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renamed gpunvidia -> gpulegacy

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This commit is contained in:
Vladislav Vinogradov
2013-04-18 10:14:43 +04:00
parent 7e91e1871d
commit 508fb6aa5b
62 changed files with 69 additions and 60 deletions
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modules/gpulegacy/src/NCV.cpp Normal file
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/*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*/
#include "precomp.hpp"
//==============================================================================
//
// Error handling helpers
//
//==============================================================================
namespace
{
#define error_entry(entry) { entry, #entry }
struct ErrorEntry
{
int code;
const char* str;
};
struct ErrorEntryComparer
{
int code;
ErrorEntryComparer(int code_) : code(code_) {}
bool operator()(const ErrorEntry& e) const { return e.code == code; }
};
//////////////////////////////////////////////////////////////////////////
// NCV errors
const ErrorEntry ncv_errors [] =
{
error_entry( NCV_SUCCESS ),
error_entry( NCV_UNKNOWN_ERROR ),
error_entry( NCV_CUDA_ERROR ),
error_entry( NCV_NPP_ERROR ),
error_entry( NCV_FILE_ERROR ),
error_entry( NCV_NULL_PTR ),
error_entry( NCV_INCONSISTENT_INPUT ),
error_entry( NCV_TEXTURE_BIND_ERROR ),
error_entry( NCV_DIMENSIONS_INVALID ),
error_entry( NCV_INVALID_ROI ),
error_entry( NCV_INVALID_STEP ),
error_entry( NCV_INVALID_SCALE ),
error_entry( NCV_INVALID_SCALE ),
error_entry( NCV_ALLOCATOR_NOT_INITIALIZED ),
error_entry( NCV_ALLOCATOR_BAD_ALLOC ),
error_entry( NCV_ALLOCATOR_BAD_DEALLOC ),
error_entry( NCV_ALLOCATOR_INSUFFICIENT_CAPACITY ),
error_entry( NCV_ALLOCATOR_DEALLOC_ORDER ),
error_entry( NCV_ALLOCATOR_BAD_REUSE ),
error_entry( NCV_MEM_COPY_ERROR ),
error_entry( NCV_MEM_RESIDENCE_ERROR ),
error_entry( NCV_MEM_INSUFFICIENT_CAPACITY ),
error_entry( NCV_HAAR_INVALID_PIXEL_STEP ),
error_entry( NCV_HAAR_TOO_MANY_FEATURES_IN_CLASSIFIER ),
error_entry( NCV_HAAR_TOO_MANY_FEATURES_IN_CASCADE ),
error_entry( NCV_HAAR_TOO_LARGE_FEATURES ),
error_entry( NCV_HAAR_XML_LOADING_EXCEPTION ),
error_entry( NCV_NOIMPL_HAAR_TILTED_FEATURES ),
error_entry( NCV_WARNING_HAAR_DETECTIONS_VECTOR_OVERFLOW ),
error_entry( NPPST_SUCCESS ),
error_entry( NPPST_ERROR ),
error_entry( NPPST_CUDA_KERNEL_EXECUTION_ERROR ),
error_entry( NPPST_NULL_POINTER_ERROR ),
error_entry( NPPST_TEXTURE_BIND_ERROR ),
error_entry( NPPST_MEMCPY_ERROR ),
error_entry( NPPST_MEM_ALLOC_ERR ),
error_entry( NPPST_MEMFREE_ERR ),
error_entry( NPPST_INVALID_ROI ),
error_entry( NPPST_INVALID_STEP ),
error_entry( NPPST_INVALID_SCALE ),
error_entry( NPPST_MEM_INSUFFICIENT_BUFFER ),
error_entry( NPPST_MEM_RESIDENCE_ERROR ),
error_entry( NPPST_MEM_INTERNAL_ERROR )
};
const size_t ncv_error_num = sizeof(ncv_errors) / sizeof(ncv_errors[0]);
}
cv::String cv::gpu::getNcvErrorMessage(int code)
{
size_t idx = std::find_if(ncv_errors, ncv_errors + ncv_error_num, ErrorEntryComparer(code)) - ncv_errors;
const char* msg = (idx != ncv_error_num) ? ncv_errors[idx].str : "Unknown error code";
String str = cv::format("%s [Code = %d]", msg, code);
return str;
}
static void stdDebugOutput(const cv::String &msg)
{
std::cout << msg.c_str() << std::endl;
}
static NCVDebugOutputHandler *debugOutputHandler = stdDebugOutput;
void ncvDebugOutput(const cv::String &msg)
{
debugOutputHandler(msg);
}
void ncvSetDebugOutputHandler(NCVDebugOutputHandler *func)
{
debugOutputHandler = func;
}
//==============================================================================
//
// Memory wrappers and helpers
//
//==============================================================================
Ncv32u alignUp(Ncv32u what, Ncv32u alignment)
{
Ncv32u alignMask = alignment-1;
Ncv32u inverseAlignMask = ~alignMask;
Ncv32u res = (what + alignMask) & inverseAlignMask;
return res;
}
void NCVMemPtr::clear()
{
ptr = NULL;
memtype = NCVMemoryTypeNone;
}
void NCVMemSegment::clear()
{
begin.clear();
size = 0;
}
NCVStatus memSegCopyHelper(void *dst, NCVMemoryType dstType, const void *src, NCVMemoryType srcType, size_t sz, cudaStream_t cuStream)
{
NCVStatus ncvStat;
switch (dstType)
{
case NCVMemoryTypeHostPageable:
case NCVMemoryTypeHostPinned:
switch (srcType)
{
case NCVMemoryTypeHostPageable:
case NCVMemoryTypeHostPinned:
memcpy(dst, src, sz);
ncvStat = NCV_SUCCESS;
break;
case NCVMemoryTypeDevice:
if (cuStream != 0)
{
ncvAssertCUDAReturn(cudaMemcpyAsync(dst, src, sz, cudaMemcpyDeviceToHost, cuStream), NCV_CUDA_ERROR);
}
else
{
ncvAssertCUDAReturn(cudaMemcpy(dst, src, sz, cudaMemcpyDeviceToHost), NCV_CUDA_ERROR);
}
ncvStat = NCV_SUCCESS;
break;
default:
ncvStat = NCV_MEM_RESIDENCE_ERROR;
}
break;
case NCVMemoryTypeDevice:
switch (srcType)
{
case NCVMemoryTypeHostPageable:
case NCVMemoryTypeHostPinned:
if (cuStream != 0)
{
ncvAssertCUDAReturn(cudaMemcpyAsync(dst, src, sz, cudaMemcpyHostToDevice, cuStream), NCV_CUDA_ERROR);
}
else
{
ncvAssertCUDAReturn(cudaMemcpy(dst, src, sz, cudaMemcpyHostToDevice), NCV_CUDA_ERROR);
}
ncvStat = NCV_SUCCESS;
break;
case NCVMemoryTypeDevice:
if (cuStream != 0)
{
ncvAssertCUDAReturn(cudaMemcpyAsync(dst, src, sz, cudaMemcpyDeviceToDevice, cuStream), NCV_CUDA_ERROR);
}
else
{
ncvAssertCUDAReturn(cudaMemcpy(dst, src, sz, cudaMemcpyDeviceToDevice), NCV_CUDA_ERROR);
}
ncvStat = NCV_SUCCESS;
break;
default:
ncvStat = NCV_MEM_RESIDENCE_ERROR;
}
break;
default:
ncvStat = NCV_MEM_RESIDENCE_ERROR;
}
return ncvStat;
}
NCVStatus memSegCopyHelper2D(void *dst, Ncv32u dstPitch, NCVMemoryType dstType,
const void *src, Ncv32u srcPitch, NCVMemoryType srcType,
Ncv32u widthbytes, Ncv32u height, cudaStream_t cuStream)
{
NCVStatus ncvStat;
switch (dstType)
{
case NCVMemoryTypeHostPageable:
case NCVMemoryTypeHostPinned:
switch (srcType)
{
case NCVMemoryTypeHostPageable:
case NCVMemoryTypeHostPinned:
for (Ncv32u i=0; i<height; i++)
{
memcpy((char*)dst + i * dstPitch, (char*)src + i * srcPitch, widthbytes);
}
ncvStat = NCV_SUCCESS;
break;
case NCVMemoryTypeDevice:
if (cuStream != 0)
{
ncvAssertCUDAReturn(cudaMemcpy2DAsync(dst, dstPitch, src, srcPitch, widthbytes, height, cudaMemcpyDeviceToHost, cuStream), NCV_CUDA_ERROR);
}
else
{
ncvAssertCUDAReturn(cudaMemcpy2D(dst, dstPitch, src, srcPitch, widthbytes, height, cudaMemcpyDeviceToHost), NCV_CUDA_ERROR);
}
ncvStat = NCV_SUCCESS;
break;
default:
ncvStat = NCV_MEM_RESIDENCE_ERROR;
}
break;
case NCVMemoryTypeDevice:
switch (srcType)
{
case NCVMemoryTypeHostPageable:
case NCVMemoryTypeHostPinned:
if (cuStream != 0)
{
ncvAssertCUDAReturn(cudaMemcpy2DAsync(dst, dstPitch, src, srcPitch, widthbytes, height, cudaMemcpyHostToDevice, cuStream), NCV_CUDA_ERROR);
}
else
{
ncvAssertCUDAReturn(cudaMemcpy2D(dst, dstPitch, src, srcPitch, widthbytes, height, cudaMemcpyHostToDevice), NCV_CUDA_ERROR);
}
ncvStat = NCV_SUCCESS;
break;
case NCVMemoryTypeDevice:
if (cuStream != 0)
{
ncvAssertCUDAReturn(cudaMemcpy2DAsync(dst, dstPitch, src, srcPitch, widthbytes, height, cudaMemcpyDeviceToDevice, cuStream), NCV_CUDA_ERROR);
}
else
{
ncvAssertCUDAReturn(cudaMemcpy2D(dst, dstPitch, src, srcPitch, widthbytes, height, cudaMemcpyDeviceToDevice), NCV_CUDA_ERROR);
}
ncvStat = NCV_SUCCESS;
break;
default:
ncvStat = NCV_MEM_RESIDENCE_ERROR;
}
break;
default:
ncvStat = NCV_MEM_RESIDENCE_ERROR;
}
return ncvStat;
}
//===================================================================
//
// NCVMemStackAllocator class members implementation
//
//===================================================================
NCVMemStackAllocator::NCVMemStackAllocator(Ncv32u alignment_) :
_memType(NCVMemoryTypeNone),
_alignment(alignment_),
allocBegin(NULL),
begin(NULL),
end(NULL),
currentSize(0),
_maxSize(0),
bReusesMemory(false)
{
NcvBool bProperAlignment = (alignment_ & (alignment_ - 1)) == 0;
