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This commit is contained in:
Anatoly Baksheev 2012-03-31 20:01:18 +00:00
parent eecda6d308
commit d2bc0065a6
1 changed files with 10 additions and 12 deletions
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22
modules/gpu/src/cuda/stereocsbp.cu
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@ -644,8 +644,8 @@ namespace cv { namespace gpu { namespace device
{
const T* u_cur = u_cur_ + ::min(h2-1, y/2 + 1) * cmsg_step2 + x/2;
const T* d_cur = d_cur_ + ::max(0, y/2 - 1) * cmsg_step2 + x/2;
const T* l_cur = l_cur_ + y/2 * cmsg_step2 + ::min(w2-1, x/2 + 1);
const T* r_cur = r_cur_ + y/2 * cmsg_step2 + ::max(0, x/2 - 1);
const T* l_cur = l_cur_ + (y/2) * cmsg_step2 + ::min(w2-1, x/2 + 1);
const T* r_cur = r_cur_ + (y/2) * cmsg_step2 + ::max(0, x/2 - 1);
T* data_cost_new = (T*)ctemp + y * cmsg_step1 + x;
@ -731,7 +731,7 @@ namespace cv { namespace gpu { namespace device
template <typename T>
__device__ void message_per_pixel(const T* data, T* msg_dst, const T* msg1, const T* msg2, const T* msg3,
const T* dst_disp, const T* src_disp, int nr_plane, T* temp)
const T* dst_disp, const T* src_disp, int nr_plane, volatile T* temp)
{
T minimum = numeric_limits<T>::max();
@ -808,11 +808,10 @@ namespace cv { namespace gpu { namespace device
for(int t = 0; t < iters; ++t)
{
compute_message<<<grid, threads, 0, stream>>>(u, d, l, r, data_cost_selected, selected_disp_pyr_cur, h, w, nr_plane, t & 1);
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
cudaSafeCall( cudaGetLastError() );
}
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
};
template void calc_all_iterations(short* u, short* d, short* l, short* r, const short* data_cost_selected, const short* selected_disp_pyr_cur, size_t msg_step,
@ -830,12 +829,12 @@ namespace cv { namespace gpu { namespace device
template <typename T>
__global__ void compute_disp(const T* u_, const T* d_, const T* l_, const T* r_,
const T* data_cost_selected, const T* disp_selected_pyr,
short* disp, size_t res_step, int cols, int rows, int nr_plane)
PtrStepSz<short> disp, int nr_plane)
{
int x = blockIdx.x * blockDim.x + threadIdx.x;
int y = blockIdx.y * blockDim.y + threadIdx.y;
if (y > 0 && y < rows - 1 && x > 0 && x < cols - 1)
if (y > 0 && y < disp.rows - 1 && x > 0 && x < disp.cols - 1)
{
const T* data = data_cost_selected + y * cmsg_step1 + x;
const T* disp_selected = disp_selected_pyr + y * cmsg_step1 + x;
@ -858,7 +857,7 @@ namespace cv { namespace gpu { namespace device
best = saturate_cast<short>(disp_selected[idx]);
}
}
disp[res_step * y + x] = best;
disp(y, x) = best;
}
}
@ -876,8 +875,7 @@ namespace cv { namespace gpu { namespace device
grid.x = divUp(disp.cols, threads.x);
grid.y = divUp(disp.rows, threads.y);
compute_disp<<<grid, threads, 0, stream>>>(u, d, l, r, data_cost_selected, disp_selected,
disp.data, disp.step / disp.elemSize(), disp.cols, disp.rows, nr_plane);
compute_disp<<<grid, threads, 0, stream>>>(u, d, l, r, data_cost_selected, disp_selected, disp, nr_plane);
cudaSafeCall( cudaGetLastError() );
if (stream == 0)