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100 lines
4.1 KiB
C++
100 lines
4.1 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#if !defined(HAVE_CUDA)
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void cv::gpu::transformPoints(const GpuMat&, const Mat&, const Mat&,
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GpuMat&) { throw_nogpu(); }
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void cv::gpu::projectPoints(const GpuMat&, const Mat&, const Mat&,
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const Mat&, const Mat&, GpuMat&) { throw_nogpu(); }
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#else
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namespace cv { namespace gpu { namespace transform_points {
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void call(const DevMem2D_<float> src, const float* rot,
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const float* transl, DevMem2D_<float> dst);
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}}}
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void cv::gpu::transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
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GpuMat& dst)
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{
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CV_Assert(src.rows == 1 && src.cols > 0 && src.type() == CV_32FC3);
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CV_Assert(rvec.size() == Size(3, 1) && rvec.type() == CV_32F);
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CV_Assert(tvec.size() == Size(3, 1) && tvec.type() == CV_32F);
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// Convert rotation vector into matrix
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Mat rot;
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Rodrigues(rvec, rot);
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dst.create(src.size(), src.type());
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transform_points::call(src, rot.ptr<float>(), tvec.ptr<float>(), dst);
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}
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namespace cv { namespace gpu { namespace project_points {
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void call(const DevMem2D_<float> src, const float* rot,
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const float* transl, const float* proj, DevMem2D_<float> dst);
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}}}
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void cv::gpu::projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
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const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst)
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{
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CV_Assert(src.rows == 1 && src.cols > 0 && src.type() == CV_32FC3);
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CV_Assert(rvec.size() == Size(3, 1) && rvec.type() == CV_32F);
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CV_Assert(tvec.size() == Size(3, 1) && tvec.type() == CV_32F);
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CV_Assert(camera_mat.size() == Size(3, 3) && camera_mat.type() == CV_32F);
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CV_Assert(dist_coef.empty()); // Undistortion isn't supported
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// Convert rotation vector into matrix
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Mat rot;
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Rodrigues(rvec, rot);
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dst.create(src.size(), CV_32FC2);
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project_points::call(src, rot.ptr<float>(), tvec.ptr<float>(),
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camera_mat.ptr<float>(), dst);
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}
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#endif
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