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119 lines
4.5 KiB
Plaintext
119 lines
4.5 KiB
Plaintext
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Copyright (C) 1993-2011, NVIDIA Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or bpied warranties, including, but not limited to, the bpied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#if !defined CUDA_DISABLER
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#include <thrust/device_ptr.h>
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#include <thrust/remove.h>
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#include <thrust/functional.h>
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#include "opencv2/gpu/device/common.hpp"
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namespace cv { namespace gpu { namespace device { namespace globmotion {
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__constant__ float cml[9];
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__constant__ float cmr[9];
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int compactPoints(int N, float *points0, float *points1, const uchar *mask)
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{
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thrust::device_ptr<float2> dpoints0((float2*)points0);
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thrust::device_ptr<float2> dpoints1((float2*)points1);
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thrust::device_ptr<const uchar> dmask(mask);
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return (int)(thrust::remove_if(thrust::make_zip_iterator(thrust::make_tuple(dpoints0, dpoints1)),
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thrust::make_zip_iterator(thrust::make_tuple(dpoints0 + N, dpoints1 + N)),
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dmask, thrust::not1(thrust::identity<uchar>()))
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- thrust::make_zip_iterator(make_tuple(dpoints0, dpoints1)));
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}
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__global__ void calcWobbleSuppressionMapsKernel(
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const int left, const int idx, const int right, const int width, const int height,
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PtrStepf mapx, PtrStepf mapy)
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{
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const int x = blockDim.x * blockIdx.x + threadIdx.x;
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const int y = blockDim.y * blockIdx.y + threadIdx.y;
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if (x < width && y < height)
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{
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float xl = cml[0]*x + cml[1]*y + cml[2];
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float yl = cml[3]*x + cml[4]*y + cml[5];
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float izl = 1.f / (cml[6]*x + cml[7]*y + cml[8]);
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xl *= izl;
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yl *= izl;
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float xr = cmr[0]*x + cmr[1]*y + cmr[2];
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float yr = cmr[3]*x + cmr[4]*y + cmr[5];
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float izr = 1.f / (cmr[6]*x + cmr[7]*y + cmr[8]);
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xr *= izr;
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yr *= izr;
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float wl = idx - left;
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float wr = right - idx;
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mapx(y,x) = (wr * xl + wl * xr) / (wl + wr);
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mapy(y,x) = (wr * yl + wl * yr) / (wl + wr);
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}
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}
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void calcWobbleSuppressionMaps(
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int left, int idx, int right, int width, int height,
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const float *ml, const float *mr, PtrStepSzf mapx, PtrStepSzf mapy)
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{
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cudaSafeCall(cudaMemcpyToSymbol(cml, ml, 9*sizeof(float)));
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cudaSafeCall(cudaMemcpyToSymbol(cmr, mr, 9*sizeof(float)));
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dim3 threads(32, 8);
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dim3 grid(divUp(width, threads.x), divUp(height, threads.y));
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calcWobbleSuppressionMapsKernel<<<grid, threads>>>(
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left, idx, right, width, height, mapx, mapy);
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cudaSafeCall(cudaGetLastError());
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cudaSafeCall(cudaDeviceSynchronize());
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}
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}}}}
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#endif /* CUDA_DISABLER */
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