opencv/modules/gpu/src/cuda/global_motion.cu

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
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//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 1993-2011, NVIDIA Corporation, all rights reserved.
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// are permitted provided that the following conditions are met:
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// this list of conditions and the following disclaimer in the documentation
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#if !defined CUDA_DISABLER
#include "thrust/device_ptr.h"
#include "thrust/remove.h"
#include "thrust/functional.h"
#include "internal_shared.hpp"
using namespace thrust;
namespace cv { namespace gpu { namespace device { namespace globmotion {
__constant__ float cml[9];
__constant__ float cmr[9];
int compactPoints(int N, float *points0, float *points1, const uchar *mask)
{
thrust::device_ptr<float2> dpoints0((float2*)points0);
thrust::device_ptr<float2> dpoints1((float2*)points1);
thrust::device_ptr<const uchar> dmask(mask);
return thrust::remove_if(thrust::make_zip_iterator(thrust::make_tuple(dpoints0, dpoints1)),
thrust::make_zip_iterator(thrust::make_tuple(dpoints0 + N, dpoints1 + N)),
dmask, thrust::not1(thrust::identity<uchar>()))
- make_zip_iterator(make_tuple(dpoints0, dpoints1));
}
__global__ void calcWobbleSuppressionMapsKernel(
const int left, const int idx, const int right, const int width, const int height,
PtrStepf mapx, PtrStepf mapy)
{
const int x = blockDim.x * blockIdx.x + threadIdx.x;
const int y = blockDim.y * blockIdx.y + threadIdx.y;
if (x < width && y < height)
{
float xl = cml[0]*x + cml[1]*y + cml[2];
float yl = cml[3]*x + cml[4]*y + cml[5];
float izl = 1.f / (cml[6]*x + cml[7]*y + cml[8]);
xl *= izl;
yl *= izl;
float xr = cmr[0]*x + cmr[1]*y + cmr[2];
float yr = cmr[3]*x + cmr[4]*y + cmr[5];
float izr = 1.f / (cmr[6]*x + cmr[7]*y + cmr[8]);
xr *= izr;
yr *= izr;
float wl = idx - left;
float wr = right - idx;
mapx(y,x) = (wr * xl + wl * xr) / (wl + wr);
mapy(y,x) = (wr * yl + wl * yr) / (wl + wr);
}
}
void calcWobbleSuppressionMaps(
int left, int idx, int right, int width, int height,
const float *ml, const float *mr, PtrStepSzf mapx, PtrStepSzf mapy)
{
cudaSafeCall(cudaMemcpyToSymbol(cml, ml, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(cmr, mr, 9*sizeof(float)));
dim3 threads(32, 8);
dim3 grid(divUp(width, threads.x), divUp(height, threads.y));
calcWobbleSuppressionMapsKernel<<<grid, threads>>>(
left, idx, right, width, height, mapx, mapy);
cudaSafeCall(cudaGetLastError());
cudaSafeCall(cudaDeviceSynchronize());
}
}}}}
#endif /* CUDA_DISABLER */