ncvAssertPrintCheck(bProperAlignment, "NCVMemStackAllocator ctor:: alignment not power of 2");
}
NCVMemStackAllocator::NCVMemStackAllocator(NCVMemoryType memT, size_t capacity, Ncv32u alignment_, void *reusePtr) :
_memType(memT),
_alignment(alignment_),
allocBegin(NULL),
currentSize(0),
_maxSize(0)
{
NcvBool bProperAlignment = (alignment_ & (alignment_ - 1)) == 0;
ncvAssertPrintCheck(bProperAlignment, "NCVMemStackAllocator ctor:: _alignment not power of 2");
ncvAssertPrintCheck(memT != NCVMemoryTypeNone, "NCVMemStackAllocator ctor:: Incorrect allocator type");
allocBegin = NULL;
if (reusePtr == NULL && capacity != 0)
{
bReusesMemory = false;
switch (memT)
{
case NCVMemoryTypeDevice:
ncvAssertCUDAReturn(cudaMalloc(&allocBegin, capacity), );
break;
case NCVMemoryTypeHostPinned:
ncvAssertCUDAReturn(cudaMallocHost(&allocBegin, capacity), );
break;
case NCVMemoryTypeHostPageable:
allocBegin = (Ncv8u *)malloc(capacity);
break;
default:;
}
}
else
{
bReusesMemory = true;
allocBegin = (Ncv8u *)reusePtr;
}
if (capacity == 0)
{
allocBegin = (Ncv8u *)(0x1);
}
if (!isCounting())
{
begin = allocBegin;
end = begin + capacity;
}
}
NCVMemStackAllocator::~NCVMemStackAllocator()
{
if (allocBegin != NULL)
{
ncvAssertPrintCheck(currentSize == 0, "NCVMemStackAllocator dtor:: not all objects were deallocated properly, forcing destruction");
if (!bReusesMemory && (allocBegin != (Ncv8u *)(0x1)))
{
switch (_memType)
{
case NCVMemoryTypeDevice:
ncvAssertCUDAReturn(cudaFree(allocBegin), );
break;
case NCVMemoryTypeHostPinned:
ncvAssertCUDAReturn(cudaFreeHost(allocBegin), );
break;
case NCVMemoryTypeHostPageable:
free(allocBegin);
break;
default:;
}
}
allocBegin = NULL;
}
}
NCVStatus NCVMemStackAllocator::alloc(NCVMemSegment &seg, size_t size)
{
seg.clear();
ncvAssertReturn(isInitialized(), NCV_ALLOCATOR_BAD_ALLOC);
size = alignUp(static_cast<Ncv32u>(size), this->_alignment);
this->currentSize += size;
this->_maxSize = std::max(this->_maxSize, this->currentSize);
if (!isCounting())
{
size_t availSize = end - begin;
ncvAssertReturn(size <= availSize, NCV_ALLOCATOR_INSUFFICIENT_CAPACITY);
}
seg.begin.ptr = begin;
seg.begin.memtype = this->_memType;
seg.size = size;
begin += size;
return NCV_SUCCESS;
}
NCVStatus NCVMemStackAllocator::dealloc(NCVMemSegment &seg)
{
ncvAssertReturn(isInitialized(), NCV_ALLOCATOR_BAD_ALLOC);
ncvAssertReturn(seg.begin.memtype == this->_memType, NCV_ALLOCATOR_BAD_DEALLOC);
ncvAssertReturn(seg.begin.ptr != NULL || isCounting(), NCV_ALLOCATOR_BAD_DEALLOC);
ncvAssertReturn(seg.begin.ptr == begin - seg.size, NCV_ALLOCATOR_DEALLOC_ORDER);
currentSize -= seg.size;
begin -= seg.size;
seg.clear();
ncvAssertReturn(allocBegin <= begin, NCV_ALLOCATOR_BAD_DEALLOC);
return NCV_SUCCESS;
}
NcvBool NCVMemStackAllocator::isInitialized(void) const
{
return (((this->_alignment & (this->_alignment-1)) == 0) && isCounting()) || this->allocBegin != NULL;
}
NcvBool NCVMemStackAllocator::isCounting(void) const
{
return this->_memType == NCVMemoryTypeNone;
}
NCVMemoryType NCVMemStackAllocator::memType(void) const
{
return this->_memType;
}
Ncv32u NCVMemStackAllocator::alignment(void) const
{
return this->_alignment;
}
size_t NCVMemStackAllocator::maxSize(void) const
{
return this->_maxSize;
}
//===================================================================
//
// NCVMemNativeAllocator class members implementation
//
//===================================================================
NCVMemNativeAllocator::NCVMemNativeAllocator(NCVMemoryType memT, Ncv32u alignment_) :
_memType(memT),
_alignment(alignment_),
currentSize(0),
_maxSize(0)
{
ncvAssertPrintReturn(memT != NCVMemoryTypeNone, "NCVMemNativeAllocator ctor:: counting not permitted for this allocator type", );
}
NCVMemNativeAllocator::~NCVMemNativeAllocator()
{
ncvAssertPrintCheck(currentSize == 0, "NCVMemNativeAllocator dtor:: detected memory leak");
}
NCVStatus NCVMemNativeAllocator::alloc(NCVMemSegment &seg, size_t size)
{
seg.clear();
ncvAssertReturn(isInitialized(), NCV_ALLOCATOR_BAD_ALLOC);
switch (this->_memType)
{
case NCVMemoryTypeDevice:
ncvAssertCUDAReturn(cudaMalloc(&seg.begin.ptr, size), NCV_CUDA_ERROR);
break;
case NCVMemoryTypeHostPinned:
ncvAssertCUDAReturn(cudaMallocHost(&seg.begin.ptr, size), NCV_CUDA_ERROR);
break;
case NCVMemoryTypeHostPageable:
seg.begin.ptr = (Ncv8u *)malloc(size);
break;
default:;
}
this->currentSize += alignUp(static_cast<Ncv32u>(size), this->_alignment);
this->_maxSize = std::max(this->_maxSize, this->currentSize);
seg.begin.memtype = this->_memType;
seg.size = size;
return NCV_SUCCESS;
}
NCVStatus NCVMemNativeAllocator::dealloc(NCVMemSegment &seg)
{
ncvAssertReturn(isInitialized(), NCV_ALLOCATOR_BAD_ALLOC);
ncvAssertReturn(seg.begin.memtype == this->_memType, NCV_ALLOCATOR_BAD_DEALLOC);
ncvAssertReturn(seg.begin.ptr != NULL, NCV_ALLOCATOR_BAD_DEALLOC);
ncvAssertReturn(currentSize >= alignUp(static_cast<Ncv32u>(seg.size), this->_alignment), NCV_ALLOCATOR_BAD_DEALLOC);
currentSize -= alignUp(static_cast<Ncv32u>(seg.size), this->_alignment);
switch (this->_memType)
{
case NCVMemoryTypeDevice:
ncvAssertCUDAReturn(cudaFree(seg.begin.ptr), NCV_CUDA_ERROR);
break;
case NCVMemoryTypeHostPinned:
ncvAssertCUDAReturn(cudaFreeHost(seg.begin.ptr), NCV_CUDA_ERROR);
break;
case NCVMemoryTypeHostPageable:
free(seg.begin.ptr);
break;
default:;
}
seg.clear();
return NCV_SUCCESS;
}
NcvBool NCVMemNativeAllocator::isInitialized(void) const
{
return (this->_alignment != 0);
}
NcvBool NCVMemNativeAllocator::isCounting(void) const
{
return false;
}
NCVMemoryType NCVMemNativeAllocator::memType(void) const
{
return this->_memType;
}
Ncv32u NCVMemNativeAllocator::alignment(void) const
{
return this->_alignment;
}
size_t NCVMemNativeAllocator::maxSize(void) const
{
return this->_maxSize;
}
//===================================================================
//
// Time and timer routines
//
//===================================================================
typedef struct _NcvTimeMoment NcvTimeMoment;
#if defined(_WIN32) || defined(_WIN64)
#include <Windows.h>
typedef struct _NcvTimeMoment
{
LONGLONG moment, freq;
} NcvTimeMoment;
static void _ncvQueryMoment(NcvTimeMoment *t)
{
QueryPerformanceFrequency((LARGE_INTEGER *)&(t->freq));
QueryPerformanceCounter((LARGE_INTEGER *)&(t->moment));
}
double _ncvMomentToMicroseconds(NcvTimeMoment *t)
{
return 1000000.0 * t->moment / t->freq;
}
double _ncvMomentsDiffToMicroseconds(NcvTimeMoment *t1, NcvTimeMoment *t2)
{
return 1000000.0 * 2 * ((t2->moment) - (t1->moment)) / (t1->freq + t2->freq);
}
double _ncvMomentsDiffToMilliseconds(NcvTimeMoment *t1, NcvTimeMoment *t2)
{
return 1000.0 * 2 * ((t2->moment) - (t1->moment)) / (t1->freq + t2->freq);
}
#elif defined(__GNUC__)
#include <sys/time.h>
typedef struct _NcvTimeMoment
{
struct timeval tv;
struct timezone tz;
} NcvTimeMoment;
void _ncvQueryMoment(NcvTimeMoment *t)
{
gettimeofday(& t->tv, & t->tz);
}
double _ncvMomentToMicroseconds(NcvTimeMoment *t)
{
return 1000000.0 * t->tv.tv_sec + (double)t->tv.tv_usec;
}
double _ncvMomentsDiffToMicroseconds(NcvTimeMoment *t1, NcvTimeMoment *t2)
{
return (((double)t2->tv.tv_sec - (double)t1->tv.tv_sec) * 1000000 + (double)t2->tv.tv_usec - (double)t1->tv.tv_usec);
}
double _ncvMomentsDiffToMilliseconds(NcvTimeMoment *t1, NcvTimeMoment *t2)
{
return ((double)t2->tv.tv_sec - (double)t1->tv.tv_sec) * 1000;
}
#endif //#if defined(_WIN32) || defined(_WIN64)
struct _NcvTimer
{
NcvTimeMoment t1, t2;
};
NcvTimer ncvStartTimer(void)
{
struct _NcvTimer *t;
t = (struct _NcvTimer *)malloc(sizeof(struct _NcvTimer));
_ncvQueryMoment(&t->t1);
return t;
}
double ncvEndQueryTimerUs(NcvTimer t)
{
double res;
_ncvQueryMoment(&t->t2);
res = _ncvMomentsDiffToMicroseconds(&t->t1, &t->t2);
free(t);
return res;
}
double ncvEndQueryTimerMs(NcvTimer t)
{
double res;
_ncvQueryMoment(&t->t2);
res = _ncvMomentsDiffToMilliseconds(&t->t1, &t->t2);
