void mmf::OptSO3MMFvMF::init()
{
std::cout << "mmf::OptSO3MMFvMF::init()" << std::endl;
std::cout << 3*6*K() << std::endl;
checkCudaErrors(cudaMalloc((void **)&d_cost, K()*6*sizeof(float)));
checkCudaErrors(cudaMalloc((void **)&d_mu_, K()*6*3*sizeof(float)));
checkCudaErrors(cudaMalloc((void **)&d_N_, sizeof(int)));
loadRGBvaluesForMFaxes();
};
void OptSO3::init()
{
//checkCudaErrors(cudaMalloc((void **)&d_q_, w*h * 3 * sizeof(float)));
cout<<"allocating CUDA mem for OptSO3 "<<d_q_<<" ("<<w_<<"x"<<h_<<")"<<endl;
checkCudaErrors(cudaMalloc((void **)&d_z, w_*h_ * sizeof(uint16_t)));
Matrix<uint16_t,Dynamic,Dynamic> z =
Matrix<uint16_t,Dynamic,Dynamic>::Zero(h_,w_);
checkCudaErrors(cudaMemcpy(d_z, z.data(), w_ * h_ * sizeof(uint16_t),
cudaMemcpyHostToDevice));
checkCudaErrors(cudaMalloc((void **)&d_errs_, w_*h_ * sizeof(float)));
checkCudaErrors(cudaMalloc((void **)&d_cost, 6*sizeof(float)));
checkCudaErrors(cudaMalloc((void **)&d_J, 3*3*sizeof(float)));
checkCudaErrors(cudaMalloc((void **)&d_mu_, 6*3*sizeof(float)));
checkCudaErrors(cudaMalloc((void **)&d_N_, sizeof(int)));
h_z = (uint16_t *)malloc(w_ *h_ * sizeof(uint16_t));
h_errs_ = (float *)malloc(w_ *h_ * sizeof(float));
loadRGBvaluesForMFaxes();
};
