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tracker.h
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1 //##############################################################################################################################################################################################################//
2 //Aquila - An Open-Source GPU-Accelerated Toolkit for Cognitive and Neuro-Robotics Research //
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4 //Copyright (c) <2012>, Anthony Morse //
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20 
21 #ifndef TRACKER_H
22 #define TRACKER_H
23 
24 #define MAX_GPU_DEVICES 4
25 
26 #include <omp.h>
27 #include <vector>
28 #include <cuda.h>
29 #include <cuda_runtime.h>
30 #include "interface.h"
31 
32 using namespace std;
33 
34 class Tracker : public yarp::os::Thread
35 {
36 public:
37  Tracker(Interface *pInterface);
38 
39 private:
40  Interface *intrfc;
41 
42  cudaDeviceProp deviceInfo[MAX_GPU_DEVICES];
43 
44  int P2P;
45  int debug;
46  int availableGPUs;
47  int requestedGPUs;
48  int simulationMode;
49  int threshold;
50  int gpuDevice[MAX_GPU_DEVICES];
51  int imageFlip;
52  bool GPU;
53 
54  //images
55  ImageOf<PixelRgb> *leftImage;
56  ImageOf<PixelRgb> *rightImage;
57  ImageOf<PixelRgb> oldLeftImage;
58  ImageOf<PixelRgb> oldRightImage;
59  ImageOf<PixelRgb> leftMotionImage;
60  ImageOf<PixelRgb> rightMotionImage;
61 
62  //device memory pointers
63  int *aLeftImage_d;
64  int *bLeftImage_d;
65  int *leftMotionImage_d;
66  int *leftMotionResult_d;
67  int *aRightImage_d;
68  int *bRightImage_d;
69  int *rightMotionImage_d;
70  int *rightMotionResult_d;
71 
72  //host memory pointers
73  int *leftImage_h;
74  int *rightImage_h;
75  int *leftMotionImage_h;
76  int *rightMotionImage_h;
77  int *leftMotionResult_h;
78  int *rightMotionResult_h;
79 
80  void run();
81  bool threadInit();
82 
83  void findMotion(ImageOf<PixelRgb> *image, ImageOf<PixelRgb> *oldImage, ImageOf<PixelRgb> *motionImage, int *imageVector, int*motionImageVector, int *aDeviceImage, int *bDeviceImage, int *motionDeviceImage, int *motionDeviceResult, int *motionResult);
84  void myCopyImage(ImageOf<PixelRgb> *source, ImageOf<PixelRgb> *destination);
85  void myCopyImageToVector(ImageOf<PixelRgb> *source, int *destination, bool direction);
86 
87 public:
88  bool terminalMode;
89 
90  void initialise();
91  void deinitialise();
92  void printGPUProperties(int deviceID);
93  void printOptions();
94  void printConfiguration();
95 
96  void setSimulationMode(int simulation);
97  void setGPUMode(bool gpuMode);
98  void setDevice(int deviceID);
99  void setDevices(int deviceID[MAX_GPU_DEVICES]);
100  void setDebuggingLevel(int level);
101  void setThreshold(int thresholdValue);
102 
103  int getSimulationMode();
104  int getDevice();
105  int getNumDevices();
106  int getDebuggingLevel();
107  int getThreshold();
108 
109  vector<string> queryGPU();
110 };
111 
112 //GPU kernel wrappers
113 void findMotionOnDevice(int *aImage, int *bImage, int *result, int threshold);
114 void findClustersOnDevice(int *array, int *result);
115 
116 #endif//TRACKER_H
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