpu_8u_C1);
iu::copy(&im_cpu_8u_C2, &cp_cpu_8u_C2);
iu::copy(&im_cpu_8u_C3, &cp_cpu_8u_C3);
iu::copy(&im_cpu_8u_C4, &cp_cpu_8u_C4);
iu::copy(&im_cpu_32f_C1, &cp_cpu_32f_C1);
iu::copy(&im_cpu_32f_C2, &cp_cpu_32f_C2);
iu::copy(&im_cpu_32f_C3, &cp_cpu_32f_C3);
iu::copy(&im_cpu_32f_C4, &cp_cpu_32f_C4);
// check if set values are correct
for (unsigned int y = 0; y<sz.height; ++y)
{
for (unsigned int x = 0; x<sz.width; ++x)
{
if( *cp_cpu_8u_C1.data(x,y) != set_value_8u_C1)
return EXIT_FAILURE;
if( *cp_cpu_8u_C2.data(x,y) != set_value_8u_C2)
return EXIT_FAILURE;
if( *cp_cpu_8u_C3.data(x,y) != set_value_8u_C3)
return EXIT_FAILURE;
if( *cp_cpu_8u_C4.data(x,y) != set_value_8u_C4)
return EXIT_FAILURE;
if( *cp_cpu_32f_C1.data(x,y) != set_value_32f_C1)
return EXIT_FAILURE;
if( *cp_cpu_32f_C2.data(x,y) != set_value_32f_C2)
return EXIT_FAILURE;
if( *cp_cpu_32f_C3.data(x,y) != set_value_32f_C3)
return EXIT_FAILURE;
if( *cp_cpu_32f_C4.data(x,y) != set_value_32f_C4)
return EXIT_FAILURE;
}
}
}
std::cout << std::endl;
std::cout << "**************************************************************************" << std::endl;
std::cout << "* Everything seem to be ok. -- All assertions passed. *" << std::endl;
std::cout << "* Look at the images and close the windows to derminate the unittests. *" << std::endl;
std::cout << "**************************************************************************" << std::endl;
std::cout << std::endl;
return EXIT_SUCCESS;
}
int main(int argc, char** argv)
{
std::cout << "Starting iu_image_gpu_unittest ..." << std::endl;
// test image size
IuSize sz(79,63);
iu::ImageGpu_8u_C1 im_gpu_8u_C1(sz);
iu::ImageGpu_8u_C2 im_gpu_8u_C2(sz);
iu::ImageGpu_8u_C3 im_gpu_8u_C3(sz);
iu::ImageGpu_8u_C4 im_gpu_8u_C4(sz);
iu::ImageGpu_32f_C1 im_gpu_32f_C1(sz);
iu::ImageGpu_32f_C2 im_gpu_32f_C2(sz);
iu::ImageGpu_32f_C3 im_gpu_32f_C3(sz);
iu::ImageGpu_32f_C4 im_gpu_32f_C4(sz);
unsigned char set_value_8u_C1 = 1;
uchar2 set_value_8u_C2 = make_uchar2(2,2);
uchar3 set_value_8u_C3 = make_uchar3(3,3,3);
uchar4 set_value_8u_C4 = make_uchar4(4,4,4,4);
float set_value_32f_C1 = 1.1f;
float2 set_value_32f_C2 = make_float2(2.2f);
float3 set_value_32f_C3 = make_float3(3.3f);
float4 set_value_32f_C4 = make_float4(4.4f);
// copy values back to cpu to compare the set values
iu::ImageCpu_8u_C1 im_cpu_8u_C1(sz);
iu::ImageCpu_8u_C2 im_cpu_8u_C2(sz);
iu::ImageCpu_8u_C3 im_cpu_8u_C3(sz);
iu::ImageCpu_8u_C4 im_cpu_8u_C4(sz);
iu::ImageCpu_32f_C1 im_cpu_32f_C1(sz);
iu::ImageCpu_32f_C2 im_cpu_32f_C2(sz);
iu::ImageCpu_32f_C3 im_cpu_32f_C3(sz);
iu::ImageCpu_32f_C4 im_cpu_32f_C4(sz);
// set values on cpu and copy to gpu and back again
{
std::cout << "Testing copy. setValue on cpu (should work because of previous test) and copy forth and back" << std::endl;
iu::setValue(set_value_8u_C1, &im_cpu_8u_C1, im_cpu_8u_C1.roi());
iu::setValue(set_value_8u_C2, &im_cpu_8u_C2, im_cpu_8u_C2.roi());
iu::setValue(set_value_8u_C3, &im_cpu_8u_C3, im_cpu_8u_C3.roi());
