mirror of
https://github.com/opencv/opencv.git
synced 2025-01-21 00:20:59 +08:00
implemented asynchronous call for StereoBM()
This commit is contained in:
Andrey Morozov
parent
dc0f313924
commit
12dc52c2e7
@ -349,7 +349,7 @@ namespace cv
|
||||
void operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity);
|
||||
|
||||
//! Acync version
|
||||
void operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, const CudaStream& stream);
|
||||
void operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, const CudaStream & stream);
|
||||
|
||||
//! Some heuristics that tries to estmate
|
||||
// if current GPU will be faster then CPU in this algorithm.
|
||||
|
||||
@ -55,13 +55,13 @@ using namespace cv::gpu;
|
||||
|
||||
#define ROWSperTHREAD 21 // the number of rows a thread will process
|
||||
|
||||
namespace stereobm_gpu
|
||||
namespace stereobm_gpu
|
||||
{
|
||||
|
||||
#define BLOCK_W 128 // the thread block width (464)
|
||||
#define N_DISPARITIES 8
|
||||
|
||||
#define STEREO_MIND 0 // The minimum d range to check
|
||||
#define STEREO_MIND 0 // The minimum d range to check
|
||||
#define STEREO_DISP_STEP N_DISPARITIES // the d step, must be <= 1 to avoid aliasing
|
||||
|
||||
__constant__ unsigned int* cminSSDImage;
|
||||
@ -71,7 +71,7 @@ __constant__ int cheight;
|
||||
|
||||
__device__ int SQ(int a)
|
||||
{
|
||||
return a * a;
|
||||
return a * a;
|
||||
}
|
||||
|
||||
template<int RADIUS>
|
||||
@ -82,7 +82,7 @@ __device__ unsigned int CalcSSD(unsigned int *col_ssd_cache, unsigned int *col_s
|
||||
|
||||
for(int i = 1; i <= RADIUS; i++)
|
||||
cache += col_ssd[i];
|
||||
|
||||
|
||||
col_ssd_cache[0] = cache;
|
||||
|
||||
__syncthreads();
|
||||
@ -101,7 +101,7 @@ __device__ uint2 MinSSD(unsigned int *col_ssd_cache, unsigned int *col_ssd)
|
||||
{
|
||||
unsigned int ssd[N_DISPARITIES];
|
||||
|
||||
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
|
||||
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
|
||||
ssd[0] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 0 * (BLOCK_W + 2 * RADIUS));
|
||||
ssd[1] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 1 * (BLOCK_W + 2 * RADIUS));
|
||||
ssd[2] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 2 * (BLOCK_W + 2 * RADIUS));
|
||||
@ -146,7 +146,7 @@ __device__ void StepDown(int idx1, int idx2, unsigned char* imageL, unsigned cha
|
||||
rightPixel1[4] = imageR[idx1 - 4];
|
||||
rightPixel1[5] = imageR[idx1 - 5];
|
||||
rightPixel1[6] = imageR[idx1 - 6];
|
||||
|
||||
|
||||
rightPixel2[7] = imageR[idx2 - 7];
|
||||
rightPixel2[0] = imageR[idx2 - 0];
|
||||
rightPixel2[1] = imageR[idx2 - 1];
|
||||
@ -155,16 +155,16 @@ __device__ void StepDown(int idx1, int idx2, unsigned char* imageL, unsigned cha
|
||||
rightPixel2[4] = imageR[idx2 - 4];
|
||||
rightPixel2[5] = imageR[idx2 - 5];
|
||||
rightPixel2[6] = imageR[idx2 - 6];
|
||||
|
||||
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
|
||||
diff1 = leftPixel1 - rightPixel1[0];
|
||||
diff2 = leftPixel2 - rightPixel2[0];
|
||||
|
||||
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
|
||||
diff1 = leftPixel1 - rightPixel1[0];
|
||||
diff2 = leftPixel2 - rightPixel2[0];
|
||||
col_ssd[0 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
|
||||
|
||||
diff1 = leftPixel1 - rightPixel1[1];
|
||||
