c++ - Strange error with cuda::reprojectImageTo3D and OpenCV 3.0 -

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hello trying mat xyz cordenates disparity map have generated cuda::stereobm object, screenshot of disparity map created "disparity map" when add function cuda::reprojectimageto3d(d_disp,d_xyz,d_q,3,stream); error can't understand, if coment line of code no error shown moment try use function next error window

and error code is:

opencv error: function/feature not implemented (you should explicitly call download method cuda::gpumat object) in cv::_inputarray::getmat_, file c:\opencv\sources\modules\core\src\matrix.cpp, line 1211

bellow code, note of mats declared global , declarations not in slot function

void mainwindow::on_botonmostrardispsgbmcuda_clicked() {      if(map_l1.empty()&&map_l2.empty()&&map_r1.empty() &&map_r2.empty()){         filestorage fs(xmlname,filestorage::read);         fs["map_l1"]>>map_l1;         fs["map_l2"]>>map_l2;         fs["map_r1"]>>map_r1;         fs["map_r2"]>>map_r2;         fs["q"] >> q;         fs.release();     }     mat img1, img2;     img1 = imread("c:\\users\\diego\\pictures\\calibstereo\\camleft\\photoleft_1.jpg");     img2 = imread("c:\\users\\diego\\pictures\\calibstereo\\camright\\photoright_1.jpg");       cvtcolor(img1, framelgray, cv_bgr2gray);     cvtcolor(img2, framergray, cv_bgr2gray);     remap(framelgray,framel_rect,map_l1,map_l2,inter_linear);     remap(framergray,framer_rect,map_r1,map_r2,inter_linear);      bool ok1, ok2, ok3, ok4, ok5, ok6 , ok7,ok8,ok9,ok10 ;     int prefiltersize = ui->editprefiltersizebm->text().toint(&ok1);     int prefiltercap = ui->editfiltercapbm->text().toint(&ok2);     int blocksize = ui->editblocksbm->text().toint(&ok3);     int mindisp = ui->editmindispbm->text().toint(&ok4);     int numdisp = ui->editnumdispbm->text().toint(&ok5);     int texturethresh = ui->edittexturebm->text().toint(&ok6);     int uniqueness = ui->edituniquenesbm->text().toint(&ok7);     int specklewindow = ui->editspecklewindowbm->text().toint(&ok8);     int specklerange = ui->editspecklerangebm->text().toint(&ok9);     int maxdiff = ui->editmaxdiffbm->text().toint(&ok10);      if (!ok1 || !ok2 || !ok3 || !ok4 || !ok5 || !ok6 || !ok7 || !ok8 || !ok9 || !ok10){         qmessagebox messagebox;         messagebox.seticonpixmap(qpixmap(":/icon.svg"));         messagebox.settext("one of entries not valid number.");         messagebox.setwindowtitle("error");         messagebox.exec();      }       d_left.upload(framel_rect);     d_right.upload(framer_rect);     ptr<cuda::stereobm> cusbm;     cusbm = cuda::createstereobm(64, 5);     cusbm->setprefiltersize(prefiltersize);                  cusbm->setprefiltercap(prefiltercap);                    cusbm->setblocksize(blocksize);                          cusbm->setmindisparity(mindisp);                         cusbm->setnumdisparities(numdisp);                       cusbm->settexturethreshold(texturethresh);               cusbm->setuniquenessratio(uniqueness);                   cusbm->setspecklewindowsize(specklewindow);              cusbm->setspecklerange(specklerange);                    cusbm->setdisp12maxdiff(maxdiff);                        cuda::stream mystream = cuda::stream::stream();     cusbm->compute(d_left, d_right, d_disp, mystream);     if(!d_disp.empty()){         cuda::gpumat d_xyz(d_disp.size(), cv_32fc4);         cuda::gpumat d_q(4,4,cv_32f);         d_q.upload(q);         cuda::stream mysecondstream = cuda::stream::stream();         cuda::reprojectimageto3d(d_disp,d_xyz,d_q,3,mysecondstream);         d_xyz.download(xyz);     }      cuda::drawcolordisp(d_disp, d_disp,numdisp);        //64      d_disp.download(disp);      namedwindow("left");     namedwindow("right");     namedwindow("disp");      imshow("left", framel_rect);     imshow("right", framer_rect);     imshow("disp", disp);     //imshow("xyz", xyz);     waitkey(0);     cv::destroyallwindows(); }

i using windows 8.1, qtcreator ide, opencv 3.0.0 cuda 7.0

are sure d_disp in line cuda::reprojectimageto3d(d_disp,d_xyz,d_q,3,mysecondstream); gpumat

your problem may cv::mat class, has no overloaded assignment operator or copy constructor takes argument of type cv::gpu::gpumat, not able mix them in code.


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