Variable winSize for StereoBP_GPU
Fixed StereoBM_GPU kernel crash Textureness threshold added
This commit is contained in:
Anatoly Baksheev
parent
26c4859634
commit
17f7b12a83
@ -335,6 +335,7 @@ namespace cv
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//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size
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//! ndisparities should be multiple of 8. SSD WindowsSize is fixed to 19 now
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StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ);
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//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
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//! Output disparity has CV_8U type.
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void operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity);
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@ -350,9 +351,14 @@ namespace cv
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int ndisp;
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int winSize;
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int preset;
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// If avergeTexThreshold == 0 => post procesing is disabled
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// If avergeTexThreshold != 0 then disparity is set 0 in each point (x,y) where for left image
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// SumOfHorizontalGradiensInWindow(x, y, winSize) < (winSize * winSize) * avergeTexThreshold
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// i.e. input left image is low textured.
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float avergeTexThreshold;
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private:
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GpuMat minSSD, leBuf, riBuf;
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};
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}
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}
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@ -80,7 +80,7 @@ namespace cv
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static inline void ___cudaSafeCall(cudaError_t err, const char *file, const int line, const char *func = "")
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{
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if( cudaSuccess != err)
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cv::gpu::error(cudaGetErrorString(err), __FILE__, __LINE__, func);
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cv::gpu::error(cudaGetErrorString(err), file, line, func);
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}
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#endif /* __OPENCV_CUDA_SHARED_HPP__ */
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@ -42,21 +42,22 @@
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#include "cuda_shared.hpp"
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using namespace cv::gpu;
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//////////////////////////////////////////////////////////////////////////////////////////////////
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/////////////////////////////////////// Streeo BM ////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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#define ROWSperTHREAD 21 // the number of rows a thread will process
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namespace stereobm_gpu
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{
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#define BLOCK_W 128 // the thread block width (464)
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#define N_DISPARITIES 8
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#define STEREO_MIND 0 // The minimum d range to check
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#define STEREO_DISP_STEP N_DISPARITIES // the d step, must be <= 1 to avoid aliasing
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#define RADIUS 9 // Kernel Radius 5V & 5H = 11x11 kernel
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#define WINSZ (2 * RADIUS + 1)
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#define N_DIRTY_PIXELS (2 * RADIUS)
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#define COL_SSD_SIZE (BLOCK_W + N_DIRTY_PIXELS)
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#define SHARED_MEM_SIZE (COL_SSD_SIZE) // amount of shared memory used
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namespace stereobm_gpu
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{
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__constant__ unsigned int* cminSSDImage;
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__constant__ size_t cminSSD_step;
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@ -68,6 +69,7 @@ __device__ int SQ(int a)
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return a * a;
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}
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template<int RADIUS>
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__device__ unsigned int CalcSSD(unsigned int *col_ssd_cache, unsigned int *col_ssd)
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{
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unsigned int cache = 0;
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@ -83,24 +85,26 @@ __device__ unsigned int CalcSSD(unsigned int *col_ssd_cache, unsigned int *col_s
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if (threadIdx.x < BLOCK_W - RADIUS)
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cache2 = col_ssd_cache[RADIUS];
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else
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for(int i = RADIUS + 1; i < WINSZ; i++)
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for(int i = RADIUS + 1; i < (2 * RADIUS + 1); i++)
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cache2 += col_ssd[i];
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return col_ssd[0] + cache + cache2;
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}
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template<int RADIUS>
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__device__ uint2 MinSSD(unsigned int *col_ssd_cache, unsigned int *col_ssd)
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{
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unsigned int ssd[N_DISPARITIES];
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ssd[0] = CalcSSD(col_ssd_cache, col_ssd + 0 * SHARED_MEM_SIZE);
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ssd[1] = CalcSSD(col_ssd_cache, col_ssd + 1 * SHARED_MEM_SIZE);
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ssd[2] = CalcSSD(col_ssd_cache, col_ssd + 2 * SHARED_MEM_SIZE);
