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