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cuda demosaicing if available #564

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15 changes: 15 additions & 0 deletions cv_bridge/CMakeLists.txt
100644 → 100755
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Original file line number Diff line number Diff line change
Expand Up @@ -48,8 +48,23 @@ find_package(OpenCV 4 QUIET
opencv_core
opencv_imgproc
opencv_imgcodecs
opencv_cudaimgproc
CONFIG
)

if(OpenCV_FOUND)
add_compile_definitions("HAVE_OPENCV_CUDAIMGPROC")
set(WITH_OPENCV_CUDAIMGPROC TRUE)
else()
find_package(OpenCV 4 QUIET
COMPONENTS
opencv_core
opencv_imgproc
opencv_imgcodecs
CONFIG
)
endif()

if(NOT OpenCV_FOUND)
find_package(OpenCV 3 REQUIRED
COMPONENTS
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9 changes: 8 additions & 1 deletion cv_bridge/src/CMakeLists.txt
100644 → 100755
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Expand Up @@ -14,9 +14,16 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
${sensor_msgs_TARGETS}
opencv_core
opencv_imgproc

opencv_imgcodecs
rclcpp::rclcpp
)
opencv_imgcodecs)

if(WITH_OPENCV_CUDAIMGPROC)
target_link_libraries(${PROJECT_NAME} PUBLIC
opencv_cudaimgproc)
endif()

target_link_libraries(${PROJECT_NAME} PRIVATE
Boost::headers
rcpputils::rcpputils)
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42 changes: 41 additions & 1 deletion cv_bridge/src/cv_bridge.cpp
100644 → 100755
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Expand Up @@ -39,6 +39,9 @@
#include <boost/endian/conversion.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#ifdef HAVE_OPENCV_CUDAIMGPROC
#include <opencv2/cudaimgproc.hpp>
#endif
#include <sensor_msgs/image_encodings.hpp>
#include "rcpputils/endian.hpp"

Expand Down Expand Up @@ -193,6 +196,23 @@ std::map<std::pair<Encoding, Encoding>, std::vector<int>> getConversionCodes()
res[std::make_pair(YUV422_YUY2, BGRA)].push_back(cv::COLOR_YUV2BGRA_YUY2);

// Deal with Bayer
#ifdef HAVE_OPENCV_CUDAIMGPROC
res[std::make_pair(BAYER_RGGB, GRAY)].push_back(cv::cuda::COLOR_BayerBG2GRAY_MHT);
res[std::make_pair(BAYER_RGGB, RGB)].push_back(cv::cuda::COLOR_BayerBG2RGB_MHT);
res[std::make_pair(BAYER_RGGB, BGR)].push_back(cv::cuda::COLOR_BayerBG2BGR_MHT);

res[std::make_pair(BAYER_BGGR, GRAY)].push_back(cv::cuda::COLOR_BayerRG2GRAY_MHT);
res[std::make_pair(BAYER_BGGR, RGB)].push_back(cv::cuda::COLOR_BayerRG2RGB_MHT);
res[std::make_pair(BAYER_BGGR, BGR)].push_back(cv::cuda::COLOR_BayerRG2BGR_MHT);

res[std::make_pair(BAYER_GBRG, GRAY)].push_back(cv::cuda::COLOR_BayerGR2GRAY_MHT);
res[std::make_pair(BAYER_GBRG, RGB)].push_back(cv::cuda::COLOR_BayerGR2RGB_MHT);
res[std::make_pair(BAYER_GBRG, BGR)].push_back(cv::cuda::COLOR_BayerGR2BGR_MHT);

res[std::make_pair(BAYER_GRBG, GRAY)].push_back(cv::cuda::COLOR_BayerGB2GRAY_MHT);
res[std::make_pair(BAYER_GRBG, RGB)].push_back(cv::cuda::COLOR_BayerGB2RGB_MHT);
res[std::make_pair(BAYER_GRBG, BGR)].push_back(cv::cuda::COLOR_BayerGB2BGR_MHT);
#else
res[std::make_pair(BAYER_RGGB, GRAY)].push_back(cv::COLOR_BayerBG2GRAY);
res[std::make_pair(BAYER_RGGB, RGB)].push_back(cv::COLOR_BayerBG2RGB);
res[std::make_pair(BAYER_RGGB, BGR)].push_back(cv::COLOR_BayerBG2BGR);
Expand All @@ -208,7 +228,7 @@ std::map<std::pair<Encoding, Encoding>, std::vector<int>> getConversionCodes()
res[std::make_pair(BAYER_GRBG, GRAY)].push_back(cv::COLOR_BayerGB2GRAY);
res[std::make_pair(BAYER_GRBG, RGB)].push_back(cv::COLOR_BayerGB2RGB);
res[std::make_pair(BAYER_GRBG, BGR)].push_back(cv::COLOR_BayerGB2BGR);

#endif
return res;
}

Expand Down Expand Up @@ -366,7 +386,27 @@ CvImagePtr toCvCopyImpl(
}
} else {
// Perform color conversion
#ifdef HAVE_OPENCV_CUDAIMGPROC
if (cv::cuda::getCudaEnabledDeviceCount() > 0) {
if (src_encoding == enc::BAYER_RGGB8 || src_encoding == enc::BAYER_BGGR8 || src_encoding == enc::BAYER_GBRG8 ||
src_encoding == enc::BAYER_GRBG8)
{
cv::cuda::GpuMat gpu_image1(image1);
cv::cuda::GpuMat gpu_image2;
cv::cuda::demosaicing(gpu_image1, gpu_image2, conversion_code);
gpu_image2.download(image2);
} else {
cv::cuda::GpuMat gpu_image1(image1);
cv::cuda::GpuMat gpu_image2;
cv::cuda::cvtColor(gpu_image1, gpu_image2, conversion_code);
gpu_image2.download(image2);
}
} else {
cv::cvtColor(image1, image2, conversion_code);
}
#else
cv::cvtColor(image1, image2, conversion_code);
#endif
}
image1 = image2;
}
Expand Down