1 /*M///////////////////////////////////////////////////////////////////////////////////////
2 //
3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
4 //
5 // By downloading, copying, installing or using the software you agree to this license.
6 // If you do not agree to this license, do not download, install,
7 // copy or use the software.
8 //
9 //
10 // License Agreement
11 // For Open Source Computer Vision Library
12 //
13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved.
15 // Third party copyrights are property of their respective owners.
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18 // are permitted provided that the following conditions are met:
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24 // this list of conditions and the following disclaimer in the documentation
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28 // derived from this software without specific prior written permission.
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41 //M*/
42
43 #if !defined CUDA_DISABLER
44
45 #include <thrust/device_ptr.h>
46 #include <thrust/remove.h>
47 #include <thrust/functional.h>
48 #include "opencv2/core/cuda/common.hpp"
49
50 namespace cv { namespace cuda { namespace device { namespace globmotion {
51
52 __constant__ float cml[9];
53 __constant__ float cmr[9];
54
compactPoints(int N,float * points0,float * points1,const uchar * mask)55 int compactPoints(int N, float *points0, float *points1, const uchar *mask)
56 {
57 thrust::device_ptr<float2> dpoints0((float2*)points0);
58 thrust::device_ptr<float2> dpoints1((float2*)points1);
59 thrust::device_ptr<const uchar> dmask(mask);
60
61 return (int)(thrust::remove_if(thrust::make_zip_iterator(thrust::make_tuple(dpoints0, dpoints1)),
62 thrust::make_zip_iterator(thrust::make_tuple(dpoints0 + N, dpoints1 + N)),
63 dmask, thrust::not1(thrust::identity<uchar>()))
64 - thrust::make_zip_iterator(make_tuple(dpoints0, dpoints1)));
65 }
66
67
calcWobbleSuppressionMapsKernel(const int left,const int idx,const int right,const int width,const int height,PtrStepf mapx,PtrStepf mapy)68 __global__ void calcWobbleSuppressionMapsKernel(
69 const int left, const int idx, const int right, const int width, const int height,
70 PtrStepf mapx, PtrStepf mapy)
71 {
72 const int x = blockDim.x * blockIdx.x + threadIdx.x;
73 const int y = blockDim.y * blockIdx.y + threadIdx.y;
74
75 if (x < width && y < height)
76 {
77 float xl = cml[0]*x + cml[1]*y + cml[2];
78 float yl = cml[3]*x + cml[4]*y + cml[5];
79 float izl = 1.f / (cml[6]*x + cml[7]*y + cml[8]);
80 xl *= izl;
81 yl *= izl;
82
83 float xr = cmr[0]*x + cmr[1]*y + cmr[2];
84 float yr = cmr[3]*x + cmr[4]*y + cmr[5];
85 float izr = 1.f / (cmr[6]*x + cmr[7]*y + cmr[8]);
86 xr *= izr;
87 yr *= izr;
88
89 float wl = idx - left;
90 float wr = right - idx;
91 mapx(y,x) = (wr * xl + wl * xr) / (wl + wr);
92 mapy(y,x) = (wr * yl + wl * yr) / (wl + wr);
93 }
94 }
95
96
calcWobbleSuppressionMaps(int left,int idx,int right,int width,int height,const float * ml,const float * mr,PtrStepSzf mapx,PtrStepSzf mapy)97 void calcWobbleSuppressionMaps(
98 int left, int idx, int right, int width, int height,
99 const float *ml, const float *mr, PtrStepSzf mapx, PtrStepSzf mapy)
100 {
101 cudaSafeCall(cudaMemcpyToSymbol(cml, ml, 9*sizeof(float)));
102 cudaSafeCall(cudaMemcpyToSymbol(cmr, mr, 9*sizeof(float)));
103
104 dim3 threads(32, 8);
105 dim3 grid(divUp(width, threads.x), divUp(height, threads.y));
106
107 calcWobbleSuppressionMapsKernel<<<grid, threads>>>(
108 left, idx, right, width, height, mapx, mapy);
109
110 cudaSafeCall(cudaGetLastError());
111 cudaSafeCall(cudaDeviceSynchronize());
112 }
113
114 }}}}
115
116
117 #endif /* CUDA_DISABLER */
118