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submodule
opencv
Commits
e2995956
Commit
e2995956
authored
Nov 12, 2012
by
Vladislav Vinogradov
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computeHypothesisScoresKernel
parent
05db02fb
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12 additions
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16 deletions
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-16
calib3d.cu
modules/gpu/src/cuda/calib3d.cu
+12
-16
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modules/gpu/src/cuda/calib3d.cu
View file @
e2995956
...
...
@@ -42,9 +42,10 @@
#if !defined CUDA_DISABLER
#include "
internal_shared
.hpp"
#include "
opencv2/gpu/device/common
.hpp"
#include "opencv2/gpu/device/transform.hpp"
#include "opencv2/gpu/device/functional.hpp"
#include "opencv2/gpu/device/reduce.hpp"
namespace cv { namespace gpu { namespace device
{
...
...
@@ -66,6 +67,8 @@ namespace cv { namespace gpu { namespace device
crot1.x * p.x + crot1.y * p.y + crot1.z * p.z + ctransl.y,
crot2.x * p.x + crot2.y * p.y + crot2.z * p.z + ctransl.z);
}
__device__ __forceinline__ TransformOp() {}
__device__ __forceinline__ TransformOp(const TransformOp&) {}
};
void call(const PtrStepSz<float3> src, const float* rot,
...
...
@@ -103,6 +106,8 @@ namespace cv { namespace gpu { namespace device
(cproj0.x * t.x + cproj0.y * t.y) / t.z + cproj0.z,
(cproj1.x * t.x + cproj1.y * t.y) / t.z + cproj1.z);
}
__device__ __forceinline__ ProjectOp() {}
__device__ __forceinline__ ProjectOp(const ProjectOp&) {}
};
void call(const PtrStepSz<float3> src, const float* rot,
...
...
@@ -134,6 +139,7 @@ namespace cv { namespace gpu { namespace device
return x * x;
}
template <int BLOCK_SIZE>
__global__ void computeHypothesisScoresKernel(
const int num_points, const float3* object, const float2* image,
const float dist_threshold, int* g_num_inliers)
...
...
@@ -156,19 +162,11 @@ namespace cv { namespace gpu { namespace device
++num_inliers;
}
extern __shared__ float s_num_inliers[];
s_num_inliers[threadIdx.x] = num_inliers;
__syncthreads();
for (int step = blockDim.x / 2; step > 0; step >>= 1)
{
if (threadIdx.x < step)
s_num_inliers[threadIdx.x] += s_num_inliers[threadIdx.x + step];
__syncthreads();
}
__shared__ int s_num_inliers[BLOCK_SIZE];
reduce<BLOCK_SIZE>(s_num_inliers, num_inliers, threadIdx.x, plus<int>());
if (threadIdx.x == 0)
g_num_inliers[blockIdx.x] =
s_num_inliers[0]
;
g_num_inliers[blockIdx.x] =
num_inliers
;
}
void computeHypothesisScores(
...
...
@@ -181,9 +179,8 @@ namespace cv { namespace gpu { namespace device
dim3 threads(256);
dim3 grid(num_hypotheses);
int smem_size = threads.x * sizeof(float);
computeHypothesisScoresKernel<
<<grid, threads, smem_size
>>>(
computeHypothesisScoresKernel<
256><<<grid, threads
>>>(
num_points, object, image, dist_threshold, hypothesis_scores);
cudaSafeCall( cudaGetLastError() );
...
...
@@ -193,4 +190,4 @@ namespace cv { namespace gpu { namespace device
}}} // namespace cv { namespace gpu { namespace device
#endif /* CUDA_DISABLER */
\ No newline at end of file
#endif /* CUDA_DISABLER */
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