diff2 = leftPixel2 - rightPixel2[1];
|
||||
col_ssd[1 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
|
||||
|
||||
|
||||
diff1 = leftPixel1 - rightPixel1[2];
|
||||
diff2 = leftPixel2 - rightPixel2[2];
|
||||
col_ssd[2 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
|
||||
@ -172,19 +172,19 @@ __device__ void StepDown(int idx1, int idx2, unsigned char* imageL, unsigned cha
|
||||
diff1 = leftPixel1 - rightPixel1[3];
|
||||
diff2 = leftPixel2 - rightPixel2[3];
|
||||
col_ssd[3 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
|
||||
|
||||
diff1 = leftPixel1 - rightPixel1[4];
|
||||
diff2 = leftPixel2 - rightPixel2[4];
|
||||
|
||||
diff1 = leftPixel1 - rightPixel1[4];
|
||||
diff2 = leftPixel2 - rightPixel2[4];
|
||||
col_ssd[4 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
|
||||
|
||||
|
||||
diff1 = leftPixel1 - rightPixel1[5];
|
||||
diff2 = leftPixel2 - rightPixel2[5];
|
||||
col_ssd[5 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
|
||||
|
||||
|
||||
diff1 = leftPixel1 - rightPixel1[6];
|
||||
diff2 = leftPixel2 - rightPixel2[6];
|
||||
col_ssd[6 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
|
||||
|
||||
|
||||
diff1 = leftPixel1 - rightPixel1[7];
|
||||
diff2 = leftPixel2 - rightPixel2[7];
|
||||
col_ssd[7 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
|
||||
@ -203,7 +203,7 @@ __device__ void InitColSSD(int x_tex, int y_tex, int im_pitch, unsigned char* im
|
||||
leftPixel1 = imageL[idx];
|
||||
idx = idx - d;
|
||||
|
||||
diffa[0] += SQ(leftPixel1 - imageR[idx - 0]);
|
||||
diffa[0] += SQ(leftPixel1 - imageR[idx - 0]);
|
||||
diffa[1] += SQ(leftPixel1 - imageR[idx - 1]);
|
||||
diffa[2] += SQ(leftPixel1 - imageR[idx - 2]);
|
||||
diffa[3] += SQ(leftPixel1 - imageR[idx - 3]);
|
||||
@ -213,7 +213,7 @@ __device__ void InitColSSD(int x_tex, int y_tex, int im_pitch, unsigned char* im
|
||||
diffa[7] += SQ(leftPixel1 - imageR[idx - 7]);
|
||||
|
||||
y_tex += 1;
|
||||
}
|
||||
}
|
||||
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
|
||||
col_ssd[0 * (BLOCK_W + 2 * RADIUS)] = diffa[0];
|
||||
col_ssd[1 * (BLOCK_W + 2 * RADIUS)] = diffa[1];
|
||||
@ -225,11 +225,11 @@ __device__ void InitColSSD(int x_tex, int y_tex, int im_pitch, unsigned char* im
|
||||
col_ssd[7 * (BLOCK_W + 2 * RADIUS)] = diffa[7];
|
||||
}
|
||||
|
||||
template<int RADIUS>
|
||||
template<int RADIUS>
|
||||
__global__ void stereoKernel(unsigned char *left, unsigned char *right, size_t img_step, unsigned char* disp, size_t disp_pitch, int maxdisp)
|
||||
{
|
||||
extern __shared__ unsigned int col_ssd_cache[];
|
||||
unsigned int *col_ssd = col_ssd_cache + BLOCK_W + threadIdx.x;
|
||||
unsigned int *col_ssd = col_ssd_cache + BLOCK_W + threadIdx.x;
|
||||
unsigned int *col_ssd_extra = threadIdx.x < (2 * RADIUS) ? col_ssd + BLOCK_W : 0; //#define N_DIRTY_PIXELS (2 * RADIUS)
|
||||
|
||||
//#define X (blockIdx.x * BLOCK_W + threadIdx.x + STEREO_MAXD)
|
||||
@ -241,13 +241,13 @@ __global__ void stereoKernel(unsigned char *left, unsigned char *right, size_t i
|
||||
unsigned int* minSSDImage = cminSSDImage + X + Y * cminSSD_step;
|
||||
unsigned char* disparImage = disp + X + Y * disp_pitch;
|
||||
/* if (X < cwidth)
|
||||
{
|
||||
{
|
||||
unsigned int *minSSDImage_end = minSSDImage + min(ROWSperTHREAD, cheight - Y) * minssd_step;
|
||||
