Initial commit: Speckle-Scanner 3D pipeline with setup README

2026-06-10 03:09:05 +05:00
commit 1765934846
375 changed files with 123081 additions and 0 deletions
@@ -0,0 +1,45 @@
+/*
+Copyright 2016 Fixstars Corporation
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http ://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+#ifndef __SAMPLE_COMMON_H__
+#define __SAMPLE_COMMON_H__
+
+#include <opencv2/core.hpp>
+#include <cuda_runtime.h>
+
+#define ASSERT_MSG(expr, msg) \
+if (!(expr)) { \
+	std::cerr << msg << std::endl; \
+	std::exit(EXIT_FAILURE); \
+} \
+
+struct device_buffer
+{
+	device_buffer() : data(nullptr), size(0) {}
+	device_buffer(size_t count) : device_buffer() { allocate(count); }
+	~device_buffer() { cudaFree(data); }
+
+	void allocate(size_t count) { cudaMalloc(&data, count); size = count; }
+	void upload(const void* h_data) { cudaMemcpy(data, h_data, size, cudaMemcpyHostToDevice); }
+	void download(void* h_data) { cudaMemcpy(h_data, data, size, cudaMemcpyDeviceToHost); }
+
+	void* data;
+	size_t size;
+};
+
+void colorize_disparity(const cv::Mat& src, cv::Mat& dst, int disp_size, cv::InputArray mask = cv::noArray());
+
+#endif // !__SAMPLE_COMMON_H__