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
pcl::gpu::RayCaster::generateDepthImage(Depth& depth) const
{
device::Intr intr (fx_, fy_, cx_, cy_);
depth.create(rows, cols);
Matrix<float, 3, 3, RowMajor> R_inv = camera_pose_.linear().inverse();
Vector3f t = camera_pose_.translation();
device::generateDepth(device_cast<Mat33>(R_inv), device_cast<const float3>(t), vertex_map_, depth);
}
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::depthBuildPyramid(const Depth& depth, Depth& pyramid, float sigma_depth)
{
pyramid.create (depth.rows () / 2, depth.cols () / 2);
impl::depthPyr(depth, pyramid, sigma_depth);
}