free(t);
return res;
}
//===================================================================
//
// Operations with rectangles
//
//===================================================================
struct RectConvert
{
cv::Rect operator()(const NcvRect32u& nr) const { return cv::Rect(nr.x, nr.y, nr.width, nr.height); }
NcvRect32u operator()(const cv::Rect& nr) const
{
NcvRect32u rect;
rect.x = nr.x;
rect.y = nr.y;
rect.width = nr.width;
rect.height = nr.height;
return rect;
}
};
static void groupRectangles(std::vector<NcvRect32u> &hypotheses, int groupThreshold, double eps, std::vector<Ncv32u> *weights)
{
#ifndef HAVE_OPENCV_OBJDETECT
(void) hypotheses;
(void) groupThreshold;
(void) eps;
(void) weights;
CV_Error(cv::Error::StsNotImplemented, "This functionality requires objdetect module");
#else
std::vector<cv::Rect> rects(hypotheses.size());
std::transform(hypotheses.begin(), hypotheses.end(), rects.begin(), RectConvert());
if (weights)
{
std::vector<int> weights_int;
weights_int.assign(weights->begin(), weights->end());
cv::groupRectangles(rects, weights_int, groupThreshold, eps);
}
else
{
cv::groupRectangles(rects, groupThreshold, eps);
}
std::transform(rects.begin(), rects.end(), hypotheses.begin(), RectConvert());
hypotheses.resize(rects.size());
#endif
}
NCVStatus ncvGroupRectangles_host(NCVVector<NcvRect32u> &hypotheses,
Ncv32u &numHypotheses,
Ncv32u minNeighbors,
Ncv32f intersectEps,
NCVVector<Ncv32u> *hypothesesWeights)
{
ncvAssertReturn(hypotheses.memType() == NCVMemoryTypeHostPageable ||
hypotheses.memType() == NCVMemoryTypeHostPinned, NCV_MEM_RESIDENCE_ERROR);
if (hypothesesWeights != NULL)
{
ncvAssertReturn(hypothesesWeights->memType() == NCVMemoryTypeHostPageable ||
hypothesesWeights->memType() == NCVMemoryTypeHostPinned, NCV_MEM_RESIDENCE_ERROR);
}
if (numHypotheses == 0)
{
return NCV_SUCCESS;
}
std::vector<NcvRect32u> rects(numHypotheses);
memcpy(&rects[0], hypotheses.ptr(), numHypotheses * sizeof(NcvRect32u));
std::vector<Ncv32u> weights;
if (hypothesesWeights != NULL)
{
groupRectangles(rects, minNeighbors, intersectEps, &weights);
}
else
{
groupRectangles(rects, minNeighbors, intersectEps, NULL);
}
numHypotheses = (Ncv32u)rects.size();
if (numHypotheses > 0)
{
memcpy(hypotheses.ptr(), &rects[0], numHypotheses * sizeof(NcvRect32u));
}
if (hypothesesWeights != NULL)
{
memcpy(hypothesesWeights->ptr(), &weights[0], numHypotheses * sizeof(Ncv32u));
}
return NCV_SUCCESS;
}
template <class T>
static NCVStatus drawRectsWrapperHost(T *h_dst,
Ncv32u dstStride,
Ncv32u dstWidth,
Ncv32u dstHeight,
NcvRect32u *h_rects,
Ncv32u numRects,
T color)
{
ncvAssertReturn(h_dst != NULL && h_rects != NULL, NCV_NULL_PTR);
ncvAssertReturn(dstWidth > 0 && dstHeight > 0, NCV_DIMENSIONS_INVALID);
ncvAssertReturn(dstStride >= dstWidth, NCV_INVALID_STEP);
ncvAssertReturn(numRects != 0, NCV_SUCCESS);
ncvAssertReturn(numRects <= dstWidth * dstHeight, NCV_DIMENSIONS_INVALID);
for (Ncv32u i=0; i<numRects; i++)
{
NcvRect32u rect = h_rects[i];
if (rect.x < dstWidth)
{
for (Ncv32u each=rect.y; each<rect.y+rect.height && each<dstHeight; each++)
{
h_dst[each*dstStride+rect.x] = color;
}
}
if (rect.x+rect.width-1 < dstWidth)
{
for (Ncv32u each=rect.y; each<rect.y+rect.height && each<dstHeight; each++)
{
h_dst[each*dstStride+rect.x+rect.width-1] = color;
}
}
if (rect.y < dstHeight)
{
for (Ncv32u j=rect.x; j<rect.x+rect.width && j<dstWidth; j++)
{
h_dst[rect.y*dstStride+j] = color;
}
}
if (rect.y + rect.height - 1 < dstHeight)
{
for (Ncv32u j=rect.x; j<rect.x+rect.width && j<dstWidth; j++)
{
h_dst[(rect.y+rect.height-1)*dstStride+j] = color;
}
}
}
return NCV_SUCCESS;
}
NCVStatus ncvDrawRects_8u_host(Ncv8u *h_dst,
Ncv32u dstStride,
Ncv32u dstWidth,
Ncv32u dstHeight,
NcvRect32u *h_rects,
Ncv32u numRects,
Ncv8u color)
{
return drawRectsWrapperHost(h_dst, dstStride, dstWidth, dstHeight, h_rects, numRects, color);
}
NCVStatus ncvDrawRects_32u_host(Ncv32u *h_dst,
Ncv32u dstStride,
Ncv32u dstWidth,
Ncv32u dstHeight,
NcvRect32u *h_rects,
Ncv32u numRects,
Ncv32u color)
{
return drawRectsWrapperHost(h_dst, dstStride, dstWidth, dstHeight, h_rects, numRects, color);
}

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/*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*/
#include <iostream>
#include <vector>
#include "opencv2/gpulegacy/NCV.hpp"
//===================================================================
//
// Operations with rectangles
//
//===================================================================
const Ncv32u NUMTHREADS_DRAWRECTS = 32;
const Ncv32u NUMTHREADS_DRAWRECTS_LOG2 = 5;
template <class T>
__global__ void drawRects(T *d_dst,
Ncv32u dstStride,
Ncv32u dstWidth,
Ncv32u dstHeight,
NcvRect32u *d_rects,
Ncv32u numRects,
T color)
{
Ncv32u blockId = blockIdx.y * 65535 + blockIdx.x;
if (blockId > numRects * 4)
{
return;
}
NcvRect32u curRect = d_rects[blockId >> 2];
NcvBool bVertical = blockId & 0x1;
NcvBool bTopLeft = blockId & 0x2;
Ncv32u pt0x, pt0y;
if (bVertical)
{
Ncv32u numChunks = (curRect.height + NUMTHREADS_DRAWRECTS - 1) >> NUMTHREADS_DRAWRECTS_LOG2;
pt0x = bTopLeft ? curRect.x : curRect.x + curRect.width - 1;
pt0y = curRect.y;
if (pt0x < dstWidth)
{
for (Ncv32u chunkId = 0; chunkId < numChunks; chunkId++)
{
Ncv32u ptY = pt0y + chunkId * NUMTHREADS_DRAWRECTS + threadIdx.x;
if (ptY < pt0y + curRect.height && ptY < dstHeight)
{
d_dst[ptY * dstStride + pt0x] = color;
}
}
}
}
else
{
Ncv32u numChunks = (curRect.width + NUMTHREADS_DRAWRECTS - 1) >> NUMTHREADS_DRAWRECTS_LOG2;
pt0x = curRect.x;
pt0y = bTopLeft ? curRect.y : curRect.y + curRect.height - 1;
if (pt0y < dstHeight)
{
for (Ncv32u chunkId = 0; chunkId < numChunks; chunkId++)
{
Ncv32u ptX = pt0x + chunkId * NUMTHREADS_DRAWRECTS + threadIdx.x;
if (ptX < pt0x + curRect.width && ptX < dstWidth)
{
d_dst[pt0y * dstStride + ptX] = color;
}
}
}
}
}
template <class T>
static NCVStatus drawRectsWrapperDevice(T *d_dst,
Ncv32u dstStride,
Ncv32u dstWidth,
Ncv32u dstHeight,
NcvRect32u *d_rects,
Ncv32u numRects,
T color,
cudaStream_t cuStream)
{
(void)cuStream;
ncvAssertReturn(d_dst != NULL && d_rects != NULL, NCV_NULL_PTR);
ncvAssertReturn(dstWidth > 0 && dstHeight > 0, NCV_DIMENSIONS_INVALID);
ncvAssertReturn(dstStride >= dstWidth, NCV_INVALID_STEP);
ncvAssertReturn(numRects <= dstWidth * dstHeight, NCV_DIMENSIONS_INVALID);
if (numRects == 0)
{
return NCV_SUCCESS;
}
dim3 grid(numRects * 4);
dim3 block(NUMTHREADS_DRAWRECTS);
if (grid.x > 65535)
{
grid.y = (grid.x + 65534) / 65535;
grid.x = 65535;
}
drawRects<T><<<grid, block>>>(d_dst, dstStride, dstWidth, dstHeight, d_rects, numRects, color);
ncvAssertCUDALastErrorReturn(NCV_CUDA_ERROR);
return NCV_SUCCESS;
}
NCVStatus ncvDrawRects_8u_device(Ncv8u *d_dst,
Ncv32u dstStride,
Ncv32u dstWidth,
Ncv32u dstHeight,
NcvRect32u *d_rects,
Ncv32u numRects,
Ncv8u color,
cudaStream_t cuStream)
{
return drawRectsWrapperDevice(d_dst, dstStride, dstWidth, dstHeight, d_rects, numRects, color, cuStream);
}
NCVStatus ncvDrawRects_32u_device(Ncv32u *d_dst,
Ncv32u dstStride,
Ncv32u dstWidth,
Ncv32u dstHeight,
NcvRect32u *d_rects,
Ncv32u numRects,
Ncv32u color,
cudaStream_t cuStream)
{
return drawRectsWrapperDevice(d_dst, dstStride, dstWidth, dstHeight, d_rects, numRects, color, cuStream);
}

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/*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*/
#ifndef _ncv_alg_hpp_
#define _ncv_alg_hpp_
#include "opencv2/gpulegacy/NCV.hpp"
template <class T>
static void swap(T &p1, T &p2)
{
T tmp = p1;
p1 = p2;
p2 = tmp;
}
template<typename T>
static T divUp(T a, T b)
{
return (a + b - 1) / b;
}
template<typename T>
struct functorAddValues
{
static __device__ __inline__ void assign(volatile T *dst, volatile T *src)
{
//Works only for integral types. If you see compiler error here, then you have to specify how to copy your object as a set of integral fields.