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ssd[3] = CalcSSD(col_ssd_cache, col_ssd + 3 * SHARED_MEM_SIZE);
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ssd[4] = CalcSSD(col_ssd_cache, col_ssd + 4 * SHARED_MEM_SIZE);
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ssd[5] = CalcSSD(col_ssd_cache, col_ssd + 5 * SHARED_MEM_SIZE);
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ssd[6] = CalcSSD(col_ssd_cache, col_ssd + 6 * SHARED_MEM_SIZE);
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ssd[7] = CalcSSD(col_ssd_cache, col_ssd + 7 * SHARED_MEM_SIZE);
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//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
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ssd[0] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 0 * (BLOCK_W + 2 * RADIUS));
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ssd[1] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 1 * (BLOCK_W + 2 * RADIUS));
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ssd[2] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 2 * (BLOCK_W + 2 * RADIUS));
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ssd[3] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 3 * (BLOCK_W + 2 * RADIUS));
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ssd[4] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 4 * (BLOCK_W + 2 * RADIUS));
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ssd[5] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 5 * (BLOCK_W + 2 * RADIUS));
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ssd[6] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 6 * (BLOCK_W + 2 * RADIUS));
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ssd[7] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 7 * (BLOCK_W + 2 * RADIUS));
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int mssd = min(min(min(ssd[0], ssd[1]), min(ssd[4], ssd[5])), min(min(ssd[2], ssd[3]), min(ssd[6], ssd[7])));
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@ -114,6 +118,7 @@ __device__ uint2 MinSSD(unsigned int *col_ssd_cache, unsigned int *col_ssd)
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return make_uint2(mssd, bestIdx);
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}
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template<int RADIUS>
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__device__ void StepDown(int idx1, int idx2, unsigned char* imageL, unsigned char* imageR, int d, unsigned int *col_ssd)
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{
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unsigned char leftPixel1;
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@ -146,47 +151,48 @@ __device__ void StepDown(int idx1, int idx2, unsigned char* imageL, unsigned cha
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rightPixel2[5] = imageR[idx2 - 5];
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rightPixel2[6] = imageR[idx2 - 6];
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//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
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diff1 = leftPixel1 - rightPixel1[0];
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diff2 = leftPixel2 - rightPixel2[0];
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col_ssd[0 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
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col_ssd[0 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[1];
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diff2 = leftPixel2 - rightPixel2[1];
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col_ssd[1 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
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col_ssd[1 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[2];
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diff2 = leftPixel2 - rightPixel2[2];
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col_ssd[2 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
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col_ssd[2 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[3];
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diff2 = leftPixel2 - rightPixel2[3];
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col_ssd[3 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
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col_ssd[3 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[4];
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diff2 = leftPixel2 - rightPixel2[4];
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col_ssd[4 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
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col_ssd[4 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[5];
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diff2 = leftPixel2 - rightPixel2[5];
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col_ssd[5 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
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col_ssd[5 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[6];
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diff2 = leftPixel2 - rightPixel2[6];
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col_ssd[6 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
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col_ssd[6 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[7];
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diff2 = leftPixel2 - rightPixel2[7];
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col_ssd[7 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
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col_ssd[7 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
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}
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template<int RADIUS>
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__device__ void InitColSSD(int x_tex, int y_tex, int im_pitch, unsigned char* imageL, unsigned char* imageR, int d, unsigned int *col_ssd)
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{
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unsigned char leftPixel1;
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int idx;
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unsigned int diffa[] = {0, 0, 0, 0, 0, 0, 0, 0};
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for(int i = 0; i < WINSZ; i++)
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for(int i = 0; i < (2 * RADIUS + 1); i++)
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{
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idx = y_tex * im_pitch + x_tex;
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leftPixel1 = imageL[idx];
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@ -202,23 +208,24 @@ __device__ void InitColSSD(int x_tex, int y_tex, int im_pitch, unsigned char* im
