Esempio n. 1
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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);
}
Esempio n. 2
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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);
}
Esempio n. 3
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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);
}
Esempio n. 4
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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);
}
Esempio n. 5
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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);
}
Esempio n. 6
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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);
}