for(uint *ptr = minSSDImage; ptr != minSSDImage_end; ptr += minssd_step )
|
||||
*ptr = 0xFFFFFFFF;
|
||||
*ptr = 0xFFFFFFFF;
|
||||
}*/
|
||||
int end_row = min(ROWSperTHREAD, cheight - Y);
|
||||
int y_tex;
|
||||
int y_tex;
|
||||
int x_tex = X - RADIUS;
|
||||
|
||||
if (x_tex >= cwidth)
|
||||
@ -257,7 +257,7 @@ __global__ void stereoKernel(unsigned char *left, unsigned char *right, size_t i
|
||||
{
|
||||
y_tex = Y - RADIUS;
|
||||
|
||||
InitColSSD<RADIUS>(x_tex, y_tex, img_step, left, right, d, col_ssd);
|
||||
InitColSSD<RADIUS>(x_tex, y_tex, img_step, left, right, d, col_ssd);
|
||||
|
||||
if (col_ssd_extra > 0)
|
||||
if (x_tex + BLOCK_W < cwidth)
|
||||
@ -289,13 +289,13 @@ __global__ void stereoKernel(unsigned char *left, unsigned char *right, size_t i
|
||||
StepDown<RADIUS>(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra);
|
||||
|
||||
y_tex += 1;
|
||||
|
||||
|
||||
__syncthreads(); //before MinSSD function
|
||||
|
||||
if (X < cwidth - RADIUS && row < cheight - RADIUS - Y)
|
||||
{
|
||||
int idx = row * cminSSD_step;
|
||||
uint2 minSSD = MinSSD<RADIUS>(col_ssd_cache + threadIdx.x, col_ssd);
|
||||
{
|
||||
int idx = row * cminSSD_step;
|
||||
uint2 minSSD = MinSSD<RADIUS>(col_ssd_cache + threadIdx.x, col_ssd);
|
||||
if (minSSD.x < minSSDImage[idx])
|
||||
{
|
||||
disparImage[disp_pitch * row] = (unsigned char)(d + minSSD.y);
|
||||
@ -310,49 +310,57 @@ __global__ void stereoKernel(unsigned char *left, unsigned char *right, size_t i
|
||||
|
||||
|
||||
namespace cv { namespace gpu { namespace impl
|
||||
{
|
||||
template<int RADIUS> void kernel_caller(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp)
|
||||
{
|
||||
template<int RADIUS> void kernel_caller(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, const cudaStream_t & stream)
|
||||
{
|
||||
dim3 grid(1,1,1);
|
||||
dim3 threads(BLOCK_W, 1, 1);
|
||||
dim3 threads(BLOCK_W, 1, 1);
|
||||
|
||||
grid.x = divUp(left.cols - maxdisp - 2 * RADIUS, BLOCK_W);
|
||||
grid.y = divUp(left.rows - 2 * RADIUS, ROWSperTHREAD);
|
||||
|
||||
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
|
||||
size_t smem_size = (BLOCK_W + N_DISPARITIES * (BLOCK_W + 2 * RADIUS)) * sizeof(unsigned int);
|
||||
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
|
||||
size_t smem_size = (BLOCK_W + N_DISPARITIES * (BLOCK_W + 2 * RADIUS)) * sizeof(unsigned int);
|
||||
|
||||
if (stream == 0)
|
||||
{
|
||||
stereobm_gpu::stereoKernel<RADIUS><<<grid, threads, smem_size>>>(left.ptr, right.ptr, left.step, disp.ptr, disp.step, maxdisp);
|
||||
cudaSafeCall( cudaThreadSynchronize() );
|
||||
}
|
||||
else
|
||||
{
|
||||
stereobm_gpu::stereoKernel<RADIUS><<<grid, threads, smem_size, stream>>>(left.ptr, right.ptr, left.step, disp.ptr, disp.step, maxdisp);
|
||||
}
|
||||
|
||||
stereobm_gpu::stereoKernel<RADIUS><<<grid, threads, smem_size>>>(left.ptr, right.ptr, left.step, disp.ptr, disp.step, maxdisp);
|
||||
cudaSafeCall( cudaThreadSynchronize() );
|
||||
};
|
||||
|
||||
typedef void (*kernel_caller_t)(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp);
|
||||
typedef void (*kernel_caller_t)(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, const cudaStream_t & stream);
|
||||
|
||||
const static kernel_caller_t callers[] =
|
||||
{
|
||||
0,
|
||||
