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added async version of postfilter_textureness and prefilter_xsobel, modified async test and added test for async version of stereobm

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This commit is contained in:
Andrey Morozov 2010-09-08 15:13:23 +00:00
parent 31dbefc865
commit 1feb5b4d02
4 changed files with 126 additions and 14 deletions
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27
modules/gpu/src/cuda/stereobm.cu
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@ -410,7 +410,7 @@ extern "C" __global__ void prefilter_kernel(unsigned char *output, size_t step,
namespace cv { namespace gpu { namespace bm
{
extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap)
extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap, const cudaStream_t & stream)
{
cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
cudaSafeCall( cudaBindTexture2D( 0, stereobm_gpu::texForSobel, input.ptr, desc, input.cols, input.rows, input.step ) );
@ -421,10 +421,18 @@ namespace cv { namespace gpu { namespace bm
grid.x = divUp(input.cols, threads.x);
grid.y = divUp(input.rows, threads.y);
stereobm_gpu::prefilter_kernel<<<grid, threads>>>(output.ptr, output.step, output.cols, output.rows, prefilterCap);
cudaSafeCall( cudaThreadSynchronize() );
if (stream == 0)
{
stereobm_gpu::prefilter_kernel<<<grid, threads>>>(output.ptr, output.step, output.cols, output.rows, prefilterCap);
cudaSafeCall( cudaThreadSynchronize() );
}
else
{
stereobm_gpu::prefilter_kernel<<<grid, threads, 0, stream>>>(output.ptr, output.step, output.cols, output.rows, prefilterCap);
}
cudaSafeCall( cudaUnbindTexture (stereobm_gpu::texForSobel ) );
}
}}}
@ -532,7 +540,7 @@ extern "C" __global__ void textureness_kernel(unsigned char *disp, size_t disp_s
namespace cv { namespace gpu { namespace bm
{
extern "C" void postfilter_textureness(const DevMem2D& input, int winsz, float avgTexturenessThreshold, const DevMem2D& disp)
extern "C" void postfilter_textureness(const DevMem2D& input, int winsz, float avgTexturenessThreshold, const DevMem2D& disp, const cudaStream_t & stream)
{
avgTexturenessThreshold *= winsz * winsz;
@ -551,8 +559,15 @@ namespace cv { namespace gpu { namespace bm
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() );
if (stream == 0)
{
stereobm_gpu::textureness_kernel<<<grid, threads, smem_size>>>(disp.ptr, disp.step, winsz, avgTexturenessThreshold, disp.cols, disp.rows);
cudaSafeCall( cudaThreadSynchronize() );
}
else
{
stereobm_gpu::textureness_kernel<<<grid, threads, smem_size, stream>>>(disp.ptr, disp.step, winsz, avgTexturenessThreshold, disp.cols, disp.rows);
}
cudaSafeCall( cudaUnbindTexture (stereobm_gpu::texForTF) );
}

10
modules/gpu/src/stereobm_gpu.cpp
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@ -62,8 +62,8 @@ namespace cv { namespace gpu
{
//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);
extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap /*= 31*/, const cudaStream_t & stream);
extern "C" void postfilter_textureness(const DevMem2D& input, int winsz, float avgTexturenessThreshold, const DevMem2D& disp, const cudaStream_t & stream);
}
}}
@ -115,8 +115,8 @@ static void stereo_bm_gpu_operator ( GpuMat& minSSD, GpuMat& leBuf, GpuMat& ri
leBuf.create( left.size(), left.type());
riBuf.create(right.size(), right.type());
bm::prefilter_xsobel( left, leBuf);
bm::prefilter_xsobel(right, riBuf);
bm::prefilter_xsobel( left, leBuf, 31, stream);
bm::prefilter_xsobel(right, riBuf, 31, stream);
le_for_bm = leBuf;
ri_for_bm = riBuf;
@ -125,7 +125,7 @@ static void stereo_bm_gpu_operator ( GpuMat& minSSD, GpuMat& leBuf, GpuMat& ri
bm::stereoBM_GPU(le_for_bm, ri_for_bm, disparity, ndisp, winSize, minSSD, stream);
if (avergeTexThreshold)
bm::postfilter_textureness(le_for_bm, winSize, avergeTexThreshold, disparity);
bm::postfilter_textureness(le_for_bm, winSize, avergeTexThreshold, disparity, stream);
}

6
tests/gpu/src/operator_async_call.cpp
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@ -99,9 +99,9 @@ bool CV_GpuMatAsyncCallTest::compare_matrix(cv::Mat & cpumat)
//int64 time = getTickCount();
Stream stream;
stream.enqueueCopy(gmat0, gmat1);
stream.enqueueCopy(gmat0, gmat2);
stream.enqueueCopy(gmat0, gmat3);
stream.enqueueMemSet(gmat0, cv::Scalar::all(1), gmat1);
stream.enqueueMemSet(gmat0, cv::Scalar::all(1), gmat2);
stream.enqueueMemSet(gmat0, cv::Scalar::all(1), gmat3);
stream.waitForCompletion();
//int64 time1 = getTickCount();

97
tests/gpu/src/stereo_bm_async.cpp Normal file
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@ -0,0 +1,97 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "gputest.hpp"
#include "highgui.h"
#include "cv.h"
using namespace cv;
using namespace std;
class CV_GpuMatAsyncCallStereoBMTest : public CvTest
{
public:
CV_GpuMatAsyncCallStereoBMTest();
~CV_GpuMatAsyncCallStereoBMTest();
protected:
void run(int);
};
CV_GpuMatAsyncCallStereoBMTest::CV_GpuMatAsyncCallStereoBMTest(): CvTest( "GPU-MatAsyncCallStereoBM", "asyncStereoBM" )
{}
CV_GpuMatAsyncCallStereoBMTest::~CV_GpuMatAsyncCallStereoBMTest() {}
void CV_GpuMatAsyncCallStereoBMTest::run( int /* start_from */)
{
cv::Mat img_l = cv::imread(std::string(ts->get_data_path()) + "stereobm/aloe-L.png", 0);
cv::Mat img_r = cv::imread(std::string(ts->get_data_path()) + "stereobm/aloe-R.png", 0);
cv::Mat img_reference = cv::imread(std::string(ts->get_data_path()) + "stereobm/aloe-disp.png", 0);
if (img_l.empty() || img_r.empty() || img_reference.empty())
{
ts->set_failed_test_info(CvTS::FAIL_MISSING_TEST_DATA);
return;
}
cv::gpu::GpuMat disp;
cv::gpu::StereoBM_GPU bm(0, 128, 19);
cv::gpu::Stream stream;
for (size_t i = 0; i < 50; i++)
{
bm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), disp, stream);
}
stream.waitForCompletion();
disp.convertTo(disp, img_reference.type());
double norm = cv::norm(disp, img_reference, cv::NORM_INF);
if (norm >= 100)
ts->printf(CvTS::CONSOLE, "\nStereoBM norm = %f\n", norm);
ts->set_failed_test_info((norm < 100) ? CvTS::OK : CvTS::FAIL_GENERIC);
}
CV_GpuMatAsyncCallStereoBMTest CV_GpuMatAsyncCallStereoBMTest_test;