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fixed gpu::filter2D border interpolation for CV_32FC1 type

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added additional tests for gpu filters
fixed gpu features2D tests
This commit is contained in:
Vladislav Vinogradov
2012-03-21 14:38:23 +00:00
parent c1a6cb6221
commit 059cef57e6
16 changed files with 1730 additions and 1515 deletions
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103
modules/gpu/src/cuda/imgproc.cu
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@@ -46,16 +46,16 @@
#include "opencv2/gpu/device/saturate_cast.hpp"
#include "opencv2/gpu/device/border_interpolate.hpp"
namespace cv { namespace gpu { namespace device
namespace cv { namespace gpu { namespace device
{
namespace imgproc
namespace imgproc
{
/////////////////////////////////// MeanShiftfiltering ///////////////////////////////////////////////
texture<uchar4, 2> tex_meanshift;
__device__ short2 do_mean_shift(int x0, int y0, unsigned char* out,
size_t out_step, int cols, int rows,
__device__ short2 do_mean_shift(int x0, int y0, unsigned char* out,
size_t out_step, int cols, int rows,
int sp, int sr, int maxIter, float eps)
{
int isr2 = sr*sr;
@@ -78,7 +78,7 @@ namespace cv { namespace gpu { namespace device
{
int rowCount = 0;
for( int x = minx; x <= maxx; x++ )
{
{
uchar4 t = tex2D( tex_meanshift, x, y );
int norm2 = (t.x - c.x) * (t.x - c.x) + (t.y - c.y) * (t.y - c.y) + (t.z - c.z) * (t.z - c.z);
@@ -128,16 +128,16 @@ namespace cv { namespace gpu { namespace device
do_mean_shift(x0, y0, out, out_step, cols, rows, sp, sr, maxIter, eps);
}
__global__ void meanshiftproc_kernel(unsigned char* outr, size_t outrstep,
unsigned char* outsp, size_t outspstep,
int cols, int rows,
__global__ void meanshiftproc_kernel(unsigned char* outr, size_t outrstep,
unsigned char* outsp, size_t outspstep,
int cols, int rows,
int sp, int sr, int maxIter, float eps)
{
int x0 = blockIdx.x * blockDim.x + threadIdx.x;
int y0 = blockIdx.y * blockDim.y + threadIdx.y;
if( x0 < cols && y0 < rows )
{
{
int basesp = (blockIdx.y * blockDim.y + threadIdx.y) * outspstep + (blockIdx.x * blockDim.x + threadIdx.x) * 2 * sizeof(short);
*(short2*)(outsp + basesp) = do_mean_shift(x0, y0, outr, outrstep, cols, rows, sp, sr, maxIter, eps);
}
@@ -159,10 +159,10 @@ namespace cv { namespace gpu { namespace device
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
//cudaSafeCall( cudaUnbindTexture( tex_meanshift ) );
//cudaSafeCall( cudaUnbindTexture( tex_meanshift ) );
}
void meanShiftProc_gpu(const DevMem2Db& src, DevMem2Db dstr, DevMem2Db dstsp, int sp, int sr, int maxIter, float eps, cudaStream_t stream)
void meanShiftProc_gpu(const DevMem2Db& src, DevMem2Db dstr, DevMem2Db dstsp, int sp, int sr, int maxIter, float eps, cudaStream_t stream)
{
dim3 grid(1, 1, 1);
dim3 threads(32, 8, 1);
@@ -178,14 +178,14 @@ namespace cv { namespace gpu { namespace device
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
//cudaSafeCall( cudaUnbindTexture( tex_meanshift ) );
//cudaSafeCall( cudaUnbindTexture( tex_meanshift ) );
}
/////////////////////////////////// drawColorDisp ///////////////////////////////////////////////
template <typename T>
__device__ unsigned int cvtPixel(T d, int ndisp, float S = 1, float V = 1)
{
{
unsigned int H = ((ndisp-d) * 240)/ndisp;
unsigned int hi = (H/60) % 6;
@@ -195,7 +195,7 @@ namespace cv { namespace gpu { namespace device
float t = V * (1 - (1 - f) * S);
float3 res;
if (hi == 0) //R = V, G = t, B = p