kernel_caller< 1>, kernel_caller< 2>, kernel_caller< 3>, kernel_caller< 4>, kernel_caller< 5>,
|
||||
kernel_caller< 6>, kernel_caller< 7>, kernel_caller< 8>, kernel_caller< 9>, kernel_caller<10>,
|
||||
kernel_caller<11>, kernel_caller<12>, kernel_caller<13>, kernel_caller<15>, kernel_caller<15>,
|
||||
kernel_caller<16>, kernel_caller<17>, kernel_caller<18>, kernel_caller<19>, kernel_caller<20>,
|
||||
0,
|
||||
kernel_caller< 1>, kernel_caller< 2>, kernel_caller< 3>, kernel_caller< 4>, kernel_caller< 5>,
|
||||
kernel_caller< 6>, kernel_caller< 7>, kernel_caller< 8>, kernel_caller< 9>, kernel_caller<10>,
|
||||
kernel_caller<11>, kernel_caller<12>, kernel_caller<13>, kernel_caller<15>, kernel_caller<15>,
|
||||
kernel_caller<16>, kernel_caller<17>, kernel_caller<18>, kernel_caller<19>, kernel_caller<20>,
|
||||
kernel_caller<21>, kernel_caller<22>, kernel_caller<23>, kernel_caller<24>, kernel_caller<25>
|
||||
|
||||
//0,0,0, 0,0,0, 0,0,kernel_caller<9>
|
||||
};
|
||||
const int calles_num = sizeof(callers)/sizeof(callers[0]);
|
||||
|
||||
extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, int winsz, const DevMem2D_<unsigned int>& minSSD_buf)
|
||||
{
|
||||
extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, int winsz, const DevMem2D_<unsigned int>& minSSD_buf, const cudaStream_t & stream)
|
||||
{
|
||||
int winsz2 = winsz >> 1;
|
||||
|
||||
if (winsz2 == 0 || winsz2 >= calles_num)
|
||||
cv::gpu::error("Unsupported window size", __FILE__, __LINE__);
|
||||
|
||||
//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferL1) );
|
||||
//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferShared) );
|
||||
//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferShared) );
|
||||
|
||||
cudaSafeCall( cudaMemset2D(disp.ptr, disp.step, 0, disp.cols, disp.rows) );
|
||||
cudaSafeCall( cudaMemset2D(minSSD_buf.ptr, minSSD_buf.step, 0xFF, minSSD_buf.cols * minSSD_buf.elemSize(), disp.rows) );
|
||||
cudaSafeCall( cudaMemset2D(minSSD_buf.ptr, minSSD_buf.step, 0xFF, minSSD_buf.cols * minSSD_buf.elemSize(), disp.rows) );
|
||||
|
||||
cudaSafeCall( cudaMemcpyToSymbol( stereobm_gpu::cwidth, &left.cols, sizeof(left.cols) ) );
|
||||
cudaSafeCall( cudaMemcpyToSymbol( stereobm_gpu::cheight, &left.rows, sizeof(left.rows) ) );
|
||||
@ -361,7 +369,7 @@ namespace cv { namespace gpu { namespace impl
|
||||
size_t minssd_step = minSSD_buf.step/minSSD_buf.elemSize();
|
||||
cudaSafeCall( cudaMemcpyToSymbol( stereobm_gpu::cminSSD_step, &minssd_step, sizeof(minssd_step) ) );
|
||||
|
||||
callers[winsz2](left, right, disp, maxdisp);
|
||||
callers[winsz2](left, right, disp, maxdisp, stream);
|
||||
}
|
||||
}}}
|
||||
|
||||
@ -381,7 +389,7 @@ extern "C" __global__ void prefilter_kernel(unsigned char *output, size_t step,
|
||||
|
||||
if (x < width && y < height)
|
||||
{
|
||||
int conv = (int)tex2D(texForSobel, x - 1, y - 1) * (-1) + (int)tex2D(texForSobel, x + 1, y - 1) * (1) +
|
||||
int conv = (int)tex2D(texForSobel, x - 1, y - 1) * (-1) + (int)tex2D(texForSobel, x + 1, y - 1) * (1) +
|
||||
(int)tex2D(texForSobel, x - 1, y ) * (-2) + (int)tex2D(texForSobel, x + 1, y ) * (2) +
|
||||
(int)tex2D(texForSobel, x - 1, y + 1) * (-1) + (int)tex2D(texForSobel, x + 1, y + 1) * (1);
|
||||
|
||||
@ -398,18 +406,18 @@ namespace cv { namespace gpu { namespace impl
|
||||
extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap)
