From 6edc34e66b6044a08fbbbd118c1e116e3322ba31 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 20 Jun 2019 15:01:59 +0300
Subject: [PATCH] cvtColor stream
---
components/rgbd-sources/src/algorithms/fixstars_sgm.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index bd9f02537..483f44dfe 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -21,20 +21,20 @@ FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
void FixstarsSGM::compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r, cv::cuda::GpuMat &disp, cv::cuda::Stream &stream) {
GpuMat lbw, rbw;
- cv::cuda::cvtColor(l, lbw, cv::COLOR_BGR2GRAY);
- cv::cuda::cvtColor(r, rbw, cv::COLOR_BGR2GRAY);
+ cv::cuda::cvtColor(l, lbw, cv::COLOR_BGR2GRAY, 0, stream);
+ cv::cuda::cvtColor(r, rbw, cv::COLOR_BGR2GRAY, 0, stream);
if (disp.type() != CV_16SC1 || disp.rows != l.rows || disp.cols != l.cols) {
disp = GpuMat(l.rows, l.cols, CV_16SC1);
}
+ stream.waitForCompletion();
if (!ssgm_) { // todo: move to constructor
ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 16, lbw.step, disp.step / sizeof(short),
sgm::EXECUTE_INOUT_HOST2HOST, sgm::StereoSGM::Parameters(10,120,0.95f,true));
}
//auto start = std::chrono::high_resolution_clock::now();
- stream.waitForCompletion();
ssgm_->execute(lbw.data, rbw.data, disp.data);
//std::chrono::duration<double> elapsed =
// std::chrono::high_resolution_clock::now() - start;
--
GitLab