{
res.x = p;
@@ -208,15 +208,15 @@ namespace cv { namespace gpu { namespace device
res.x = p;
res.y = V;
res.z = q;
}
}
if (hi == 2) // R = p, G = V, B = t
{
res.x = t;
res.y = V;
res.z = p;
}
if (hi == 3) // R = p, G = q, B = V
{
res.x = V;
@@ -242,15 +242,15 @@ namespace cv { namespace gpu { namespace device
const unsigned int r = (unsigned int)(::max(0.f, ::min(res.z, 1.f)) * 255.f);
const unsigned int a = 255U;
return (a << 24) + (r << 16) + (g << 8) + b;
}
return (a << 24) + (r << 16) + (g << 8) + b;
}
__global__ void drawColorDisp(uchar* 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) << 2;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if(x < width && y < height)
if(x < width && y < height)
{
uchar4 d4 = *(uchar4*)(disp + y * disp_step + x);
@@ -259,7 +259,7 @@ namespace cv { namespace gpu { namespace device
res.y = cvtPixel(d4.y, ndisp);
res.z = cvtPixel(d4.z, ndisp);
res.w = cvtPixel(d4.w, ndisp);
uint4* line = (uint4*)(out_image + y * out_step);
line[x >> 2] = res;
}
@@ -270,12 +270,12 @@ namespace cv { namespace gpu { namespace device
const int x = (blockIdx.x * blockDim.x + threadIdx.x) << 1;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if(x < width && y < height)
if(x < width && y < height)
{
short2 d2 = *(short2*)(disp + y * disp_step + x);
uint2 res;
res.x = cvtPixel(d2.x, ndisp);
res.x = cvtPixel(d2.x, ndisp);
res.y = cvtPixel(d2.y, ndisp);
uint2* line = (uint2*)(out_image + y * out_step);
@@ -290,12 +290,12 @@ namespace cv { namespace gpu { namespace device
dim3 grid(1, 1, 1);
grid.x = divUp(src.cols, threads.x << 2);
grid.y = divUp(src.rows, threads.y);
drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step, dst.data, dst.step, src.cols, src.rows, ndisp);
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
cudaSafeCall( cudaDeviceSynchronize() );
}
void drawColorDisp_gpu(const DevMem2D_<short>& src, const DevMem2Db& dst, int ndisp, const cudaStream_t& stream)
@@ -304,10 +304,10 @@ namespace cv { namespace gpu { namespace device
dim3 grid(1, 1, 1);
grid.x = divUp(src.cols, threads.x << 1);
grid.y = divUp(src.rows, threads.y);
drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step / sizeof(short), dst.data, dst.step, src.cols, src.rows, ndisp);
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
@@ -318,7 +318,7 @@ namespace cv { namespace gpu { namespace device
template <typename T>
__global__ void reprojectImageTo3D(const T* disp, size_t disp_step, float* xyzw, size_t xyzw_step, int rows, int cols)
{
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
@@ -328,7 +328,7 @@ namespace cv { namespace gpu { namespace device
float qx = cq[1] * y + cq[3], qy = cq[5] * y + cq[7];
float qz = cq[9] * y + cq[11], qw = cq[13] * y + cq[15];
qx += x * cq[0];
qx += x * cq[0];
qy += x * cq[4];
qz += x * cq[8];
qw += x * cq[12];
@@ -457,7 +457,7 @@ namespace cv { namespace gpu { namespace device
bindTexture(&harrisDxTex, Dx);
bindTexture(&harrisDyTex, Dy);
switch (border_type)
switch (border_type)
{
case BORDER_REFLECT101_GPU:
cornerHarris_kernel<<<grid, block, 0, stream>>>(block_size, k, dst, BrdRowReflect101<void>(Dx.cols), BrdColReflect101<void>(Dx.rows));
@@ -565,7 +565,7 @@ namespace cv { namespace gpu { namespace device
{
dim3 block(32, 8);
dim3 grid(divUp(Dx.cols, block.x), divUp(Dx.rows, block.y));
bindTexture(&minEigenValDxTex, Dx);
bindTexture(&minEigenValDyTex, Dy);
@@ -630,10 +630,10 @@ namespace cv { namespace gpu { namespace device
