void vm::scanner::cuda::computePointNormals(const Intr& intr, const Depth& depth, Cloud& points, Normals& normals)
{
points.create(depth.rows(), depth.cols());
normals.create(depth.rows(), depth.cols());
device::Reprojector reproj(intr.fx, intr.fy, intr.cx, intr.cy);
device::Points& p = (device::Points&)points;
device::Normals& n = (device::Normals&)normals;
device::computePointNormals(reproj, depth, p, n);
}
void kf::cuda::computePointNormals(const Intr& intr, const Depth& depth, Points& points, Normals& normals)
{
points.create(depth.rows(), depth.cols());
normals.create(depth.rows(), depth.cols());
impl::Reprojector reproj(intr.fx, intr.fy, intr.cx, intr.cy);
impl::Points& p = (impl::Points&)points;
impl::Normals& n = (impl::Normals&)normals;
impl::computePointNormals(reproj, depth, p, n);
}
void vm::scanner::cuda::computeNormalsAndMaskDepth(const Intr& intr, Depth& depth, Normals& normals)
{
normals.create(depth.rows(), depth.cols());
device::Reprojector reproj(intr.fx, intr.fy, intr.cx, intr.cy);
device::Normals& n = (device::Normals&)normals;
device::computeNormalsAndMaskDepth(reproj, depth, n);
}
void kf::cuda::computeNormalsAndMaskDepth(const Intr& intr, Depth& depth, Normals& normals)
{
normals.create(depth.rows(), depth.cols());
impl::Reprojector reproj(intr.fx, intr.fy, intr.cx, intr.cy);
impl::Normals& n = (impl::Normals&)normals;
impl::computeNormalsAndMaskDepth(reproj, depth, n);
}
void vm::scanner::cuda::resizeDepthNormals(const Depth& depth, const Normals& normals, Depth& depth_out, Normals& normals_out)
{
depth_out.create (depth.rows()/2, depth.cols()/2);
normals_out.create (normals.rows()/2, normals.cols()/2);
device::Normals& nsrc = (device::Normals&)normals;
device::Normals& ndst = (device::Normals&)normals_out;
device::resizeDepthNormals(depth, nsrc, depth_out, ndst);
}
void kf::cuda::resizeDepthNormals(const Depth& depth, const Normals& normals, Depth& depth_out, Normals& normals_out)
{
depth_out.create (depth.rows()/2, depth.cols()/2);
normals_out.create (normals.rows()/2, normals.cols()/2);
impl::Normals& nsrc = (impl::Normals&)normals;
impl::Normals& ndst = (impl::Normals&)normals_out;
impl::resizeDepthNormals(depth, nsrc, depth_out, ndst);
}
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
pcl::gpu::people::PeopleDetector::process(const Depth& depth, const Image& rgba)
{
int cols;
allocate_buffers(depth.rows(), depth.cols());
depth_device1_ = depth;
const device::Image& i = (const device::Image&)rgba;
device::computeHueWithNans(i, depth_device1_, hue_device_);
//TODO Hope this is temporary and after porting to GPU the download will be deleted
hue_device_.download(hue_host_.points, cols);
device::Intr intr(fx_, fy_, cx_, cy_);
intr.setDefaultPPIfIncorrect(depth.cols(), depth.rows());
device::Cloud& c = (device::Cloud&)cloud_device_;
device::computeCloud(depth, intr, c);
cloud_device_.download(cloud_host_.points, cols);
// uses cloud device, cloud host, depth device, hue device and other buffers
process();
}
void vm::scanner::cuda::computeDists(const Depth& depth, Dists& dists, const Intr& intr)
{
dists.create(depth.rows(), depth.cols());
device::compute_dists(depth, dists, make_float2(intr.fx, intr.fy), make_float2(intr.cx, intr.cy));
}
void vm::scanner::cuda::depthBilateralFilter(const Depth& in, Depth& out, int kernel_size, float sigma_spatial, float sigma_depth)
{
out.create(in.rows(), in.cols());
device::bilateralFilter(in, out, kernel_size, sigma_spatial, sigma_depth);
}
void vm::scanner::cuda::depthBuildPyramid(const Depth& depth, Depth& pyramid, float sigma_depth)
{
pyramid.create (depth.rows () / 2, depth.cols () / 2);
device::depthPyr(depth, pyramid, sigma_depth);
}
void kf::cuda::computeDists(const Depth& depth, Dists& dists, const Intr& intr)
{
dists.create(depth.rows(), depth.cols());
impl::compute_dists(depth, dists, make_float2(intr.fx, intr.fy), make_float2(intr.cx, intr.cy));
}
void kf::cuda::depthBuildPyramid(const Depth& depth, Depth& pyramid, float sigma_depth)
{
pyramid.create (depth.rows () / 2, depth.cols () / 2);
impl::depthPyr(depth, pyramid, sigma_depth);
}