iu::setValue(set_value_8u_C4, &im_cpu_8u_C4, im_cpu_8u_C4.roi());
iu::setValue(set_value_32f_C1, &im_cpu_32f_C1, im_cpu_32f_C1.roi());
iu::setValue(set_value_32f_C2, &im_cpu_32f_C2, im_cpu_32f_C2.roi());
iu::setValue(set_value_32f_C3, &im_cpu_32f_C3, im_cpu_32f_C3.roi());
iu::setValue(set_value_32f_C4, &im_cpu_32f_C4, im_cpu_32f_C4.roi());
std::cout << " copy cpu -> gpu ..." << std::endl;
iu::copy(&im_cpu_8u_C1, &im_gpu_8u_C1);
iu::copy(&im_cpu_8u_C2, &im_gpu_8u_C2);
iu::copy(&im_cpu_8u_C3, &im_gpu_8u_C3);
iu::copy(&im_cpu_8u_C4, &im_gpu_8u_C4);
iu::copy(&im_cpu_32f_C1, &im_gpu_32f_C1);
iu::copy(&im_cpu_32f_C2, &im_gpu_32f_C2);
iu::copy(&im_cpu_32f_C3, &im_gpu_32f_C3);
iu::copy(&im_cpu_32f_C4, &im_gpu_32f_C4);
std::cout << " copy gpu -> cpu ..." << std::endl;
iu::copy(&im_gpu_8u_C1, &im_cpu_8u_C1);
iu::copy(&im_gpu_8u_C2, &im_cpu_8u_C2);
iu::copy(&im_gpu_8u_C3, &im_cpu_8u_C3);
iu::copy(&im_gpu_8u_C4, &im_cpu_8u_C4);
iu::copy(&im_gpu_32f_C1, &im_cpu_32f_C1);
iu::copy(&im_gpu_32f_C2, &im_cpu_32f_C2);
iu::copy(&im_gpu_32f_C3, &im_cpu_32f_C3);
iu::copy(&im_gpu_32f_C4, &im_cpu_32f_C4);
std::cout << " check copied values on cpu ..." << std::endl;
// check if set values are correct
for (unsigned int y = 0; y<sz.height; ++y)
{
for (unsigned int x = 0; x<sz.width; ++x)
{
// 8-bit
if( *im_cpu_8u_C1.data(x,y) != set_value_8u_C1)
return EXIT_FAILURE;
if( *im_cpu_8u_C2.data(x,y) != set_value_8u_C2)
return EXIT_FAILURE;
if( *im_cpu_8u_C3.data(x,y) != set_value_8u_C3)
return EXIT_FAILURE;
if( *im_cpu_8u_C4.data(x,y) != set_value_8u_C4)
return EXIT_FAILURE;
// 32-bit
if( *im_cpu_32f_C1.data(x,y) != set_value_32f_C1)
return EXIT_FAILURE;
if( *im_cpu_32f_C2.data(x,y) != set_value_32f_C2)
return EXIT_FAILURE;
if( *im_cpu_32f_C3.data(x,y) != set_value_32f_C3)
return EXIT_FAILURE;
if( *im_cpu_32f_C4.data(x,y) != set_value_32f_C4)
return EXIT_FAILURE;
}
}
}
// set values on gpu
{
std::cout << "Testing setValue on gpu (implecitely testing copy gpu->cpu) ..." << std::endl;
iu::setValue(set_value_8u_C1, &im_gpu_8u_C1, im_gpu_8u_C1.roi());
iu::setValue(set_value_8u_C2, &im_gpu_8u_C2, im_gpu_8u_C2.roi());
iu::setValue(set_value_8u_C3, &im_gpu_8u_C3, im_gpu_8u_C3.roi());
iu::setValue(set_value_8u_C4, &im_gpu_8u_C4, im_gpu_8u_C4.roi());
iu::setValue(set_value_32f_C1, &im_gpu_32f_C1, im_gpu_32f_C1.roi());
iu::setValue(set_value_32f_C2, &im_gpu_32f_C2, im_gpu_32f_C2.roi());
iu::setValue(set_value_32f_C3, &im_gpu_32f_C3, im_gpu_32f_C3.roi());
iu::setValue(set_value_32f_C4, &im_gpu_32f_C4, im_gpu_32f_C4.roi());
std::cout << "Copy gpu images to cpu for checking the set values." << std::endl;
iu::copy(&im_gpu_8u_C1, &im_cpu_8u_C1);
iu::copy(&im_gpu_8u_C2, &im_cpu_8u_C2);
iu::copy(&im_gpu_8u_C3, &im_cpu_8u_C3);
iu::copy(&im_gpu_8u_C4, &im_cpu_8u_C4);
iu::copy(&im_gpu_32f_C1, &im_cpu_32f_C1);
iu::copy(&im_gpu_32f_C2, &im_cpu_32f_C2);
iu::copy(&im_gpu_32f_C3, &im_cpu_32f_C3);
iu::copy(&im_gpu_32f_C4, &im_cpu_32f_C4);
