void vm::scanner::cuda::renderTangentColors(const Normals& normals, Image& image)
{
image.create(normals.rows(), normals.cols());
const device::Normals& n = (const device::Normals&)normals;
device::Image& i = (device::Image&)image;
device::renderTangentColors(n, i);
waitAllDefaultStream();
}
void kf::cuda::renderTangentColors(const Normals& normals, Image& image)
{
image.create(normals.rows(), normals.cols());
const impl::Normals& n = (const impl::Normals&)normals;
impl::Image& i = (impl::Image&)image;
impl::renderTangentColors(n, i);
waitAllDefaultStream();
}
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::resizePointsNormals(const Cloud& points, const Normals& normals, Cloud& points_out, Normals& normals_out)
{
points_out.create (points.rows()/2, points.cols()/2);
normals_out.create (normals.rows()/2, normals.cols()/2);
device::Points& pi = (device::Points&)points;
device::Normals& ni= (device::Normals&)normals;
device::Points& po = (device::Points&)points_out;
device::Normals& no = (device::Normals&)normals_out;
device::resizePointsNormals(pi, ni, po, no);
}
void kf::cuda::resizePointsNormals(const Points& points, const Normals& normals, Points& points_out, Normals& normals_out)
{
points_out.create (points.rows()/2, points.cols()/2);
normals_out.create (normals.rows()/2, normals.cols()/2);
impl::Points& pi = (impl::Points&)points;
impl::Normals& ni= (impl::Normals&)normals;
impl::Points& po = (impl::Points&)points_out;
impl::Normals& no = (impl::Normals&)normals_out;
impl::resizePointsNormals(pi, ni, po, no);
}
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::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);
}
