C++ (Cpp) createVMap Examples

Example #1

File: ICPOdometry.cpp Project: ahundt/ICPCUDA

void ICPOdometry::initICPModel(const DeviceArray2D<unsigned short>& depth,
                               const float depthCutoff,
                               const Eigen::Matrix4f & modelPose)
{
    depth_tmp[0] = depth;

    for(int i = 1; i < NUM_PYRS; ++i)
    {
        pyrDown(depth_tmp[i - 1], depth_tmp[i]);
    }

    for(int i = 0; i < NUM_PYRS; ++i)
    {
        createVMap(intr(i), depth_tmp[i], vmaps_g_prev_[i], depthCutoff);
        createNMap(vmaps_g_prev_[i], nmaps_g_prev_[i]);
    }

    cudaDeviceSynchronize();

    Eigen::Matrix<float, 3, 3, Eigen::RowMajor> Rcam = modelPose.topLeftCorner(3, 3);
    Eigen::Vector3f tcam = modelPose.topRightCorner(3, 1);

    Mat33 &  device_Rcam = device_cast<Mat33>(Rcam);
    float3& device_tcam = device_cast<float3>(tcam);

    if (modelPose != Eigen::Matrix4f::Identity())
      for(int i = 0; i < NUM_PYRS; ++i)
        tranformMaps(vmaps_g_prev_[i], nmaps_g_prev_[i], device_Rcam, device_tcam, vmaps_g_prev_[i], nmaps_g_prev_[i]);

    cudaDeviceSynchronize();
}

Example #2

File: ICPSlowdometry.cpp Project: Acidburn0zzz/ICPCUDA

void ICPSlowdometry::initICPModel(unsigned short * depth,
                                  const float depthCutoff,
                                  const Eigen::Matrix4f & modelPose)
{
    depth_tmp[0].upload(depth, sizeof(unsigned short) * width, height, width);

    for(int i = 1; i < NUM_PYRS; ++i)
    {
        pyrDown(depth_tmp[i - 1], depth_tmp[i]);
    }

    for(int i = 0; i < NUM_PYRS; ++i)
    {
        createVMap(intr(i), depth_tmp[i], vmaps_g_prev_[i], depthCutoff);
        createNMap(vmaps_g_prev_[i], nmaps_g_prev_[i]);
    }

    cudaDeviceSynchronize();

    Eigen::Matrix<float, 3, 3, Eigen::RowMajor> Rcam = modelPose.topLeftCorner(3, 3);
    Eigen::Vector3f tcam = modelPose.topRightCorner(3, 1);

    Mat33 &  device_Rcam = device_cast<Mat33>(Rcam);
    float3& device_tcam = device_cast<float3>(tcam);

    for(int i = 0; i < NUM_PYRS; ++i)
    {
        tranformMaps(vmaps_g_prev_[i], nmaps_g_prev_[i], device_Rcam, device_tcam, vmaps_g_prev_[i], nmaps_g_prev_[i]);
    }

    cudaDeviceSynchronize();
}

Example #3

File: RGBDOdometry.cpp Project: Hielamon/ElasticFusion

void RGBDOdometry::initICP(GPUTexture * filteredDepth, const float depthCutoff)
{
    cudaArray * textPtr;

    cudaGraphicsMapResources(1, &filteredDepth->cudaRes);

    cudaGraphicsSubResourceGetMappedArray(&textPtr, filteredDepth->cudaRes, 0, 0);

    cudaMemcpy2DFromArray(depth_tmp[0].ptr(0), depth_tmp[0].step(), textPtr, 0, 0, depth_tmp[0].colsBytes(), depth_tmp[0].rows(), cudaMemcpyDeviceToDevice);

    cudaGraphicsUnmapResources(1, &filteredDepth->cudaRes);

    for(int i = 1; i < NUM_PYRS; ++i)
    {
        pyrDown(depth_tmp[i - 1], depth_tmp[i]);
    }

    for(int i = 0; i < NUM_PYRS; ++i)
    {
        createVMap(intr(i), depth_tmp[i], vmaps_curr_[i], depthCutoff);
        createNMap(vmaps_curr_[i], nmaps_curr_[i]);
    }

    cudaDeviceSynchronize();
}

Example #4

File: ICPOdometry.cpp Project: ahundt/ICPCUDA

void ICPOdometry::initICP(const DeviceArray2D<unsigned short>& depth, const float depthCutoff)
{
    depth_tmp[0] = depth;

    for(int i = 1; i < NUM_PYRS; ++i)
    {
        pyrDown(depth_tmp[i - 1], depth_tmp[i]);
    }

    for(int i = 0; i < NUM_PYRS; ++i)
    {
        createVMap(intr(i), depth_tmp[i], vmaps_curr_[i], depthCutoff);
        createNMap(vmaps_curr_[i], nmaps_curr_[i]);
    }

    cudaDeviceSynchronize();
}

Example #5

File: ICPSlowdometry.cpp Project: Acidburn0zzz/ICPCUDA

void ICPSlowdometry::initICP(unsigned short * depth, const float depthCutoff)
{
    depth_tmp[0].upload(depth, sizeof(unsigned short) * width, height, width);

    for(int i = 1; i < NUM_PYRS; ++i)
    {
        pyrDown(depth_tmp[i - 1], depth_tmp[i]);
    }

    for(int i = 0; i < NUM_PYRS; ++i)
    {
        createVMap(intr(i), depth_tmp[i], vmaps_curr_[i], depthCutoff);
        createNMap(vmaps_curr_[i], nmaps_curr_[i]);
    }

    cudaDeviceSynchronize();
}