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diffa[7] += SQ(leftPixel1 - imageR[idx - 7]);
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y_tex += 1;
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}
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col_ssd[0 * SHARED_MEM_SIZE] = diffa[0];
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col_ssd[1 * SHARED_MEM_SIZE] = diffa[1];
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col_ssd[2 * SHARED_MEM_SIZE] = diffa[2];
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col_ssd[3 * SHARED_MEM_SIZE] = diffa[3];
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col_ssd[4 * SHARED_MEM_SIZE] = diffa[4];
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col_ssd[5 * SHARED_MEM_SIZE] = diffa[5];
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col_ssd[6 * SHARED_MEM_SIZE] = diffa[6];
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col_ssd[7 * SHARED_MEM_SIZE] = diffa[7];
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}
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//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
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col_ssd[0 * (BLOCK_W + 2 * RADIUS)] = diffa[0];
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col_ssd[1 * (BLOCK_W + 2 * RADIUS)] = diffa[1];
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col_ssd[2 * (BLOCK_W + 2 * RADIUS)] = diffa[2];
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col_ssd[3 * (BLOCK_W + 2 * RADIUS)] = diffa[3];
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col_ssd[4 * (BLOCK_W + 2 * RADIUS)] = diffa[4];
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col_ssd[5 * (BLOCK_W + 2 * RADIUS)] = diffa[5];
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col_ssd[6 * (BLOCK_W + 2 * RADIUS)] = diffa[6];
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col_ssd[7 * (BLOCK_W + 2 * RADIUS)] = diffa[7];
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}
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extern "C" __global__ void stereoKernel(unsigned char *left, unsigned char *right, size_t img_step, unsigned char* disp, size_t disp_pitch, int maxdisp)
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template<int RADIUS>
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__global__ void stereoKernel(unsigned char *left, unsigned char *right, size_t img_step, unsigned char* disp, size_t disp_pitch, int maxdisp)
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{
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extern __shared__ unsigned int col_ssd_cache[];
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unsigned int *col_ssd = col_ssd_cache + BLOCK_W + threadIdx.x;
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unsigned int *col_ssd_extra = threadIdx.x < N_DIRTY_PIXELS ? col_ssd + BLOCK_W : 0;
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unsigned int *col_ssd_extra = threadIdx.x < (2 * RADIUS) ? col_ssd + BLOCK_W : 0; //#define N_DIRTY_PIXELS (2 * RADIUS)
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//#define X (blockIdx.x * BLOCK_W + threadIdx.x + STEREO_MAXD)
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int X = (blockIdx.x * BLOCK_W + threadIdx.x + maxdisp);
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@ -237,20 +244,25 @@ extern "C" __global__ void stereoKernel(unsigned char *left, unsigned char *righ
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int end_row = min(ROWSperTHREAD, cheight - Y);
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int y_tex;
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int x_tex = X - RADIUS;
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if (x_tex >= cwidth)
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return;
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for(int d = STEREO_MIND; d < maxdisp; d += STEREO_DISP_STEP)
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{
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y_tex = Y - RADIUS;
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InitColSSD(x_tex, y_tex, img_step, left, right, d, col_ssd);
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InitColSSD<RADIUS>(x_tex, y_tex, img_step, left, right, d, col_ssd);
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if (col_ssd_extra > 0)
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InitColSSD(x_tex + BLOCK_W, y_tex, img_step, left, right, d, col_ssd_extra);
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if (x_tex + BLOCK_W < cwidth)
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InitColSSD<RADIUS>(x_tex + BLOCK_W, y_tex, img_step, left, right, d, col_ssd_extra);
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__syncthreads(); //before MinSSD function
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if (X < cwidth - RADIUS && Y < cheight - RADIUS)
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{
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uint2 minSSD = MinSSD(col_ssd_cache + threadIdx.x, col_ssd);
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uint2 minSSD = MinSSD<RADIUS>(col_ssd_cache + threadIdx.x, col_ssd);
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if (minSSD.x < minSSDImage[0])
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{
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disparImage[0] = (unsigned char)(d + minSSD.y);
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@ -261,14 +273,15 @@ extern "C" __global__ void stereoKernel(unsigned char *left, unsigned char *righ
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for(int row = 1; row < end_row; row++)
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{
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int idx1 = y_tex * img_step + x_tex;
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int idx2 = (y_tex + WINSZ) * img_step + x_tex;
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int idx2 = (y_tex + (2 * RADIUS + 1)) * img_step + x_tex;
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__syncthreads();
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StepDown(idx1, idx2, left, right, d, col_ssd);
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StepDown<RADIUS>(idx1, idx2, left, right, d, col_ssd);
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if (col_ssd_extra)
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StepDown(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra);
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if (x_tex + BLOCK_W < cwidth)
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StepDown<RADIUS>(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra);
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y_tex += 1;
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@ -277,7 +290,7 @@ extern "C" __global__ void stereoKernel(unsigned char *left, unsigned char *righ