*dst = *src;
}
static __device__ __inline__ void reduce(volatile T &in1out, const volatile T &in2)
{
in1out += in2;
}
};
template<typename T>
struct functorMinValues
{
static __device__ __inline__ void assign(volatile T *dst, volatile T *src)
{
//Works only for integral types. If you see compiler error here, then you have to specify how to copy your object as a set of integral fields.
*dst = *src;
}
static __device__ __inline__ void reduce(volatile T &in1out, const volatile T &in2)
{
in1out = in1out > in2 ? in2 : in1out;
}
};
template<typename T>
struct functorMaxValues
{
static __device__ __inline__ void assign(volatile T *dst, volatile T *src)
{
//Works only for integral types. If you see compiler error here, then you have to specify how to copy your object as a set of integral fields.
*dst = *src;
}
static __device__ __inline__ void reduce(volatile T &in1out, const volatile T &in2)
{
in1out = in1out > in2 ? in1out : in2;
}
};
template<typename Tdata, class Tfunc, Ncv32u nThreads>
static __device__ Tdata subReduce(Tdata threadElem)
{
Tfunc functor;
__shared__ Tdata _reduceArr[nThreads];
volatile Tdata *reduceArr = _reduceArr;
functor.assign(reduceArr + threadIdx.x, &threadElem);
__syncthreads();
if (nThreads >= 256 && threadIdx.x < 128)
{
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 128]);
}
__syncthreads();
if (nThreads >= 128 && threadIdx.x < 64)
{
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 64]);
}
__syncthreads();
if (threadIdx.x < 32)
{
if (nThreads >= 64)
{
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 32]);
}
if (nThreads >= 32 && threadIdx.x < 16)
{
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 16]);
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 8]);
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 4]);
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 2]);
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 1]);
}
}
__syncthreads();
Tdata reduceRes;
functor.assign(&reduceRes, reduceArr);
return reduceRes;
}
#endif //_ncv_alg_hpp_

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/*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*/
// this file does not contain any used code.
#ifndef _ncv_color_conversion_hpp_
#define _ncv_color_conversion_hpp_
#include "NCVPixelOperations.hpp"
#if 0
enum NCVColorSpace
{
NCVColorSpaceGray,
NCVColorSpaceRGBA,
};
template<NCVColorSpace CSin, NCVColorSpace CSout, typename Tin, typename Tout> struct __pixColorConv {
static void _pixColorConv(const Tin &pixIn, Tout &pixOut);
};
template<typename Tin, typename Tout> struct __pixColorConv<NCVColorSpaceRGBA, NCVColorSpaceGray, Tin, Tout> {
static void _pixColorConv(const Tin &pixIn, Tout &pixOut)
{
Ncv32f luma = 0.299f * pixIn.x + 0.587f * pixIn.y + 0.114f * pixIn.z;
_TDemoteClampNN(luma, pixOut.x);
}};
template<typename Tin, typename Tout> struct __pixColorConv<NCVColorSpaceGray, NCVColorSpaceRGBA, Tin, Tout> {
static void _pixColorConv(const Tin &pixIn, Tout &pixOut)
{
_TDemoteClampNN(pixIn.x, pixOut.x);
_TDemoteClampNN(pixIn.x, pixOut.y);
_TDemoteClampNN(pixIn.x, pixOut.z);
pixOut.w = 0;
}};
template<NCVColorSpace CSin, NCVColorSpace CSout, typename Tin, typename Tout>
static NCVStatus _ncvColorConv_host(const NCVMatrix<Tin> &h_imgIn,
const NCVMatrix<Tout> &h_imgOut)
{
ncvAssertReturn(h_imgIn.size() == h_imgOut.size(), NCV_DIMENSIONS_INVALID);
ncvAssertReturn(h_imgIn.memType() == h_imgOut.memType() &&
(h_imgIn.memType() == NCVMemoryTypeHostPinned || h_imgIn.memType() == NCVMemoryTypeNone), NCV_MEM_RESIDENCE_ERROR);
NCV_SET_SKIP_COND(h_imgIn.memType() == NCVMemoryTypeNone);
NCV_SKIP_COND_BEGIN
for (Ncv32u i=0; i<h_imgIn.height(); i++)
{
for (Ncv32u j=0; j<h_imgIn.width(); j++)
{
__pixColorConv<CSin, CSout, Tin, Tout>::_pixColorConv(h_imgIn.at(j,i), h_imgOut.at(j,i));
}
}
NCV_SKIP_COND_END
return NCV_SUCCESS;
}
#endif
#endif //_ncv_color_conversion_hpp_

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/*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*/
#ifndef _ncv_pixel_operations_hpp_
#define _ncv_pixel_operations_hpp_
#include <limits.h>
#include <float.h>
#include "opencv2/gpulegacy/NCV.hpp"
template<typename TBase> inline __host__ __device__ TBase _pixMaxVal();
template<> static inline __host__ __device__ Ncv8u _pixMaxVal<Ncv8u>() {return UCHAR_MAX;}
template<> static inline __host__ __device__ Ncv16u _pixMaxVal<Ncv16u>() {return USHRT_MAX;}
template<> static inline __host__ __device__ Ncv32u _pixMaxVal<Ncv32u>() {return UINT_MAX;}
template<> static inline __host__ __device__ Ncv8s _pixMaxVal<Ncv8s>() {return CHAR_MAX;}
template<> static inline __host__ __device__ Ncv16s _pixMaxVal<Ncv16s>() {return SHRT_MAX;}
template<> static inline __host__ __device__ Ncv32s _pixMaxVal<Ncv32s>() {return INT_MAX;}
template<> static inline __host__ __device__ Ncv32f _pixMaxVal<Ncv32f>() {return FLT_MAX;}
template<> static inline __host__ __device__ Ncv64f _pixMaxVal<Ncv64f>() {return DBL_MAX;}
template<typename TBase> inline __host__ __device__ TBase _pixMinVal();
template<> static inline __host__ __device__ Ncv8u _pixMinVal<Ncv8u>() {return 0;}
template<> static inline __host__ __device__ Ncv16u _pixMinVal<Ncv16u>() {return 0;}
template<> static inline __host__ __device__ Ncv32u _pixMinVal<Ncv32u>() {return 0;}
template<> static inline __host__ __device__ Ncv8s _pixMinVal<Ncv8s>() {return CHAR_MIN;}
template<> static inline __host__ __device__ Ncv16s _pixMinVal<Ncv16s>() {return SHRT_MIN;}
template<> static inline __host__ __device__ Ncv32s _pixMinVal<Ncv32s>() {return INT_MIN;}
template<> static inline __host__ __device__ Ncv32f _pixMinVal<Ncv32f>() {return FLT_MIN;}
template<> static inline __host__ __device__ Ncv64f _pixMinVal<Ncv64f>() {return DBL_MIN;}
template<typename Tvec> struct TConvVec2Base;
template<> struct TConvVec2Base<uchar1> {typedef Ncv8u TBase;};
template<> struct TConvVec2Base<uchar3> {typedef Ncv8u TBase;};
template<> struct TConvVec2Base<uchar4> {typedef Ncv8u TBase;};
template<> struct TConvVec2Base<ushort1> {typedef Ncv16u TBase;};
template<> struct TConvVec2Base<ushort3> {typedef Ncv16u TBase;};
template<> struct TConvVec2Base<ushort4> {typedef Ncv16u TBase;};
template<> struct TConvVec2Base<uint1> {typedef Ncv32u TBase;};
template<> struct TConvVec2Base<uint3> {typedef Ncv32u TBase;};
template<> struct TConvVec2Base<uint4> {typedef Ncv32u TBase;};
template<> struct TConvVec2Base<float1> {typedef Ncv32f TBase;};
template<> struct TConvVec2Base<float3> {typedef Ncv32f TBase;};
template<> struct TConvVec2Base<float4> {typedef Ncv32f TBase;};
template<> struct TConvVec2Base<double1> {typedef Ncv64f TBase;};
template<> struct TConvVec2Base<double3> {typedef Ncv64f TBase;};
template<> struct TConvVec2Base<double4> {typedef Ncv64f TBase;};
#define NC(T) (sizeof(T) / sizeof(TConvVec2Base<T>::TBase))
template<typename TBase, Ncv32u NC> struct TConvBase2Vec;
template<> struct TConvBase2Vec<Ncv8u, 1> {typedef uchar1 TVec;};
template<> struct TConvBase2Vec<Ncv8u, 3> {typedef uchar3 TVec;};
template<> struct TConvBase2Vec<Ncv8u, 4> {typedef uchar4 TVec;};
template<> struct TConvBase2Vec<Ncv16u, 1> {typedef ushort1 TVec;};
template<> struct TConvBase2Vec<Ncv16u, 3> {typedef ushort3 TVec;};
template<> struct TConvBase2Vec<Ncv16u, 4> {typedef ushort4 TVec;};
template<> struct TConvBase2Vec<Ncv32u, 1> {typedef uint1 TVec;};
template<> struct TConvBase2Vec<Ncv32u, 3> {typedef uint3 TVec;};
template<> struct TConvBase2Vec<Ncv32u, 4> {typedef uint4 TVec;};
template<> struct TConvBase2Vec<Ncv32f, 1> {typedef float1 TVec;};
template<> struct TConvBase2Vec<Ncv32f, 3> {typedef float3 TVec;};
template<> struct TConvBase2Vec<Ncv32f, 4> {typedef float4 TVec;};
template<> struct TConvBase2Vec<Ncv64f, 1> {typedef double1 TVec;};
template<> struct TConvBase2Vec<Ncv64f, 3> {typedef double3 TVec;};
template<> struct TConvBase2Vec<Ncv64f, 4> {typedef double4 TVec;};
//TODO: consider using CUDA intrinsics to avoid branching
template<typename Tin> static inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv8u &out) {out = (Ncv8u)CLAMP_0_255(a);};
template<typename Tin> static inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv16u &out) {out = (Ncv16u)CLAMP(a, 0, USHRT_MAX);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv32u &out) {out = (Ncv32u)CLAMP(a, 0, UINT_MAX);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv32f &out) {out = (Ncv32f)a;}
//TODO: consider using CUDA intrinsics to avoid branching
template<typename Tin> static inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv8u &out) {out = (Ncv8u)CLAMP_0_255(a+0.5f);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv16u &out) {out = (Ncv16u)CLAMP(a+0.5f, 0, USHRT_MAX);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv32u &out) {out = (Ncv32u)CLAMP(a+0.5f, 0, UINT_MAX);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv32f &out) {out = (Ncv32f)a;}
