void EdgeRoberts::prepareMatrices()
{
g_x = math::matrix<double>(3,3);
g_y = math::matrix<double>(3,3);
g_x(0,0) = 1;
g_x(0,1) = 0;
g_x(1,0) = 0;
g_x(1,1) = -1;
g_y(0,0) = 0;
g_y(0,1) = 1;
g_y(1,0) = -1;
g_y(1,1) = 0;
}
double rhs_1st_equation (double x, double t, Gas_parameters * parameters) {
return g_t (x, t) +
.5 * (
2 * u_exact (x, t) * g_x (x, t) +
g_exact(x, t) * u_x (x, t) +
(2 - g_exact (x, t)) * u_x (x, t));
}
std::vector<arma::mat> logcosh(arma::mat& x){
arma::mat gx = arma::tanh(x);
arma::mat g_x(gx.n_rows, 1);
for(int i=0; i<gx.n_rows; ++i){
arma::rowvec dtanh_i = 1 -arma::pow(gx.row(i),2);
g_x.row(i) = arma::mean(dtanh_i);
}
std::vector<arma::mat> gx_dgx{gx,g_x};
return gx_dgx;
};
void EdgeSobel::prepareMatrices()
{
g_x = math::matrix<double>(3,3);
g_x(0,0)=-1;
g_x(0,1)=0;
g_x(0,2)=1;
g_x(1,0)=-2;
g_x(1,1)=0;
g_x(1,2)=2;
g_x(2,0)=-1;
g_x(2,1)=0;
g_x(2,2)=1;
g_y = math::matrix<double>(3,3);
g_y(0,0)=-1;
g_y(0,1)=-2;
g_y(0,2)=-1;
g_y(1,0)=0;
g_y(1,1)=0;
g_y(1,2)=0;
g_y(2,0)=1;
g_y(2,1)=2;
g_y(2,2)=1;
}
static mode_t g_rwx(void) { return (g_r() | g_w() | g_x()); }
int main(int argc, char *argv[])
{
if (argc != 4)
{
cout << "Usage: " << argv[0] << " cpu|gpu out_func out_prefix" << endl;
return 1;
}
ImageParam input(UInt(8), 3, "input");
Func clamped("clamped"), grayscale("grayscale");
Func g_x("g_x"), g_y("g_y"), g_mag("g_mag");
Func sobel("sobel");
Var c("c"), x("x"), y("y");
// Algorithm
clamped(x, y, c) = input(
clamp(x, 0, input.width()-1),
clamp(y, 0, input.height()-1),
c) / 255.f;
grayscale(x, y) =
clamped(x, y, 0)*0.299f +
clamped(x, y, 1)*0.587f +
clamped(x, y, 2)*0.114f;
Image<int16_t> kernel(3, 3);
kernel(0, 0) = -1;
kernel(0, 1) = -2;
kernel(0, 2) = -1;
kernel(1, 0) = 0;
kernel(1, 1) = 0;
kernel(1, 2) = 0;
kernel(2, 0) = 1;
kernel(2, 1) = 2;
kernel(2, 2) = 1;
RDom r(kernel);
g_x(x, y) += kernel(r.x, r.y) * grayscale(x + r.x - 1, y + r.y - 1);
g_y(x, y) += kernel(r.y, r.x) * grayscale(x + r.x - 1, y + r.y - 1);
g_mag(x, y) = sqrt(g_x(x, y)*g_x(x, y) + g_y(x, y)*g_y(x, y));
sobel(x, y, c) = select(c==3, 255, u8(clamp(g_mag(x, y), 0, 1)*255));
// Channel order
input.set_stride(0, 4);
input.set_extent(2, 4);
sobel.reorder_storage(c, x, y);
sobel.output_buffer().set_stride(0, 4);
sobel.output_buffer().set_extent(2, 4);
// Schedules
if (!strcmp(argv[1], "cpu"))
{
sobel.parallel(y).vectorize(c, 4);
}
else if (!strcmp(argv[1], "gpu"))
{
sobel.cuda_tile(x, y, 16, 4);
}
else
{
cout << "Invalid schedule type '" << argv[1] << "'" << endl;
return 1;
}
compile(sobel, input, argv[2], argv[3]);
return 0;
}
template <typename PointInT, typename IntensityT> void
pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::computePyramids (const PointCloudInConstPtr& input,
std::vector<FloatImageConstPtr>& pyramid,
pcl::InterpolationType border_type) const
{
int step = 3;
pyramid.resize (step * nb_levels_);
FloatImageConstPtr previous;
FloatImagePtr tmp (new FloatImage (input->width, input->height));
#ifdef _OPENMP
#pragma omp parallel for num_threads (threads_)
#endif
for (int i = 0; i < static_cast<int> (input->size ()); ++i)
tmp->points[i] = intensity_ (input->points[i]);
previous = tmp;
FloatImagePtr img (new FloatImage (previous->width + 2*track_width_,
previous->height + 2*track_height_));
pcl::copyPointCloud (*tmp, *img, track_height_, track_height_, track_width_, track_width_,
border_type, 0.f);
pyramid[0] = img;
// compute first level gradients
FloatImagePtr g_x (new FloatImage (input->width, input->height));
FloatImagePtr g_y (new FloatImage (input->width, input->height));
derivatives (*img, *g_x, *g_y);
// copy to bigger clouds
FloatImagePtr grad_x (new FloatImage (previous->width + 2*track_width_,
previous->height + 2*track_height_));
pcl::copyPointCloud (*g_x, *grad_x, track_height_, track_height_, track_width_, track_width_,
pcl::BORDER_CONSTANT, 0.f);
pyramid[1] = grad_x;
FloatImagePtr grad_y (new FloatImage (previous->width + 2*track_width_,
previous->height + 2*track_height_));
pcl::copyPointCloud (*g_y, *grad_y, track_height_, track_height_, track_width_, track_width_,
pcl::BORDER_CONSTANT, 0.f);
pyramid[2] = grad_y;
for (int level = 1; level < nb_levels_; ++level)
{
// compute current level and current level gradients
FloatImageConstPtr current;
FloatImageConstPtr g_x;
FloatImageConstPtr g_y;
downsample (previous, current, g_x, g_y);
// copy to bigger clouds
FloatImagePtr image (new FloatImage (current->width + 2*track_width_,
current->height + 2*track_height_));
pcl::copyPointCloud (*current, *image, track_height_, track_height_, track_width_, track_width_,
border_type, 0.f);
pyramid[level*step] = image;
FloatImagePtr gradx (new FloatImage (g_x->width + 2*track_width_, g_x->height + 2*track_height_));
pcl::copyPointCloud (*g_x, *gradx, track_height_, track_height_, track_width_, track_width_,
pcl::BORDER_CONSTANT, 0.f);
pyramid[level*step + 1] = gradx;
FloatImagePtr grady (new FloatImage (g_y->width + 2*track_width_, g_y->height + 2*track_height_));
pcl::copyPointCloud (*g_y, *grady, track_height_, track_height_, track_width_, track_width_,
pcl::BORDER_CONSTANT, 0.f);
pyramid[level*step + 2] = grady;
// set the new level
previous = current;
}
}
double rhs_2nd_equation (double x, double t, Gas_parameters * parameters) {
return u_t (x, t) +
u_exact (x, t) * u_x (x, t) +
parameters->p_ro * g_x (x, t) -
parameters->viscosity * exp (-g_exact (x, t)) * u_xx (x, t);
}
