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cudastereo: drawColorDisp: enabled CV_32S and CV_32F disparity formats

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This commit is contained in:
Rok Mandeljc 2015-03-24 18:10:22 +01:00 committed by Rok Mandeljc
parent 9f82ac18d4
commit bf5e930468
2 changed files with 55 additions and 2 deletions
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51
modules/cudastereo/src/cuda/util.cu
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@ -205,6 +205,29 @@ namespace cv { namespace cuda { namespace device
}
}
__global__ void drawColorDisp(int* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if(x < width && y < height)
{
uint *line = (uint*)(out_image + y * out_step);
line[x] = cvtPixel(disp[y*disp_step + x], ndisp);
}
}
__global__ void drawColorDisp(float* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if(x < width && y < height)
{
uint *line = (uint*)(out_image + y * out_step);
line[x] = cvtPixel(disp[y*disp_step + x], ndisp);
}
}
void drawColorDisp_gpu(const PtrStepSzb& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream)
{
@ -233,6 +256,34 @@ namespace cv { namespace cuda { namespace device
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
void drawColorDisp_gpu(const PtrStepSz<int>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(src.cols, threads.x);
grid.y = divUp(src.rows, threads.y);
drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step / sizeof(int), dst.data, dst.step, src.cols, src.rows, ndisp);
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
void drawColorDisp_gpu(const PtrStepSz<float>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(src.cols, threads.x);
grid.y = divUp(src.rows, threads.y);
drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step / sizeof(float), dst.data, dst.step, src.cols, src.rows, ndisp);
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
}}} // namespace cv { namespace cuda { namespace cudev

6
modules/cudastereo/src/util.cpp
View File

@ -92,6 +92,8 @@ namespace cv { namespace cuda { namespace device
{
void drawColorDisp_gpu(const PtrStepSzb& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
void drawColorDisp_gpu(const PtrStepSz<short>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
void drawColorDisp_gpu(const PtrStepSz<int>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
void drawColorDisp_gpu(const PtrStepSz<float>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
}}}
namespace
@ -111,11 +113,11 @@ namespace
void cv::cuda::drawColorDisp(InputArray _src, OutputArray dst, int ndisp, Stream& stream)
{
typedef void (*drawColorDisp_caller_t)(const GpuMat& src, OutputArray dst, int ndisp, const cudaStream_t& stream);
const drawColorDisp_caller_t drawColorDisp_callers[] = {drawColorDisp_caller<unsigned char>, 0, 0, drawColorDisp_caller<short>, 0, 0, 0, 0};
const drawColorDisp_caller_t drawColorDisp_callers[] = {drawColorDisp_caller<unsigned char>, 0, 0, drawColorDisp_caller<short>, drawColorDisp_caller<int>, drawColorDisp_caller<float>, 0, 0};
GpuMat src = _src.getGpuMat();
CV_Assert( src.type() == CV_8U || src.type() == CV_16S );
CV_Assert( src.type() == CV_8U || src.type() == CV_16S || src.type() == CV_32S || src.type() == CV_32F );
drawColorDisp_callers[src.type()](src, dst, ndisp, StreamAccessor::getStream(stream));
}