|
||||
{
|
||||
cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
|
||||
cudaSafeCall( cudaBindTexture2D( 0, stereobm_gpu::texForSobel, input.ptr, desc, input.cols, input.rows, input.step ) );
|
||||
cudaSafeCall( cudaBindTexture2D( 0, stereobm_gpu::texForSobel, input.ptr, desc, input.cols, input.rows, input.step ) );
|
||||
|
||||
dim3 threads(16, 16, 1);
|
||||
dim3 grid(1, 1, 1);
|
||||
|
||||
grid.x = divUp(input.cols, threads.x);
|
||||
grid.y = divUp(input.rows, threads.y);
|
||||
grid.y = divUp(input.rows, threads.y);
|
||||
|
||||
stereobm_gpu::prefilter_kernel<<<grid, threads>>>(output.ptr, output.step, output.cols, output.rows, prefilterCap);
|
||||
cudaSafeCall( cudaThreadSynchronize() );
|
||||
|
||||
cudaSafeCall( cudaUnbindTexture (stereobm_gpu::texForSobel ) );
|
||||
cudaSafeCall( cudaUnbindTexture (stereobm_gpu::texForSobel ) );
|
||||
}
|
||||
|
||||
}}}
|
||||
@ -424,8 +432,8 @@ namespace stereobm_gpu
|
||||
texture<unsigned char, 2, cudaReadModeNormalizedFloat> texForTF;
|
||||
|
||||
__device__ float sobel(int x, int y)
|
||||
{
|
||||
float conv = tex2D(texForTF, x - 1, y - 1) * (-1) + tex2D(texForTF, x + 1, y - 1) * (1) +
|
||||
{
|
||||
float conv = tex2D(texForTF, x - 1, y - 1) * (-1) + tex2D(texForTF, x + 1, y - 1) * (1) +
|
||||
tex2D(texForTF, x - 1, y ) * (-2) + tex2D(texForTF, x + 1, y ) * (2) +
|
||||
tex2D(texForTF, x - 1, y + 1) * (-1) + tex2D(texForTF, x + 1, y + 1) * (1);
|
||||
return fabs(conv);
|
||||
@ -453,28 +461,28 @@ __device__ float CalcSums(float *cols, float *cols_cache, int winsz)
|
||||
return cols[0] + cache + cache2;
|
||||
}
|
||||
|
||||
#define RpT (2 * ROWSperTHREAD) // got experimentally
|
||||
#define RpT (2 * ROWSperTHREAD) // got experimentally
|
||||
|
||||
extern "C" __global__ void textureness_kernel(unsigned char *disp, size_t disp_step, int winsz, float threshold, int width, int height)
|
||||
{
|
||||
{
|
||||
int winsz2 = winsz/2;
|
||||
int n_dirty_pixels = (winsz2) * 2;
|
||||
|
||||
extern __shared__ float cols_cache[];
|
||||
float *cols = cols_cache + blockDim.x + threadIdx.x;
|
||||
float *cols_extra = threadIdx.x < n_dirty_pixels ? cols + blockDim.x : 0;
|
||||
float *cols = cols_cache + blockDim.x + threadIdx.x;
|
||||
float *cols_extra = threadIdx.x < n_dirty_pixels ? cols + blockDim.x : 0;
|
||||
|
||||
int x = blockIdx.x * blockDim.x + threadIdx.x;
|
||||
int x = blockIdx.x * blockDim.x + threadIdx.x;
|
||||
int beg_row = blockIdx.y * RpT;
|
||||
int end_row = min(beg_row + RpT, height);
|
||||
|
||||
if (x < width)
|
||||
{
|
||||
if (x < width)
|
||||
{
|
||||
int y = beg_row;
|
||||
|
||||
float sum = 0;
|
||||
float sum_extra = 0;
|
||||
|
||||
float sum = 0;
|
||||
float sum_extra = 0;
|
||||
|
||||
for(int i = y - winsz2; i <= y + winsz2; ++i)
|
||||
{
|
||||
sum += sobel(x - winsz2, i);
|
||||
@ -486,11 +494,11 @@ extern "C" __global__ void textureness_kernel(unsigned char *disp, size_t disp_s
|
||||
*cols_extra = sum_extra;
|
||||
|
||||
__syncthreads();
|
||||
|
||||
|
||||
float sum_win = CalcSums(cols, cols_cache + threadIdx.x, winsz) * 255;
|
||||
if (sum_win < threshold)
|
||||
disp[y * disp_step + x] = 0;
|
||||
|
||||
|
||||
__syncthreads();
|
||||
|
||||
for(int y = beg_row + 1; y < end_row; ++y)
|
||||
