| Austin Schuh | 8c267c7 | 2023-11-18 14:05:14 -0800 | [diff] [blame^] | 1 | #ifndef FRC971_ORIN_THRESHOLD_H_ |
| 2 | #define FRC971_ORIN_THRESHOLD_H_ |
| 3 | |
| 4 | #include <stdint.h> |
| 5 | |
| 6 | #include "frc971/orin/cuda.h" |
| 7 | |
| 8 | namespace frc971 { |
| 9 | namespace apriltag { |
| 10 | |
| 11 | // Converts to grayscale, decimates, and thresholds an image on the provided |
| 12 | // stream. |
| 13 | void CudaToGreyscaleAndDecimateHalide( |
| 14 | const uint8_t *color_image, uint8_t *gray_image, uint8_t *decimated_image, |
| 15 | uint8_t *unfiltered_minmax_image, uint8_t *minmax_image, |
| 16 | uint8_t *thresholded_image, size_t width, size_t height, |
| 17 | size_t min_white_black_diff, CudaStream *stream); |
| 18 | |
| 19 | } // namespace apriltag |
| 20 | } // namespace frc971 |
| 21 | |
| 22 | #endif // FRC971_ORIN_THRESHOLD_H_ |