__global__ void mulSpectrumsKernel(const PtrStep<cufftComplex> a, const PtrStep<cufftComplex> b, DevMem2D_<cufftComplex> c)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if (x < c.cols && y < c.rows)
if (x < c.cols && y < c.rows)
{
c.ptr(y)[x] = cuCmulf(a.ptr(y)[x], b.ptr(y)[x]);
}
@@ -658,10 +658,10 @@ namespace cv { namespace gpu { namespace device
__global__ void mulSpectrumsKernel_CONJ(const PtrStep<cufftComplex> a, const PtrStep<cufftComplex> b, DevMem2D_<cufftComplex> c)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if (x < c.cols && y < c.rows)
if (x < c.cols && y < c.rows)
{
c.ptr(y)[x] = cuCmulf(a.ptr(y)[x], cuConjf(b.ptr(y)[x]));
}
@@ -689,7 +689,7 @@ namespace cv { namespace gpu { namespace device
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if (x < c.cols && y < c.rows)
if (x < c.cols && y < c.rows)
{
cufftComplex v = cuCmulf(a.ptr(y)[x], b.ptr(y)[x]);
c.ptr(y)[x] = make_cuFloatComplex(cuCrealf(v) * scale, cuCimagf(v) * scale);
@@ -718,7 +718,7 @@ namespace cv { namespace gpu { namespace device
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if (x < c.cols && y < c.rows)
if (x < c.cols && y < c.rows)
{
cufftComplex v = cuCmulf(a.ptr(y)[x], cuConjf(b.ptr(y)[x]));
c.ptr(y)[x] = make_cuFloatComplex(cuCrealf(v) * scale, cuCimagf(v) * scale);
@@ -736,7 +736,7 @@ namespace cv { namespace gpu { namespace device
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
}
//////////////////////////////////////////////////////////////////////////
// buildWarpMaps
@@ -842,7 +842,7 @@ namespace cv { namespace gpu { namespace device
void buildWarpPlaneMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float k_rinv[9], const float r_kinv[9], const float t[3],
const float k_rinv[9], const float r_kinv[9], const float t[3],
float scale, cudaStream_t stream)
{
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
@@ -911,27 +911,28 @@ namespace cv { namespace gpu { namespace device
__constant__ float c_filter2DKernel[FILTER2D_MAX_KERNEL_SIZE * FILTER2D_MAX_KERNEL_SIZE];
texture<float, cudaTextureType2D, cudaReadModeElementType> filter2DTex(0, cudaFilterModePoint, cudaAddressModeBorder);
texture<float, cudaTextureType2D, cudaReadModeElementType> filter2DTex(0, cudaFilterModePoint, cudaAddressModeClamp);
__global__ void filter2D(int ofsX, int ofsY, DevMem2Df dst, const int kWidth, const int kHeight, const int anchorX, const int anchorY)
__global__ void filter2D(int ofsX, int ofsY, PtrStepf dst, const int kWidth, const int kHeight, const int anchorX, const int anchorY, const BrdReflect101<float> brd)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
if (x >= dst.cols || y >= dst.rows)
if (x > brd.last_col || y > brd.last_row)
return;
float res = 0;
const int baseX = ofsX + x - anchorX;
const int baseY = ofsY + y - anchorY;
int kInd = 0;
for (int i = 0; i < kHeight; ++i)
{
for (int j = 0; j < kWidth; ++j)
res += tex2D(filter2DTex, baseX + j, baseY + i) * c_filter2DKernel[kInd++];
{
const int srcX = ofsX + brd.idx_col(x - anchorX + j);
const int srcY = ofsY + brd.idx_row(y - anchorY + i);
res += tex2D(filter2DTex, srcX, srcY) * c_filter2DKernel[kInd++];
}
}
dst.ptr(y)[x] = res;
@@ -946,7 +947,9 @@ namespace cv { namespace gpu { namespace device
bindTexture(&filter2DTex, src);
filter2D<<<grid, block, 0, stream>>>(ofsX, ofsY, dst, kWidth, kHeight, anchorX, anchorY);
BrdReflect101<float> brd(dst.rows, dst.cols);
filter2D<<<grid, block, 0, stream>>>(ofsX, ofsY, dst, kWidth, kHeight, anchorX, anchorY, brd);
cudaSafeCall(cudaGetLastError());
if (stream == 0)