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////////////////////////////////////////////////////////////////////////////
// File: ProgramCU.h
// Author: Changchang Wu
// Description : interface for the ProgramCU classes.
// It is basically a wrapper around all the CUDA kernels
//
// Copyright (c) 2011 Changchang Wu (ccwu@cs.washington.edu)
// and the University of Washington at Seattle
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public
// License as published by the Free Software Foundation; either
// Version 3 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
////////////////////////////////////////////////////////////////////////////////
#ifndef _PROGRAM_CU_H
#define _PROGRAM_CU_H
class CuTexImage;
namespace pba {
namespace ProgramCU {
int SetCudaDevice(int device);
size_t GetCudaMemoryCap();
int CheckErrorCUDA(const char* location);
void FinishWorkCUDA();
void ClearPreviousError();
void ResetCurrentDevice();
void GetBlockConfiguration(unsigned int nblock, unsigned int& bw,
unsigned int& bh);
//////////////////////////////////////////////////////////
void ComputeSQRT(CuTexImage& tex);
void ComputeRSQRT(CuTexImage& tex);
void ComputeVXY(CuTexImage& texX, CuTexImage& texY, CuTexImage& result,
unsigned int part = 0, unsigned int skip = 0);
void ComputeSAXPY(float a, CuTexImage& texX, CuTexImage& texY,
CuTexImage& result);
void ComputeSAX(float a, CuTexImage& texX, CuTexImage& result);
void ComputeSXYPZ(float a, CuTexImage& texX, CuTexImage& texY, CuTexImage& texZ,
CuTexImage& result);
float ComputeVectorMax(CuTexImage& vector, CuTexImage& buf);
float ComputeVectorSum(CuTexImage& vector, CuTexImage& buf, int skip);
double ComputeVectorNorm(CuTexImage& vector, CuTexImage& buf);
double ComputeVectorNormW(CuTexImage& vector, CuTexImage& weight,
CuTexImage& buf);
double ComputeVectorDot(CuTexImage& vector1, CuTexImage& vector2,
CuTexImage& buf);
//////////////////////////////////////////////////////////////////////////
void UncompressCamera(int ncam, CuTexImage& camera0, CuTexImage& result);
void CompressCamera(int ncam, CuTexImage& camera0, CuTexImage& result);
void UpdateCameraPoint(int ncam, CuTexImage& camera, CuTexImage& point,
CuTexImage& delta, CuTexImage& new_camera,
CuTexImage& new_point, int mode = 0);
/////////////////////////////////////////////////////////////////////////
void ComputeJacobian(CuTexImage& camera, CuTexImage& point, CuTexImage& jc,
CuTexImage& jp, CuTexImage& proj_map, CuTexImage& sj,
CuTexImage& meas, CuTexImage& cmlist, bool intrinsic_fixed,
int radial_distortion, bool shuffle);
void ComputeProjection(CuTexImage& camera, CuTexImage& point, CuTexImage& meas,
CuTexImage& proj_map, CuTexImage& proj, int radial);
void ComputeProjectionX(CuTexImage& camera, CuTexImage& point, CuTexImage& meas,
CuTexImage& proj_map, CuTexImage& proj, int radial);
bool ShuffleCameraJacobian(CuTexImage& jc, CuTexImage& map, CuTexImage& result);
/////////////////////////////////////////////////////////////
void ComputeDiagonal(CuTexImage& jc, CuTexImage& cmap, CuTexImage& jp,
CuTexImage& pmap, CuTexImage& cmlist, CuTexImage& jtjd,
CuTexImage& jtjdi, bool jc_transpose, int radial,
bool add_existing_diagc);
void MultiplyBlockConditioner(int ncam, int npoint, CuTexImage& blocks,
CuTexImage& vector, CuTexImage& result,
int radial, int mode = 0);
////////////////////////////////////////////////////////////////////////////////
void ComputeProjectionQ(CuTexImage& camera, CuTexImage& qmap, CuTexImage& qw,
CuTexImage& proj, int offset);
void ComputeJQX(CuTexImage& x, CuTexImage& qmap, CuTexImage& wq, CuTexImage& sj,
CuTexImage& jx, int offset);
void ComputeJQtEC(CuTexImage& pe, CuTexImage& qlist, CuTexImage& wq,
CuTexImage& sj, CuTexImage& result);
void ComputeDiagonalQ(CuTexImage& qlistw, CuTexImage& sj, CuTexImage& diag);
//////////////////////////////////////////////////////////////////////////
void ComputeJX(int point_offset, CuTexImage& x, CuTexImage& jc, CuTexImage& jp,
CuTexImage& jmap, CuTexImage& result, int mode = 0);
void ComputeJtE(CuTexImage& pe, CuTexImage& jc, CuTexImage& cmap,
CuTexImage& cmlist, CuTexImage& jp, CuTexImage& pmap,
CuTexImage& jte, bool jc_transpose, int mode = 0);
void ComputeDiagonalBlock(float lambda, bool dampd, CuTexImage& jc,
CuTexImage& cmap, CuTexImage& jp, CuTexImage& pmap,
CuTexImage& cmlist, CuTexImage& diag,
CuTexImage& blocks, int radial_distortion,
bool jc_transpose, bool add_existing_diagc,
int mode = 0);
/////////////////////////////////////////////////////////////////////
void ComputeJX_(CuTexImage& x, CuTexImage& jx, CuTexImage& camera,
CuTexImage& point, CuTexImage& meas, CuTexImage& pjmap,
bool intrinsic_fixed, int radial_distortion, int mode = 0);
void ComputeJtE_(CuTexImage& e, CuTexImage& jte, CuTexImage& camera,
CuTexImage& point, CuTexImage& meas, CuTexImage& cmap,
CuTexImage& cmlist, CuTexImage& pmap, CuTexImage& jmap,
CuTexImage& jp, bool intrinsic_fixed, int radial_distortion,
int mode = 0);
void ComputeDiagonalBlock_(float lambda, bool dampd, CuTexImage& camera,
CuTexImage& point, CuTexImage& meas,
CuTexImage& cmap, CuTexImage& cmlist,
CuTexImage& pmap, CuTexImage& jmap, CuTexImage& jp,
CuTexImage& sj, CuTexImage& diag, CuTexImage& blocks,
bool intrinsic_fixed, int radial_distortion,
bool add_existing_diagc, int mode = 0);
} // namespace ProgramCU
} // namespace pba
#endif
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