1 /*M///////////////////////////////////////////////////////////////////////////////////////
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11 // For Open Source Computer Vision Library
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44 #if !defined CUDA_DISABLER
46 #include <thrust/device_ptr.h>
47 #include <thrust/remove.h>
48 #include <thrust/functional.h>
49 #include "opencv2/gpu/device/common.hpp"
51 namespace cv { namespace gpu { namespace device { namespace globmotion {
53 __constant__ float cml[9];
54 __constant__ float cmr[9];
56 int compactPoints(int N, float *points0, float *points1, const uchar *mask)
58 thrust::device_ptr<float2> dpoints0((float2*)points0);
59 thrust::device_ptr<float2> dpoints1((float2*)points1);
60 thrust::device_ptr<const uchar> dmask(mask);
62 return (int)(thrust::remove_if(thrust::make_zip_iterator(thrust::make_tuple(dpoints0, dpoints1)),
63 thrust::make_zip_iterator(thrust::make_tuple(dpoints0 + N, dpoints1 + N)),
64 dmask, thrust::not1(thrust::identity<uchar>()))
65 - thrust::make_zip_iterator(make_tuple(dpoints0, dpoints1)));
69 __global__ void calcWobbleSuppressionMapsKernel(
70 const int left, const int idx, const int right, const int width, const int height,
71 PtrStepf mapx, PtrStepf mapy)
73 const int x = blockDim.x * blockIdx.x + threadIdx.x;
74 const int y = blockDim.y * blockIdx.y + threadIdx.y;
76 if (x < width && y < height)
78 float xl = cml[0]*x + cml[1]*y + cml[2];
79 float yl = cml[3]*x + cml[4]*y + cml[5];
80 float izl = 1.f / (cml[6]*x + cml[7]*y + cml[8]);
84 float xr = cmr[0]*x + cmr[1]*y + cmr[2];
85 float yr = cmr[3]*x + cmr[4]*y + cmr[5];
86 float izr = 1.f / (cmr[6]*x + cmr[7]*y + cmr[8]);
90 float wl = idx - left;
91 float wr = right - idx;
92 mapx(y,x) = (wr * xl + wl * xr) / (wl + wr);
93 mapy(y,x) = (wr * yl + wl * yr) / (wl + wr);
98 void calcWobbleSuppressionMaps(
99 int left, int idx, int right, int width, int height,
100 const float *ml, const float *mr, PtrStepSzf mapx, PtrStepSzf mapy)
102 cudaSafeCall(cudaMemcpyToSymbol(cml, ml, 9*sizeof(float)));
103 cudaSafeCall(cudaMemcpyToSymbol(cmr, mr, 9*sizeof(float)));
106 dim3 grid(divUp(width, threads.x), divUp(height, threads.y));
108 calcWobbleSuppressionMapsKernel<<<grid, threads>>>(
109 left, idx, right, width, height, mapx, mapy);
111 cudaSafeCall(cudaGetLastError());
112 cudaSafeCall(cudaDeviceSynchronize());
118 #endif /* CUDA_DISABLER */