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ORB_SLAM3_Win/Thirdparty/Pangolin-0.6/examples/VBODisplay/kernal.cu
2022-01-20 20:20:08 +02:00

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// Colour Sine wave Kernal
// Based on kernal_colour in kernelVBO.cpp by Rob Farber
__global__ void kernel(float4* dVertexArray, uchar4 *dColorArray,
unsigned int width, unsigned int height, float time)
{
unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
// Each thread is unique point (u,v) in interval [-1,1],[-1,1]
const float u = 2.0f* (x/(float)width) - 1.0f;
const float v = 2.0f* (y/(float)height) - 1.0f;
const float w = 0.5f * sinf(4.0f*u + time) * cosf(4.0f*v + time);
// Update vertex array for point
dVertexArray[y*width+x] = make_float4(u, w, v, 1.0f);
// Update colour array for point
dColorArray[y*width+x].w = 0.0f;
dColorArray[y*width+x].x = 255.0f *0.5f*(1.f+sinf(w+x));
dColorArray[y*width+x].y = 255.0f *0.5f*(1.f+sinf(x)*cosf(y));
dColorArray[y*width+x].z = 255.0f *0.5f*(1.f+sinf(w+time/10.0f));
}
extern "C" void launch_kernel(float4* dVertexArray, uchar4* dColourArray,
unsigned int width, unsigned int height, float time)
{
dim3 block(8, 8, 1);
dim3 grid(width / block.x, height / block.y, 1);
kernel<<< grid, block>>>(dVertexArray, dColourArray, width, height, time);
}