template<typename Tout> inline Tout _pixMakeZero();
template<> static inline __host__ __device__ uchar1 _pixMakeZero<uchar1>() {return make_uchar1(0);}
template<> static inline __host__ __device__ uchar3 _pixMakeZero<uchar3>() {return make_uchar3(0,0,0);}
template<> static inline __host__ __device__ uchar4 _pixMakeZero<uchar4>() {return make_uchar4(0,0,0,0);}
template<> static inline __host__ __device__ ushort1 _pixMakeZero<ushort1>() {return make_ushort1(0);}
template<> static inline __host__ __device__ ushort3 _pixMakeZero<ushort3>() {return make_ushort3(0,0,0);}
template<> static inline __host__ __device__ ushort4 _pixMakeZero<ushort4>() {return make_ushort4(0,0,0,0);}
template<> static inline __host__ __device__ uint1 _pixMakeZero<uint1>() {return make_uint1(0);}
template<> static inline __host__ __device__ uint3 _pixMakeZero<uint3>() {return make_uint3(0,0,0);}
template<> static inline __host__ __device__ uint4 _pixMakeZero<uint4>() {return make_uint4(0,0,0,0);}
template<> static inline __host__ __device__ float1 _pixMakeZero<float1>() {return make_float1(0.f);}
template<> static inline __host__ __device__ float3 _pixMakeZero<float3>() {return make_float3(0.f,0.f,0.f);}
template<> static inline __host__ __device__ float4 _pixMakeZero<float4>() {return make_float4(0.f,0.f,0.f,0.f);}
template<> static inline __host__ __device__ double1 _pixMakeZero<double1>() {return make_double1(0.);}
template<> static inline __host__ __device__ double3 _pixMakeZero<double3>() {return make_double3(0.,0.,0.);}
template<> static inline __host__ __device__ double4 _pixMakeZero<double4>() {return make_double4(0.,0.,0.,0.);}
static inline __host__ __device__ uchar1 _pixMake(Ncv8u x) {return make_uchar1(x);}
static inline __host__ __device__ uchar3 _pixMake(Ncv8u x, Ncv8u y, Ncv8u z) {return make_uchar3(x,y,z);}
static inline __host__ __device__ uchar4 _pixMake(Ncv8u x, Ncv8u y, Ncv8u z, Ncv8u w) {return make_uchar4(x,y,z,w);}
static inline __host__ __device__ ushort1 _pixMake(Ncv16u x) {return make_ushort1(x);}
static inline __host__ __device__ ushort3 _pixMake(Ncv16u x, Ncv16u y, Ncv16u z) {return make_ushort3(x,y,z);}
static inline __host__ __device__ ushort4 _pixMake(Ncv16u x, Ncv16u y, Ncv16u z, Ncv16u w) {return make_ushort4(x,y,z,w);}
static inline __host__ __device__ uint1 _pixMake(Ncv32u x) {return make_uint1(x);}
static inline __host__ __device__ uint3 _pixMake(Ncv32u x, Ncv32u y, Ncv32u z) {return make_uint3(x,y,z);}
static inline __host__ __device__ uint4 _pixMake(Ncv32u x, Ncv32u y, Ncv32u z, Ncv32u w) {return make_uint4(x,y,z,w);}
static inline __host__ __device__ float1 _pixMake(Ncv32f x) {return make_float1(x);}
static inline __host__ __device__ float3 _pixMake(Ncv32f x, Ncv32f y, Ncv32f z) {return make_float3(x,y,z);}
static inline __host__ __device__ float4 _pixMake(Ncv32f x, Ncv32f y, Ncv32f z, Ncv32f w) {return make_float4(x,y,z,w);}
static inline __host__ __device__ double1 _pixMake(Ncv64f x) {return make_double1(x);}
static inline __host__ __device__ double3 _pixMake(Ncv64f x, Ncv64f y, Ncv64f z) {return make_double3(x,y,z);}
static inline __host__ __device__ double4 _pixMake(Ncv64f x, Ncv64f y, Ncv64f z, Ncv64f w) {return make_double4(x,y,z,w);}
template<typename Tin, typename Tout, Ncv32u CN> struct __pixDemoteClampZ_CN {static __host__ __device__ Tout _pixDemoteClampZ_CN(Tin &pix);};
template<typename Tin, typename Tout> struct __pixDemoteClampZ_CN<Tin, Tout, 1> {
static __host__ __device__ Tout _pixDemoteClampZ_CN(Tin &pix)
{
Tout out;
_TDemoteClampZ(pix.x, out.x);
return out;
}};
template<typename Tin, typename Tout> struct __pixDemoteClampZ_CN<Tin, Tout, 3> {
static __host__ __device__ Tout _pixDemoteClampZ_CN(Tin &pix)
{
Tout out;
_TDemoteClampZ(pix.x, out.x);
_TDemoteClampZ(pix.y, out.y);
_TDemoteClampZ(pix.z, out.z);
return out;
}};
template<typename Tin, typename Tout> struct __pixDemoteClampZ_CN<Tin, Tout, 4> {
static __host__ __device__ Tout _pixDemoteClampZ_CN(Tin &pix)
{
Tout out;
_TDemoteClampZ(pix.x, out.x);
_TDemoteClampZ(pix.y, out.y);
_TDemoteClampZ(pix.z, out.z);
_TDemoteClampZ(pix.w, out.w);
return out;
}};
template<typename Tin, typename Tout> static inline __host__ __device__ Tout _pixDemoteClampZ(Tin &pix)
{
return __pixDemoteClampZ_CN<Tin, Tout, NC(Tin)>::_pixDemoteClampZ_CN(pix);
}
template<typename Tin, typename Tout, Ncv32u CN> struct __pixDemoteClampNN_CN {static __host__ __device__ Tout _pixDemoteClampNN_CN(Tin &pix);};
template<typename Tin, typename Tout> struct __pixDemoteClampNN_CN<Tin, Tout, 1> {
static __host__ __device__ Tout _pixDemoteClampNN_CN(Tin &pix)
{
Tout out;
_TDemoteClampNN(pix.x, out.x);
return out;
}};
template<typename Tin, typename Tout> struct __pixDemoteClampNN_CN<Tin, Tout, 3> {
static __host__ __device__ Tout _pixDemoteClampNN_CN(Tin &pix)
{
Tout out;
_TDemoteClampNN(pix.x, out.x);
_TDemoteClampNN(pix.y, out.y);
_TDemoteClampNN(pix.z, out.z);
return out;
}};
template<typename Tin, typename Tout> struct __pixDemoteClampNN_CN<Tin, Tout, 4> {
static __host__ __device__ Tout _pixDemoteClampNN_CN(Tin &pix)
{
Tout out;
_TDemoteClampNN(pix.x, out.x);
_TDemoteClampNN(pix.y, out.y);
_TDemoteClampNN(pix.z, out.z);
_TDemoteClampNN(pix.w, out.w);
return out;
}};
template<typename Tin, typename Tout> static inline __host__ __device__ Tout _pixDemoteClampNN(Tin &pix)
{
return __pixDemoteClampNN_CN<Tin, Tout, NC(Tin)>::_pixDemoteClampNN_CN(pix);
}
template<typename Tin, typename Tout, typename Tw, Ncv32u CN> struct __pixScale_CN {static __host__ __device__ Tout _pixScale_CN(Tin &pix, Tw w);};
template<typename Tin, typename Tout, typename Tw> struct __pixScale_CN<Tin, Tout, Tw, 1> {
static __host__ __device__ Tout _pixScale_CN(Tin &pix, Tw w)
{
Tout out;
typedef typename TConvVec2Base<Tout>::TBase TBout;
out.x = (TBout)(pix.x * w);
return out;
}};
template<typename Tin, typename Tout, typename Tw> struct __pixScale_CN<Tin, Tout, Tw, 3> {
static __host__ __device__ Tout _pixScale_CN(Tin &pix, Tw w)
{
Tout out;
typedef typename TConvVec2Base<Tout>::TBase TBout;
out.x = (TBout)(pix.x * w);
out.y = (TBout)(pix.y * w);
out.z = (TBout)(pix.z * w);
return out;
}};
template<typename Tin, typename Tout, typename Tw> struct __pixScale_CN<Tin, Tout, Tw, 4> {
static __host__ __device__ Tout _pixScale_CN(Tin &pix, Tw w)
{
Tout out;
typedef typename TConvVec2Base<Tout>::TBase TBout;
out.x = (TBout)(pix.x * w);
out.y = (TBout)(pix.y * w);
out.z = (TBout)(pix.z * w);
out.w = (TBout)(pix.w * w);
return out;
}};
template<typename Tin, typename Tout, typename Tw> static __host__ __device__ Tout _pixScale(Tin &pix, Tw w)
{
return __pixScale_CN<Tin, Tout, Tw, NC(Tin)>::_pixScale_CN(pix, w);
}
template<typename Tin, typename Tout, Ncv32u CN> struct __pixAdd_CN {static __host__ __device__ Tout _pixAdd_CN(Tout &pix1, Tin &pix2);};
template<typename Tin, typename Tout> struct __pixAdd_CN<Tin, Tout, 1> {
static __host__ __device__ Tout _pixAdd_CN(Tout &pix1, Tin &pix2)
{
Tout out;
out.x = pix1.x + pix2.x;
return out;
}};
template<typename Tin, typename Tout> struct __pixAdd_CN<Tin, Tout, 3> {
static __host__ __device__ Tout _pixAdd_CN(Tout &pix1, Tin &pix2)
{
Tout out;
out.x = pix1.x + pix2.x;
out.y = pix1.y + pix2.y;
out.z = pix1.z + pix2.z;
return out;
}};
template<typename Tin, typename Tout> struct __pixAdd_CN<Tin, Tout, 4> {
static __host__ __device__ Tout _pixAdd_CN(Tout &pix1, Tin &pix2)
{
Tout out;
out.x = pix1.x + pix2.x;
out.y = pix1.y + pix2.y;
out.z = pix1.z + pix2.z;
out.w = pix1.w + pix2.w;
return out;
}};
template<typename Tin, typename Tout> static __host__ __device__ Tout _pixAdd(Tout &pix1, Tin &pix2)
{
return __pixAdd_CN<Tin, Tout, NC(Tin)>::_pixAdd_CN(pix1, pix2);
}
template<typename Tin, typename Tout, Ncv32u CN> struct __pixDist_CN {static __host__ __device__ Tout _pixDist_CN(Tin &pix1, Tin &pix2);};
template<typename Tin, typename Tout> struct __pixDist_CN<Tin, Tout, 1> {
static __host__ __device__ Tout _pixDist_CN(Tin &pix1, Tin &pix2)
{
return Tout(SQR(pix1.x - pix2.x));
}};
template<typename Tin, typename Tout> struct __pixDist_CN<Tin, Tout, 3> {
static __host__ __device__ Tout _pixDist_CN(Tin &pix1, Tin &pix2)
{
return Tout(SQR(pix1.x - pix2.x) + SQR(pix1.y - pix2.y) + SQR(pix1.z - pix2.z));
}};
template<typename Tin, typename Tout> struct __pixDist_CN<Tin, Tout, 4> {
static __host__ __device__ Tout _pixDist_CN(Tin &pix1, Tin &pix2)
{
return Tout(SQR(pix1.x - pix2.x) + SQR(pix1.y - pix2.y) + SQR(pix1.z - pix2.z) + SQR(pix1.w - pix2.w));
}};
