/*M/////////////////////////////////////////////////////////////////////////////////////// // // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. // // By downloading, copying, installing or using the software you agree to this license. // If you do not agree to this license, do not download, install, // copy or use the software. // // // 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. // Third party copyrights are property of their respective owners. // // Redistribution and use in source and binary forms, with or without modification, // are permitted provided that the following conditions are met: // // * Redistribution's of source code must retain the above copyright notice, // this list of conditions and the following disclaimer. // // * Redistribution's in binary form must reproduce the above copyright notice, // this list of conditions and the following disclaimer in the documentation // and/or other materials provided with the distribution. // // * The name of the copyright holders may not be used to endorse or promote products // derived from this software without specific prior written permission. // // This software is provided by the copyright holders and contributors "as is" and // any express or implied warranties, including, but not limited to, the implied // warranties of merchantability and fitness for a particular purpose are disclaimed. // In no event shall the Intel Corporation or contributors be liable for any direct, // indirect, incidental, special, exemplary, or consequential damages // (including, but not limited to, procurement of substitute goods or services; // loss of use, data, or profits; or business interruption) however caused // and on any theory of liability, whether in contract, strict liability, // or tort (including negligence or otherwise) arising in any way out of // the use of this software, even if advised of the possibility of such damage. // //M*/ #if !defined CUDA_DISABLER #include <thrust/device_ptr.h> #include <thrust/remove.h> #include <thrust/functional.h> #include "opencv2/core/cuda/common.hpp" namespace cv { namespace cuda { 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 (int)(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>())) - thrust::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 */