~APCDataLayer(){
if (pModel != NULL) delete pModel;
if (intrinsicsCPU != NULL) delete intrinsicsCPU;
if (extrinsicsCPU != NULL) delete extrinsicsCPU;
if (cacheGPU!=NULL) checkCUDA(__LINE__, cudaFree(cacheGPU));
if (weightGPU!=NULL) checkCUDA(__LINE__, cudaFree(weightGPU));
if (depthGPU!=NULL) checkCUDA(__LINE__, cudaFree(depthGPU));
if (extrinsicsGPU!=NULL) checkCUDA(__LINE__, cudaFree(extrinsicsGPU));
if (intrinsicsGPU!=NULL) checkCUDA(__LINE__, cudaFree(intrinsicsGPU));
if (cls_labelGPU!=NULL) checkCUDA(__LINE__, cudaFree(cls_labelGPU));
if (r_labelGPU!=NULL) checkCUDA(__LINE__, cudaFree(r_labelGPU));
if (r_weightGPU!=NULL) checkCUDA(__LINE__, cudaFree(r_weightGPU));
if (t_labelGPU!=NULL) checkCUDA(__LINE__, cudaFree(t_labelGPU));
if (t_weightGPU!=NULL) checkCUDA(__LINE__, cudaFree(t_weightGPU));
};
QtOpenCVZedDemo::QtOpenCVZedDemo(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::QtOpenCVZedDemo)
{
ui->setupUi(this);
mFlipVert=true;
mFlipHoriz=false;
ui->actionVertical_Flip->setChecked( mFlipVert );
ui->action_Horizontal_Mirror->setChecked( mFlipHoriz );
enumCameras();
mCuda = checkCUDA();
#ifndef Q_PROCESSOR_ARM
mOcl = checkOpenCL();
#else
mOcl = false;
#endif
/*QWidget* cpuW = new QWidget;
QGridLayout* cpuLayout = new QGridLayout;
cpuLayout->addWidget( cpuW );
ui->tabWidget->addTab( cpuLayout, "CPU" );
QWidget* cudaW = new QWidget;
QGridLayout* cudaLayout = new QGridLayout;
cudaLayout->addWidget( cudaW );
ui->tabWidget->addTab( cudaLayout, "CUDA" );
mOclBmWidget = new QOclBM_params;
QGridLayout* oclLayout = new QGridLayout;
oclLayout->addWidget( mOclBmWidget );
ui->tabWidget->addTab( oclLayout, "OpenCL" );*/
mOclBmWidget = qobject_cast<QOclBM_params *>(ui->tabWidget->widget(2));
ui->tabWidget->setTabEnabled( 1, mCuda );
ui->tabWidget->setTabEnabled( 2, mOcl );
ui->statusBar->addPermanentWidget( &mFpsLabel );
mFpsLabel.setText( "FPS: ---");
}
void clearTSDF(size_t batchID){
//GPU_set_negones(xSize*ySize*zSize, cacheGPU+batchID*xSize*ySize*zSize*sizeofStorageT);
GPU_set_zeros(xSize*ySize*zSize, cacheGPU+batchID*xSize*ySize*zSize);
checkCUDA(__LINE__, cudaMemset(weightGPU, 0, sizeof(uint8_t) * xSize*ySize*zSize));
};