template<typename Tin, typename Tout> static __host__ __device__ Tout _pixDist(Tin &pix1, Tin &pix2)
{
return __pixDist_CN<Tin, Tout, NC(Tin)>::_pixDist_CN(pix1, pix2);
}
template <typename T> struct TAccPixWeighted;
template<> struct TAccPixWeighted<uchar1> {typedef double1 type;};
template<> struct TAccPixWeighted<uchar3> {typedef double3 type;};
template<> struct TAccPixWeighted<uchar4> {typedef double4 type;};
template<> struct TAccPixWeighted<ushort1> {typedef double1 type;};
template<> struct TAccPixWeighted<ushort3> {typedef double3 type;};
template<> struct TAccPixWeighted<ushort4> {typedef double4 type;};
template<> struct TAccPixWeighted<float1> {typedef double1 type;};
template<> struct TAccPixWeighted<float3> {typedef double3 type;};
template<> struct TAccPixWeighted<float4> {typedef double4 type;};
template<typename Tfrom> struct TAccPixDist {};
template<> struct TAccPixDist<uchar1> {typedef Ncv32u type;};
template<> struct TAccPixDist<uchar3> {typedef Ncv32u type;};
template<> struct TAccPixDist<uchar4> {typedef Ncv32u type;};
template<> struct TAccPixDist<ushort1> {typedef Ncv32u type;};
template<> struct TAccPixDist<ushort3> {typedef Ncv32u type;};
template<> struct TAccPixDist<ushort4> {typedef Ncv32u type;};
template<> struct TAccPixDist<float1> {typedef Ncv32f type;};
template<> struct TAccPixDist<float3> {typedef Ncv32f type;};
template<> struct TAccPixDist<float4> {typedef Ncv32f type;};
#endif //_ncv_pixel_operations_hpp_

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modules/gpulegacy/src/cuda/NCVPyramid.cu Normal file
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/*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*/
#include <stdio.h>
#include <cuda_runtime.h>
#include "opencv2/core/cuda/common.hpp"
#include "opencv2/gpulegacy/NCV.hpp"
#include "opencv2/gpulegacy/NCVPyramid.hpp"
#include "NCVAlg.hpp"
#include "NCVPixelOperations.hpp"
template<typename T, Ncv32u CN> struct __average4_CN {static __host__ __device__ T _average4_CN(const T &p00, const T &p01, const T &p10, const T &p11);};
template<typename T> struct __average4_CN<T, 1> {
static __host__ __device__ T _average4_CN(const T &p00, const T &p01, const T &p10, const T &p11)
{
T out;
out.x = ((Ncv32s)p00.x + p01.x + p10.x + p11.x + 2) / 4;
return out;
}};
template<> struct __average4_CN<float1, 1> {
static __host__ __device__ float1 _average4_CN(const float1 &p00, const float1 &p01, const float1 &p10, const float1 &p11)
{
float1 out;
out.x = (p00.x + p01.x + p10.x + p11.x) / 4;
return out;
}};
template<> struct __average4_CN<double1, 1> {
static __host__ __device__ double1 _average4_CN(const double1 &p00, const double1 &p01, const double1 &p10, const double1 &p11)
{
double1 out;
out.x = (p00.x + p01.x + p10.x + p11.x) / 4;
return out;
}};
template<typename T> struct __average4_CN<T, 3> {
static __host__ __device__ T _average4_CN(const T &p00, const T &p01, const T &p10, const T &p11)
{
T out;
out.x = ((Ncv32s)p00.x + p01.x + p10.x + p11.x + 2) / 4;
out.y = ((Ncv32s)p00.y + p01.y + p10.y + p11.y + 2) / 4;
out.z = ((Ncv32s)p00.z + p01.z + p10.z + p11.z + 2) / 4;
return out;
}};
template<> struct __average4_CN<float3, 3> {
static __host__ __device__ float3 _average4_CN(const float3 &p00, const float3 &p01, const float3 &p10, const float3 &p11)
{
float3 out;
out.x = (p00.x + p01.x + p10.x + p11.x) / 4;
out.y = (p00.y + p01.y + p10.y + p11.y) / 4;
out.z = (p00.z + p01.z + p10.z + p11.z) / 4;
return out;
}};
template<> struct __average4_CN<double3, 3> {
static __host__ __device__ double3 _average4_CN(const double3 &p00, const double3 &p01, const double3 &p10, const double3 &p11)
{
double3 out;
out.x = (p00.x + p01.x + p10.x + p11.x) / 4;
out.y = (p00.y + p01.y + p10.y + p11.y) / 4;
out.z = (p00.z + p01.z + p10.z + p11.z) / 4;
return out;
}};
template<typename T> struct __average4_CN<T, 4> {
static __host__ __device__ T _average4_CN(const T &p00, const T &p01, const T &p10, const T &p11)
{
T out;
out.x = ((Ncv32s)p00.x + p01.x + p10.x + p11.x + 2) / 4;
out.y = ((Ncv32s)p00.y + p01.y + p10.y + p11.y + 2) / 4;
out.z = ((Ncv32s)p00.z + p01.z + p10.z + p11.z + 2) / 4;
out.w = ((Ncv32s)p00.w + p01.w + p10.w + p11.w + 2) / 4;
return out;
}};
template<> struct __average4_CN<float4, 4> {
static __host__ __device__ float4 _average4_CN(const float4 &p00, const float4 &p01, const float4 &p10, const float4 &p11)
{
float4 out;
out.x = (p00.x + p01.x + p10.x + p11.x) / 4;
out.y = (p00.y + p01.y + p10.y + p11.y) / 4;
out.z = (p00.z + p01.z + p10.z + p11.z) / 4;
out.w = (p00.w + p01.w + p10.w + p11.w) / 4;
return out;
}};
template<> struct __average4_CN<double4, 4> {
static __host__ __device__ double4 _average4_CN(const double4 &p00, const double4 &p01, const double4 &p10, const double4 &p11)
{
double4 out;
out.x = (p00.x + p01.x + p10.x + p11.x) / 4;
out.y = (p00.y + p01.y + p10.y + p11.y) / 4;
out.z = (p00.z + p01.z + p10.z + p11.z) / 4;
out.w = (p00.w + p01.w + p10.w + p11.w) / 4;
return out;
}};
template<typename T> static __host__ __device__ T _average4(const T &p00, const T &p01, const T &p10, const T &p11)
{
return __average4_CN<T, NC(T)>::_average4_CN(p00, p01, p10, p11);
}
template<typename Tin, typename Tout, Ncv32u CN> struct __lerp_CN {static __host__ __device__ Tout _lerp_CN(const Tin &a, const Tin &b, Ncv32f d);};
template<typename Tin, typename Tout> struct __lerp_CN<Tin, Tout, 1> {
static __host__ __device__ Tout _lerp_CN(const Tin &a, const Tin &b, Ncv32f d)
{
typedef typename TConvVec2Base<Tout>::TBase TB;
return _pixMake(TB(b.x * d + a.x * (1 - d)));
}};
template<typename Tin, typename Tout> struct __lerp_CN<Tin, Tout, 3> {
static __host__ __device__ Tout _lerp_CN(const Tin &a, const Tin &b, Ncv32f d)
{
typedef typename TConvVec2Base<Tout>::TBase TB;
return _pixMake(TB(b.x * d + a.x * (1 - d)),
TB(b.y * d + a.y * (1 - d)),
TB(b.z * d + a.z * (1 - d)));
}};
template<typename Tin, typename Tout> struct __lerp_CN<Tin, Tout, 4> {
static __host__ __device__ Tout _lerp_CN(const Tin &a, const Tin &b, Ncv32f d)
{
typedef typename TConvVec2Base<Tout>::TBase TB;
return _pixMake(TB(b.x * d + a.x * (1 - d)),
TB(b.y * d + a.y * (1 - d)),
TB(b.z * d + a.z * (1 - d)),
TB(b.w * d + a.w * (1 - d)));
}};
template<typename Tin, typename Tout> static __host__ __device__ Tout _lerp(const Tin &a, const Tin &b, Ncv32f d)
{
return __lerp_CN<Tin, Tout, NC(Tin)>::_lerp_CN(a, b, d);
}
template<typename T>
__global__ void kernelDownsampleX2(T *d_src,
Ncv32u srcPitch,
T *d_dst,
Ncv32u dstPitch,
NcvSize32u dstRoi)
{
Ncv32u i = blockIdx.y * blockDim.y + threadIdx.y;
Ncv32u j = blockIdx.x * blockDim.x + threadIdx.x;
if (i < dstRoi.height && j < dstRoi.width)
{
T *d_src_line1 = (T *)((Ncv8u *)d_src + (2 * i + 0) * srcPitch);
T *d_src_line2 = (T *)((Ncv8u *)d_src + (2 * i + 1) * srcPitch);
T *d_dst_line = (T *)((Ncv8u *)d_dst + i * dstPitch);
T p00 = d_src_line1[2*j+0];
T p01 = d_src_line1[2*j+1];
T p10 = d_src_line2[2*j+0];
T p11 = d_src_line2[2*j+1];
d_dst_line[j] = _average4(p00, p01, p10, p11);
}
}
namespace cv { namespace gpu { namespace cudev
{
namespace pyramid
{
template <typename T> void kernelDownsampleX2_gpu(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream)
{
dim3 bDim(16, 8);
dim3 gDim(divUp(src.cols, bDim.x), divUp(src.rows, bDim.y));
kernelDownsampleX2<<<gDim, bDim, 0, stream>>>((T*)src.data, static_cast<Ncv32u>(src.step),
(T*)dst.data, static_cast<Ncv32u>(dst.step), NcvSize32u(dst.cols, dst.rows));
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
template void kernelDownsampleX2_gpu<uchar1>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelDownsampleX2_gpu<uchar3>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelDownsampleX2_gpu<uchar4>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelDownsampleX2_gpu<ushort1>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelDownsampleX2_gpu<ushort3>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelDownsampleX2_gpu<ushort4>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelDownsampleX2_gpu<float1>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelDownsampleX2_gpu<float3>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelDownsampleX2_gpu<float4>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
}
}}}
template<typename T>
__global__ void kernelInterpolateFrom1(T *d_srcTop,
Ncv32u srcTopPitch,
NcvSize32u szTopRoi,
T *d_dst,
Ncv32u dstPitch,
NcvSize32u dstRoi)
{
Ncv32u i = blockIdx.y * blockDim.y + threadIdx.y;
Ncv32u j = blockIdx.x * blockDim.x + threadIdx.x;
if (i < dstRoi.height && j < dstRoi.width)
{
Ncv32f ptTopX = 1.0f * (szTopRoi.width - 1) * j / (dstRoi.width - 1);
Ncv32f ptTopY = 1.0f * (szTopRoi.height - 1) * i / (dstRoi.height - 1);
Ncv32u xl = (Ncv32u)ptTopX;
Ncv32u xh = xl+1;