@ -505,12 +513,12 @@ extern "C" __global__ void textureness_kernel(unsigned char *disp, size_t disp_s
|
||||
}
|
||||
|
||||
__syncthreads();
|
||||
float sum_win = CalcSums(cols, cols_cache + threadIdx.x, winsz) * 255;
|
||||
float sum_win = CalcSums(cols, cols_cache + threadIdx.x, winsz) * 255;
|
||||
if (sum_win < threshold)
|
||||
disp[y * disp_step + x] = 0;
|
||||
|
||||
__syncthreads();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -521,21 +529,21 @@ namespace cv { namespace gpu { namespace impl
|
||||
{
|
||||
avgTexturenessThreshold *= winsz * winsz;
|
||||
|
||||
stereobm_gpu::texForTF.filterMode = cudaFilterModeLinear;
|
||||
stereobm_gpu::texForTF.filterMode = cudaFilterModeLinear;
|
||||
stereobm_gpu::texForTF.addressMode[0] = cudaAddressModeWrap;
|
||||
stereobm_gpu::texForTF.addressMode[1] = cudaAddressModeWrap;
|
||||
|
||||
|
||||
cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
|
||||
cudaSafeCall( cudaBindTexture2D( 0, stereobm_gpu::texForTF, input.ptr, desc, input.cols, input.rows, input.step ) );
|
||||
cudaSafeCall( cudaBindTexture2D( 0, stereobm_gpu::texForTF, input.ptr, desc, input.cols, input.rows, input.step ) );
|
||||
|
||||
dim3 threads(128, 1, 1);
|
||||
dim3 grid(1, 1, 1);
|
||||
|
||||
grid.x = divUp(input.cols, threads.x);
|
||||
grid.y = divUp(input.rows, RpT);
|
||||
|
||||
size_t smem_size = (threads.x + threads.x + (winsz/2) * 2 ) * sizeof(float);
|
||||
|
||||
grid.y = divUp(input.rows, RpT);
|
||||
|
||||
size_t smem_size = (threads.x + threads.x + (winsz/2) * 2 ) * sizeof(float);
|
||||
|
||||
stereobm_gpu::textureness_kernel<<<grid, threads, smem_size>>>(disp.ptr, disp.step, winsz, avgTexturenessThreshold, disp.cols, disp.rows);
|
||||
cudaSafeCall( cudaThreadSynchronize() );
|
||||
|
||||
|
||||
@ -46,25 +46,26 @@
|
||||
#pragma warning( disable: 4251 4710 4711 4514 4996 )
|
||||
#endif
|
||||
|
||||
#ifdef HAVE_CONFIG_H
|
||||
#include <cvconfig.h>
|
||||
#ifdef HAVE_CONFIG_H
|
||||
#include <cvconfig.h>
|
||||
#endif
|
||||
|
||||
#include <iostream>
|
||||
#include <limits>
|
||||
|
||||
#include "opencv2/gpu/gpu.hpp"
|
||||
#include "opencv2/gpu/stream_accessor.hpp"
|
||||
|
||||
|
||||
#if defined(HAVE_CUDA)
|
||||
|
||||
#include "cuda_shared.hpp"
|
||||
#include "cuda_runtime_api.h"
|
||||
#include "cuda_runtime_api.h"
|
||||
|
||||
#else /* defined(HAVE_CUDA) */
|
||||
|
||||
static inline void throw_nogpu() { CV_Error(CV_GpuNotFound, "The library is compilled with no GPU support"); }
|
||||
|
||||
|
||||
#endif /* defined(HAVE_CUDA) */
|
||||
|
||||
#endif /* __OPENCV_PRECOMP_H__ */
|
||||
#endif /* __OPENCV_PRECOMP_H__ */
|
||||
|
||||
@ -56,25 +56,26 @@ void cv::gpu::StereoBM_GPU::operator() ( const GpuMat&, const GpuMat&, GpuMat&,
|
||||
|
||||
#else /* !defined (HAVE_CUDA) */
|
||||
|
||||
namespace cv { namespace gpu
|
||||
{
|
||||
namespace impl
|
||||
namespace cv { namespace gpu
|
||||
{
|
||||
namespace impl
|
||||
{
|
||||
extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int ndisp, int winsz, const DevMem2D_<uint>& minSSD_buf);
|
||||
//extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int ndisp, int winsz, const DevMem2D_<uint>& minSSD_buf);
|
||||
extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int ndisp, int winsz, const DevMem2D_<uint>& minSSD_buf, const cudaStream_t & stream);
|
||||
extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap = 31);