// check if set values are correct
for (unsigned int y = 0; y<sz.height; ++y)
{
for (unsigned int x = 0; x<sz.width; ++x)
{
// 8-bit
if( *im_cpu_8u_C1.data(x,y) != set_value_8u_C1)
return EXIT_FAILURE;
if( *im_cpu_8u_C2.data(x,y) != set_value_8u_C2)
return EXIT_FAILURE;
if( *im_cpu_8u_C3.data(x,y) != set_value_8u_C3)
return EXIT_FAILURE;
if( *im_cpu_8u_C4.data(x,y) != set_value_8u_C4)
return EXIT_FAILURE;
// 32-bit
if( *im_cpu_32f_C1.data(x,y) != set_value_32f_C1)
return EXIT_FAILURE;
if( *im_cpu_32f_C2.data(x,y) != set_value_32f_C2)
return EXIT_FAILURE;
if( *im_cpu_32f_C3.data(x,y) != set_value_32f_C3)
return EXIT_FAILURE;
if( *im_cpu_32f_C4.data(x,y) != set_value_32f_C4)
return EXIT_FAILURE;
}
}
}
// copy gpu -> gpu test
{
std::cout << "testing copy gpu -> gpu ..." << std::endl;
iu::ImageGpu_8u_C1 cp_gpu_8u_C1(sz);
iu::ImageGpu_8u_C2 cp_gpu_8u_C2(sz);
iu::ImageGpu_8u_C3 cp_gpu_8u_C3(sz);
iu::ImageGpu_8u_C4 cp_gpu_8u_C4(sz);
iu::ImageGpu_32f_C1 cp_gpu_32f_C1(sz);
iu::ImageGpu_32f_C2 cp_gpu_32f_C2(sz);
iu::ImageGpu_32f_C3 cp_gpu_32f_C3(sz);
iu::ImageGpu_32f_C4 cp_gpu_32f_C4(sz);
iu::copy(&im_gpu_8u_C1, &cp_gpu_8u_C1);
iu::copy(&im_gpu_8u_C2, &cp_gpu_8u_C2);
iu::copy(&im_gpu_8u_C3, &cp_gpu_8u_C3);
iu::copy(&im_gpu_8u_C4, &cp_gpu_8u_C4);
iu::copy(&im_gpu_32f_C1, &cp_gpu_32f_C1);
iu::copy(&im_gpu_32f_C2, &cp_gpu_32f_C2);
iu::copy(&im_gpu_32f_C3, &cp_gpu_32f_C3);
iu::copy(&im_gpu_32f_C4, &cp_gpu_32f_C4);
iu::copy(&cp_gpu_8u_C1, &im_cpu_8u_C1);
iu::copy(&cp_gpu_8u_C2, &im_cpu_8u_C2);
iu::copy(&cp_gpu_8u_C3, &im_cpu_8u_C3);
iu::copy(&cp_gpu_8u_C4, &im_cpu_8u_C4);
iu::copy(&cp_gpu_32f_C1, &im_cpu_32f_C1);
iu::copy(&cp_gpu_32f_C2, &im_cpu_32f_C2);
iu::copy(&cp_gpu_32f_C3, &im_cpu_32f_C3);
iu::copy(&cp_gpu_32f_C4, &im_cpu_32f_C4);
// check if set values are correct
for (unsigned int y = 0; y<sz.height; ++y)
{
for (unsigned int x = 0; x<sz.width; ++x)
{
// 8-bit
if( *im_cpu_8u_C1.data(x,y) != set_value_8u_C1)
return EXIT_FAILURE;
if( *im_cpu_8u_C2.data(x,y) != set_value_8u_C2)
return EXIT_FAILURE;
if( *im_cpu_8u_C3.data(x,y) != set_value_8u_C3)
return EXIT_FAILURE;
if( *im_cpu_8u_C4.data(x,y) != set_value_8u_C4)
return EXIT_FAILURE;
// 32-bit
if( *im_cpu_32f_C1.data(x,y) != set_value_32f_C1)
return EXIT_FAILURE;
if( *im_cpu_32f_C2.data(x,y) != set_value_32f_C2)
return EXIT_FAILURE;
if( *im_cpu_32f_C3.data(x,y) != set_value_32f_C3)
return EXIT_FAILURE;
if( *im_cpu_32f_C4.data(x,y) != set_value_32f_C4)
return EXIT_FAILURE;
}
}
}
std::cout << std::endl;
std::cout << "**************************************************************************" << std::endl;
std::cout << "* Everything seem to be ok. -- All assertions passed. *" << std::endl;
std::cout << "* Look at the images and close the windows to derminate the unittests. *" << std::endl;
std::cout << "**************************************************************************" << std::endl;
std::cout << std::endl;
return EXIT_SUCCESS;
}