Ncv32f dx = ptTopX - xl;
Ncv32u yl = (Ncv32u)ptTopY;
Ncv32u yh = yl+1;
Ncv32f dy = ptTopY - yl;
T *d_src_line1 = (T *)((Ncv8u *)d_srcTop + yl * srcTopPitch);
T *d_src_line2 = (T *)((Ncv8u *)d_srcTop + yh * srcTopPitch);
T *d_dst_line = (T *)((Ncv8u *)d_dst + i * dstPitch);
T p00, p01, p10, p11;
p00 = d_src_line1[xl];
p01 = xh < szTopRoi.width ? d_src_line1[xh] : p00;
p10 = yh < szTopRoi.height ? d_src_line2[xl] : p00;
p11 = (xh < szTopRoi.width && yh < szTopRoi.height) ? d_src_line2[xh] : p00;
typedef typename TConvBase2Vec<Ncv32f, NC(T)>::TVec TVFlt;
TVFlt m_00_01 = _lerp<T, TVFlt>(p00, p01, dx);
TVFlt m_10_11 = _lerp<T, TVFlt>(p10, p11, dx);
TVFlt mixture = _lerp<TVFlt, TVFlt>(m_00_01, m_10_11, dy);
T outPix = _pixDemoteClampZ<TVFlt, T>(mixture);
d_dst_line[j] = outPix;
}
}
namespace cv { namespace gpu { namespace cudev
{
namespace pyramid
{
template <typename T> void kernelInterpolateFrom1_gpu(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream)
{
dim3 bDim(16, 8);
dim3 gDim(divUp(dst.cols, bDim.x), divUp(dst.rows, bDim.y));
kernelInterpolateFrom1<<<gDim, bDim, 0, stream>>>((T*) src.data, static_cast<Ncv32u>(src.step), NcvSize32u(src.cols, src.rows),
(T*) dst.data, static_cast<Ncv32u>(dst.step), NcvSize32u(dst.cols, dst.rows));
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
template void kernelInterpolateFrom1_gpu<uchar1>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelInterpolateFrom1_gpu<uchar3>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelInterpolateFrom1_gpu<uchar4>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelInterpolateFrom1_gpu<ushort1>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelInterpolateFrom1_gpu<ushort3>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelInterpolateFrom1_gpu<ushort4>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelInterpolateFrom1_gpu<float1>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelInterpolateFrom1_gpu<float3>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
template void kernelInterpolateFrom1_gpu<float4>(PtrStepSzb src, PtrStepSzb dst, cudaStream_t stream);
}
}}}
#if 0 //def _WIN32
template<typename T>
static T _interpLinear(const T &a, const T &b, Ncv32f d)
{
typedef typename TConvBase2Vec<Ncv32f, NC(T)>::TVec TVFlt;
TVFlt tmp = _lerp<T, TVFlt>(a, b, d);
return _pixDemoteClampZ<TVFlt, T>(tmp);
}
template<typename T>
static T _interpBilinear(const NCVMatrix<T> &refLayer, Ncv32f x, Ncv32f y)
{
Ncv32u xl = (Ncv32u)x;
Ncv32u xh = xl+1;
Ncv32f dx = x - xl;
Ncv32u yl = (Ncv32u)y;
Ncv32u yh = yl+1;
Ncv32f dy = y - yl;
T p00, p01, p10, p11;
p00 = refLayer.at(xl, yl);
p01 = xh < refLayer.width() ? refLayer.at(xh, yl) : p00;
p10 = yh < refLayer.height() ? refLayer.at(xl, yh) : p00;
p11 = (xh < refLayer.width() && yh < refLayer.height()) ? refLayer.at(xh, yh) : p00;
typedef typename TConvBase2Vec<Ncv32f, NC(T)>::TVec TVFlt;
TVFlt m_00_01 = _lerp<T, TVFlt>(p00, p01, dx);
TVFlt m_10_11 = _lerp<T, TVFlt>(p10, p11, dx);
TVFlt mixture = _lerp<TVFlt, TVFlt>(m_00_01, m_10_11, dy);
return _pixDemoteClampZ<TVFlt, T>(mixture);
}
template <class T>
NCVImagePyramid<T>::NCVImagePyramid(const NCVMatrix<T> &img,
Ncv8u numLayers,
INCVMemAllocator &alloc,
cudaStream_t cuStream)
{
this->_isInitialized = false;
ncvAssertPrintReturn(img.memType() == alloc.memType(), "NCVImagePyramid::ctor error", );
this->layer0 = &img;
NcvSize32u szLastLayer(img.width(), img.height());
this->nLayers = 1;
NCV_SET_SKIP_COND(alloc.isCounting());
NcvBool bDeviceCode = alloc.memType() == NCVMemoryTypeDevice;
if (numLayers == 0)
{
numLayers = 255; //it will cut-off when any of the dimensions goes 1
}
#ifdef SELF_CHECK_GPU
NCVMemNativeAllocator allocCPU(NCVMemoryTypeHostPinned, 512);
#endif
for (Ncv32u i=0; i<(Ncv32u)numLayers-1; i++)
{
NcvSize32u szCurLayer(szLastLayer.width / 2, szLastLayer.height / 2);
if (szCurLayer.width == 0 || szCurLayer.height == 0)
{
break;
}
this->pyramid.push_back(new NCVMatrixAlloc<T>(alloc, szCurLayer.width, szCurLayer.height));
ncvAssertPrintReturn(((NCVMatrixAlloc<T> *)(this->pyramid[i]))->isMemAllocated(), "NCVImagePyramid::ctor error", );
this->nLayers++;
//fill in the layer
NCV_SKIP_COND_BEGIN
const NCVMatrix<T> *prevLayer = i == 0 ? this->layer0 : this->pyramid[i-1];
NCVMatrix<T> *curLayer = this->pyramid[i];
if (bDeviceCode)
{
dim3 bDim(16, 8);
dim3 gDim(divUp(szCurLayer.width, bDim.x), divUp(szCurLayer.height, bDim.y));
kernelDownsampleX2<<<gDim, bDim, 0, cuStream>>>(prevLayer->ptr(),
prevLayer->pitch(),
curLayer->ptr(),
curLayer->pitch(),
szCurLayer);
ncvAssertPrintReturn(cudaSuccess == cudaGetLastError(), "NCVImagePyramid::ctor error", );
#ifdef SELF_CHECK_GPU
NCVMatrixAlloc<T> h_prevLayer(allocCPU, prevLayer->width(), prevLayer->height());
ncvAssertPrintReturn(h_prevLayer.isMemAllocated(), "Validation failure in NCVImagePyramid::ctor", );
NCVMatrixAlloc<T> h_curLayer(allocCPU, curLayer->width(), curLayer->height());
ncvAssertPrintReturn(h_curLayer.isMemAllocated(), "Validation failure in NCVImagePyramid::ctor", );
ncvAssertPrintReturn(NCV_SUCCESS == prevLayer->copy2D(h_prevLayer, prevLayer->size(), cuStream), "Validation failure in NCVImagePyramid::ctor", );
ncvAssertPrintReturn(NCV_SUCCESS == curLayer->copy2D(h_curLayer, curLayer->size(), cuStream), "Validation failure in NCVImagePyramid::ctor", );
ncvAssertPrintReturn(cudaSuccess == cudaStreamSynchronize(cuStream), "Validation failure in NCVImagePyramid::ctor", );
for (Ncv32u i=0; i<szCurLayer.height; i++)
{
for (Ncv32u j=0; j<szCurLayer.width; j++)
{
T p00 = h_prevLayer.at(2*j+0, 2*i+0);
T p01 = h_prevLayer.at(2*j+1, 2*i+0);
T p10 = h_prevLayer.at(2*j+0, 2*i+1);
T p11 = h_prevLayer.at(2*j+1, 2*i+1);
T outGold = _average4(p00, p01, p10, p11);
T outGPU = h_curLayer.at(j, i);
ncvAssertPrintReturn(0 == memcmp(&outGold, &outGPU, sizeof(T)), "Validation failure in NCVImagePyramid::ctor with kernelDownsampleX2", );
}
}
#endif
}
else
{
for (Ncv32u i=0; i<szCurLayer.height; i++)
{
for (Ncv32u j=0; j<szCurLayer.width; j++)
{
T p00 = prevLayer->at(2*j+0, 2*i+0);
T p01 = prevLayer->at(2*j+1, 2*i+0);
T p10 = prevLayer->at(2*j+0, 2*i+1);
T p11 = prevLayer->at(2*j+1, 2*i+1);
curLayer->at(j, i) = _average4(p00, p01, p10, p11);
}
}
}
NCV_SKIP_COND_END
szLastLayer = szCurLayer;
}
this->_isInitialized = true;
}
template <class T>
NCVImagePyramid<T>::~NCVImagePyramid()
{
}
template <class T>
NcvBool NCVImagePyramid<T>::isInitialized() const
{
return this->_isInitialized;
}
template <class T>
NCVStatus NCVImagePyramid<T>::getLayer(NCVMatrix<T> &outImg,
NcvSize32u outRoi,
NcvBool bTrilinear,
cudaStream_t cuStream) const
{
ncvAssertReturn(this->isInitialized(), NCV_UNKNOWN_ERROR);
ncvAssertReturn(outImg.memType() == this->layer0->memType(), NCV_MEM_RESIDENCE_ERROR);
ncvAssertReturn(outRoi.width <= this->layer0->width() && outRoi.height <= this->layer0->height() &&
outRoi.width > 0 && outRoi.height > 0, NCV_DIMENSIONS_INVALID);
if (outRoi.width == this->layer0->width() && outRoi.height == this->layer0->height())
{
ncvAssertReturnNcvStat(this->layer0->copy2D(outImg, NcvSize32u(this->layer0->width(), this->layer0->height()), cuStream));
return NCV_SUCCESS;
}
Ncv32f lastScale = 1.0f;
Ncv32f curScale;
const NCVMatrix<T> *lastLayer = this->layer0;
const NCVMatrix<T> *curLayer = NULL;
NcvBool bUse2Refs = false;
for (Ncv32u i=0; i<this->nLayers-1; i++)
{
curScale = lastScale * 0.5f;
curLayer = this->pyramid[i];
if (outRoi.width == curLayer->width() && outRoi.height == curLayer->height())
{
ncvAssertReturnNcvStat(this->pyramid[i]->copy2D(outImg, NcvSize32u(this->pyramid[i]->width(), this->pyramid[i]->height()), cuStream));
return NCV_SUCCESS;
}
if (outRoi.width >= curLayer->width() && outRoi.height >= curLayer->height())
{
if (outRoi.width < lastLayer->width() && outRoi.height < lastLayer->height())
{
bUse2Refs = true;
}
break;
}
lastScale = curScale;
lastLayer = curLayer;
}
bUse2Refs = bUse2Refs && bTrilinear;
NCV_SET_SKIP_COND(outImg.memType() == NCVMemoryTypeNone);
NcvBool bDeviceCode = this->layer0->memType() == NCVMemoryTypeDevice;
#ifdef SELF_CHECK_GPU
NCVMemNativeAllocator allocCPU(NCVMemoryTypeHostPinned, 512);
#endif
NCV_SKIP_COND_BEGIN
if (bDeviceCode)
{
ncvAssertReturn(bUse2Refs == false, NCV_NOT_IMPLEMENTED);
dim3 bDim(16, 8);
dim3 gDim(divUp(outRoi.width, bDim.x), divUp(outRoi.height, bDim.y));
kernelInterpolateFrom1<<<gDim, bDim, 0, cuStream>>>(lastLayer->ptr(),
lastLayer->pitch(),
lastLayer->size(),
outImg.ptr(),
outImg.pitch(),
outRoi);
ncvAssertCUDAReturn(cudaGetLastError(), NCV_CUDA_ERROR);
#ifdef SELF_CHECK_GPU
ncvSafeMatAlloc(h_lastLayer, T, allocCPU, lastLayer->width(), lastLayer->height(), NCV_ALLOCATOR_BAD_ALLOC);