|
||||
extern "C" void postfilter_textureness(const DevMem2D& input, int winsz, float avergeTexThreshold, const DevMem2D& disp);
|
||||
}
|
||||
}}
|
||||
|
||||
const float defaultAvgTexThreshold = 3;
|
||||
|
||||
cv::gpu::StereoBM_GPU::StereoBM_GPU()
|
||||
|
||||
cv::gpu::StereoBM_GPU::StereoBM_GPU()
|
||||
: preset(BASIC_PRESET), ndisp(DEFAULT_NDISP), winSize(DEFAULT_WINSZ), avergeTexThreshold(defaultAvgTexThreshold) {}
|
||||
|
||||
cv::gpu::StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_, int winSize_)
|
||||
cv::gpu::StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_, int winSize_)
|
||||
: preset(preset_), ndisp(ndisparities_), winSize(winSize_), avergeTexThreshold(defaultAvgTexThreshold)
|
||||
{
|
||||
const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
|
||||
const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
|
||||
CV_Assert(0 < ndisp && ndisp <= max_supported_ndisp);
|
||||
CV_Assert(ndisp % 8 == 0);
|
||||
CV_Assert(winSize % 2 == 1);
|
||||
@ -92,12 +93,12 @@ bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable()
|
||||
int numSM = getNumberOfSMs(device);
|
||||
|
||||
if (major > 1 || numSM > 16)
|
||||
return true;
|
||||
|
||||
return true;
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity)
|
||||
|
||||
void stereo_gpu_operator ( GpuMat& minSSD, GpuMat& leBuf, GpuMat& riBuf, int preset, int ndisp, int winSize, float avergeTexThreshold, const GpuMat& left, const GpuMat& right, GpuMat& disparity, const cudaStream_t & stream)
|
||||
{
|
||||
CV_DbgAssert(left.rows == right.rows && left.cols == right.cols);
|
||||
CV_DbgAssert(left.type() == CV_8UC1);
|
||||
@ -109,26 +110,33 @@ void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right
|
||||
GpuMat le_for_bm = left;
|
||||
GpuMat ri_for_bm = right;
|
||||
|
||||
if (preset == PREFILTER_XSOBEL)
|
||||
if (preset == StereoBM_GPU::PREFILTER_XSOBEL)
|
||||
{
|
||||
leBuf.create( left.size(), left.type());
|
||||
riBuf.create(right.size(), right.type());
|
||||
|
||||
impl::prefilter_xsobel( left, leBuf);
|
||||
impl::prefilter_xsobel(right, riBuf);
|
||||
impl::prefilter_xsobel(right, riBuf);
|
||||
|
||||
le_for_bm = leBuf;
|
||||
ri_for_bm = riBuf;
|
||||
}
|
||||
impl::stereoBM_GPU(le_for_bm, ri_for_bm, disparity, ndisp, winSize, minSSD);
|
||||
}
|
||||
|
||||
impl::stereoBM_GPU(le_for_bm, ri_for_bm, disparity, ndisp, winSize, minSSD, stream);
|
||||
|
||||
if (avergeTexThreshold)
|
||||
impl::postfilter_textureness(le_for_bm, winSize, avergeTexThreshold, disparity);
|
||||
}
|
||||
|
||||
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, const CudaStream& stream)
|
||||
|
||||
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity)
|
||||
{
|
||||
CV_Assert(!"Not implemented");
|
||||
::stereo_gpu_operator(minSSD, leBuf, riBuf, preset, ndisp, winSize, avergeTexThreshold, left, right, disparity, 0);
|
||||
}
|
||||
|
||||
#endif /* !defined (HAVE_CUDA) */
|
||||
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, const CudaStream& stream)
|
||||
{
|
||||
::stereo_gpu_operator(minSSD, leBuf, riBuf, preset, ndisp, winSize, avergeTexThreshold, left, right, disparity, StreamAccessor::getStream(stream));
|
||||
}
|
||||
|
||||
#endif /* !defined (HAVE_CUDA) */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user