ncvSafeMatAlloc(h_outImg, T, allocCPU, outImg.width(), outImg.height(), NCV_ALLOCATOR_BAD_ALLOC);
ncvAssertReturnNcvStat(lastLayer->copy2D(h_lastLayer, lastLayer->size(), cuStream));
ncvAssertReturnNcvStat(outImg.copy2D(h_outImg, outRoi, cuStream));
ncvAssertCUDAReturn(cudaStreamSynchronize(cuStream), NCV_CUDA_ERROR);
for (Ncv32u i=0; i<outRoi.height; i++)
{
for (Ncv32u j=0; j<outRoi.width; j++)
{
NcvSize32u szTopLayer(lastLayer->width(), lastLayer->height());
Ncv32f ptTopX = 1.0f * (szTopLayer.width - 1) * j / (outRoi.width - 1);
Ncv32f ptTopY = 1.0f * (szTopLayer.height - 1) * i / (outRoi.height - 1);
T outGold = _interpBilinear(h_lastLayer, ptTopX, ptTopY);
ncvAssertPrintReturn(0 == memcmp(&outGold, &h_outImg.at(j,i), sizeof(T)), "Validation failure in NCVImagePyramid::ctor with kernelInterpolateFrom1", NCV_UNKNOWN_ERROR);
}
}
#endif
}
else
{
for (Ncv32u i=0; i<outRoi.height; i++)
{
for (Ncv32u j=0; j<outRoi.width; j++)
{
//top layer pixel (always exists)
NcvSize32u szTopLayer(lastLayer->width(), lastLayer->height());
Ncv32f ptTopX = 1.0f * (szTopLayer.width - 1) * j / (outRoi.width - 1);
Ncv32f ptTopY = 1.0f * (szTopLayer.height - 1) * i / (outRoi.height - 1);
T topPix = _interpBilinear(*lastLayer, ptTopX, ptTopY);
T trilinearPix = topPix;
if (bUse2Refs)
{
//bottom layer pixel (exists only if the requested scale is greater than the smallest layer scale)
NcvSize32u szBottomLayer(curLayer->width(), curLayer->height());
Ncv32f ptBottomX = 1.0f * (szBottomLayer.width - 1) * j / (outRoi.width - 1);
Ncv32f ptBottomY = 1.0f * (szBottomLayer.height - 1) * i / (outRoi.height - 1);
T bottomPix = _interpBilinear(*curLayer, ptBottomX, ptBottomY);
Ncv32f scale = (1.0f * outRoi.width / layer0->width() + 1.0f * outRoi.height / layer0->height()) / 2;
Ncv32f dl = (scale - curScale) / (lastScale - curScale);
dl = CLAMP(dl, 0.0f, 1.0f);
trilinearPix = _interpLinear(bottomPix, topPix, dl);
}
outImg.at(j, i) = trilinearPix;
}
}
}
NCV_SKIP_COND_END
return NCV_SUCCESS;
}
template class NCVImagePyramid<uchar1>;
template class NCVImagePyramid<uchar3>;
template class NCVImagePyramid<uchar4>;
template class NCVImagePyramid<ushort1>;
template class NCVImagePyramid<ushort3>;
template class NCVImagePyramid<ushort4>;
template class NCVImagePyramid<uint1>;
template class NCVImagePyramid<uint3>;
template class NCVImagePyramid<uint4>;
template class NCVImagePyramid<float1>;
template class NCVImagePyramid<float3>;
template class NCVImagePyramid<float4>;
#endif //_WIN32

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/*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*/
#ifndef _ncvruntimetemplates_hpp_
#define _ncvruntimetemplates_hpp_
#if defined _MSC_VER &&_MSC_VER >= 1200
#pragma warning( disable: 4800 )
#endif
#include <stdarg.h>
#include <vector>
////////////////////////////////////////////////////////////////////////////////
// The Loki Library
// Copyright (c) 2001 by Andrei Alexandrescu
// This code accompanies the book:
// Alexandrescu, Andrei. "Modern C++ Design: Generic Programming and Design
// Patterns Applied". Copyright (c) 2001. Addison-Wesley.
// Permission to use, copy, modify, distribute and sell this software for any
// purpose is hereby granted without fee, provided that the above copyright
// notice appear in all copies and that both that copyright notice and this
// permission notice appear in supporting documentation.
// The author or Addison-Welsey Longman make no representations about the
// suitability of this software for any purpose. It is provided "as is"
// without express or implied warranty.
// http://loki-lib.sourceforge.net/index.php?n=Main.License
////////////////////////////////////////////////////////////////////////////////
namespace Loki
{
//==============================================================================
// class NullType
// Used as a placeholder for "no type here"
// Useful as an end marker in typelists
//==============================================================================
class NullType {};
//==============================================================================
// class template Typelist
// The building block of typelists of any length
// Use it through the LOKI_TYPELIST_NN macros
// Defines nested types:
// Head (first element, a non-typelist type by convention)
// Tail (second element, can be another typelist)
//==============================================================================
template <class T, class U>
struct Typelist
{
typedef T Head;
typedef U Tail;
};
//==============================================================================
// class template Int2Type
// Converts each integral constant into a unique type
// Invocation: Int2Type<v> where v is a compile-time constant integral
// Defines 'value', an enum that evaluates to v
//==============================================================================
template <int v>
struct Int2Type
{
enum { value = v };
};
namespace TL
{
//==============================================================================
// class template TypeAt
// Finds the type at a given index in a typelist
// Invocation (TList is a typelist and index is a compile-time integral
// constant):
// TypeAt<TList, index>::Result
// returns the type in position 'index' in TList
// If you pass an out-of-bounds index, the result is a compile-time error
//==============================================================================
template <class TList, unsigned int index> struct TypeAt;
template <class Head, class Tail>
struct TypeAt<Typelist<Head, Tail>, 0>
{
typedef Head Result;
};
template <class Head, class Tail, unsigned int i>
struct TypeAt<Typelist<Head, Tail>, i>
{
typedef typename TypeAt<Tail, i - 1>::Result Result;
};
}
}
////////////////////////////////////////////////////////////////////////////////
// Runtime boolean template instance dispatcher
// Cyril Crassin <cyril.crassin@icare3d.org>
// NVIDIA, 2010
////////////////////////////////////////////////////////////////////////////////
namespace NCVRuntimeTemplateBool
{
//This struct is used to transform a list of parameters into template arguments
//The idea is to build a typelist containing the arguments
//and to pass this typelist to a user defined functor
template<typename TList, int NumArguments, class Func>
struct KernelCaller
{
//Convenience function used by the user
//Takes a variable argument list, transforms it into a list
static void call(Func *functor, ...)
{
//Vector used to collect arguments
std::vector<int> templateParamList;
//Variable argument list manipulation
va_list listPointer;
va_start(listPointer, functor);
//Collect parameters into the list
for(int i=0; i<NumArguments; i++)
{
int val = va_arg(listPointer, int);
templateParamList.push_back(val);
}
va_end(listPointer);
//Call the actual typelist building function
call(*functor, templateParamList);
}
//Actual function called recursively to build a typelist based
//on a list of values
static void call( Func &functor, std::vector<int> &templateParamList)
{
//Get current parameter value in the list
NcvBool val = templateParamList[templateParamList.size() - 1];
templateParamList.pop_back();
//Select the compile time value to add into the typelist
//depending on the runtime variable and make recursive call.
//Both versions are really instantiated
if (val)
{
KernelCaller<
Loki::Typelist<typename Loki::Int2Type<1>, TList >,
NumArguments-1, Func >
::call(functor, templateParamList);
}
else
{
KernelCaller<
Loki::Typelist<typename Loki::Int2Type<0>, TList >,
NumArguments-1, Func >
::call(functor, templateParamList);
}
}
};
//Specialization for 0 value left in the list
//-> actual kernel functor call
template<class TList, class Func>
struct KernelCaller<TList, 0, Func>
{
static void call(Func &functor)
{
//Call to the functor's kernel call method
functor.call(TList()); //TList instantiated to get the method template parameter resolved
}
static void call(Func &functor, std::vector<int> &templateParams)
{
(void)templateParams;
functor.call(TList());
}
};
}
#endif //_ncvruntimetemplates_hpp_

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/*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*/
#include "precomp.hpp"

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/*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*/
#ifndef __OPENCV_PRECOMP_H__
#define __OPENCV_PRECOMP_H__
#include <limits>
#include <iostream>
#include <algorithm>
#include "opencv2/gpulegacy.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/opencv_modules.hpp"
#ifdef HAVE_OPENCV_OBJDETECT
# include "opencv2/objdetect.hpp"
#endif
#include "opencv2/core/gpu_private.hpp"
#include "opencv2/gpulegacy/private.hpp"
#endif /* __OPENCV_PRECOMP_H__ */