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if (X < cwidth - RADIUS && row < cheight - RADIUS - Y)
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{
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int idx = row * cminSSD_step;
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uint2 minSSD = MinSSD(col_ssd_cache + threadIdx.x, col_ssd);
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uint2 minSSD = MinSSD<RADIUS>(col_ssd_cache + threadIdx.x, col_ssd);
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if (minSSD.x < minSSDImage[idx])
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{
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disparImage[disp_pitch * row] = (unsigned char)(d + minSSD.y);
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@ -290,24 +303,52 @@ extern "C" __global__ void stereoKernel(unsigned char *left, unsigned char *righ
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}
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namespace cv { namespace gpu { namespace impl
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{
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extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, int winsz, const DevMem2D_<unsigned int>& minSSD_buf)
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{
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//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferL1) );
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//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferShared) );
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size_t smem_size = (BLOCK_W + N_DISPARITIES * SHARED_MEM_SIZE) * sizeof(unsigned int);
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cudaSafeCall( cudaMemset2D(disp.ptr, disp.step, 0, disp.cols, disp. rows) );
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cudaSafeCall( cudaMemset2D(minSSD_buf.ptr, minSSD_buf.step, 0xFF, minSSD_buf.cols * minSSD_buf.elemSize(), disp. rows) );
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{
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template<int RADIUS> void kernel_caller(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp)
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{
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dim3 grid(1,1,1);
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dim3 threads(BLOCK_W, 1, 1);
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dim3 threads(BLOCK_W, 1, 1);
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grid.x = divUp(left.cols - maxdisp - 2 * RADIUS, BLOCK_W);
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grid.y = divUp(left.rows - 2 * RADIUS, ROWSperTHREAD);
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//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
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size_t smem_size = (BLOCK_W + N_DISPARITIES * (BLOCK_W + 2 * RADIUS)) * sizeof(unsigned int);
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stereobm_gpu::stereoKernel<RADIUS><<<grid, threads, smem_size>>>(left.ptr, right.ptr, left.step, disp.ptr, disp.step, maxdisp);
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cudaSafeCall( cudaThreadSynchronize() );
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};
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typedef void (*kernel_caller_t)(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp);
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const static kernel_caller_t callers[] =
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{
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0,
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kernel_caller< 1>, kernel_caller< 2>, kernel_caller< 3>, kernel_caller< 4>, kernel_caller< 5>,
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kernel_caller< 6>, kernel_caller< 7>, kernel_caller< 8>, kernel_caller< 9>, kernel_caller<10>,
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kernel_caller<11>, kernel_caller<12>, kernel_caller<13>, kernel_caller<15>, kernel_caller<15>,
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kernel_caller<16>, kernel_caller<17>, kernel_caller<18>, kernel_caller<19>, kernel_caller<20>,
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kernel_caller<21>, kernel_caller<22>, kernel_caller<23>, kernel_caller<24>, kernel_caller<25>
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//0,0,0, 0,0,0, 0,0,kernel_caller<9>
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};
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const int calles_num = sizeof(callers)/sizeof(callers[0]);
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extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, int winsz, const DevMem2D_<unsigned int>& minSSD_buf)
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{
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int winsz2 = winsz >> 1;
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if (winsz2 == 0 || winsz2 >= calles_num)
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cv::gpu::error("Unsupported window size", __FILE__, __LINE__);
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//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferL1) );
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//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferShared) );
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cudaSafeCall( cudaMemset2D(disp.ptr, disp.step, 0, disp.cols, disp.rows) );
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cudaSafeCall( cudaMemset2D(minSSD_buf.ptr, minSSD_buf.step, 0xFF, minSSD_buf.cols * minSSD_buf.elemSize(), disp.rows) );
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cudaSafeCall( cudaMemcpyToSymbol( stereobm_gpu::cwidth, &left.cols, sizeof(left.cols) ) );
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cudaSafeCall( cudaMemcpyToSymbol( stereobm_gpu::cheight, &left.rows, sizeof(left.rows) ) );
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cudaSafeCall( cudaMemcpyToSymbol( stereobm_gpu::cminSSDImage, &minSSD_buf.ptr, sizeof(minSSD_buf.ptr) ) );
|
||||
@ -315,8 +356,7 @@ 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) ) );
|
||||
|
||||
stereobm_gpu::stereoKernel<<<grid, threads, smem_size>>>(left.ptr, right.ptr, left.step, disp.ptr, disp.step, maxdisp);
|
||||
cudaSafeCall( cudaThreadSynchronize() );
|
||||
callers[winsz2](left, right, disp, maxdisp);
|
||||
}
|
||||
}}}
|
||||
|
||||
@ -327,18 +367,18 @@ namespace cv { namespace gpu { namespace impl
|
||||
namespace stereobm_gpu
|
||||
{
|
||||
|
||||
texture<unsigned char, 2, cudaReadModeElementType> tex;
|
||||
texture<unsigned char, 2, cudaReadModeElementType> texForSobel;
|
||||
|
||||
extern "C" __global__ void prefilert_kernel(unsigned char *output, size_t step, int width, int height, int prefilterCap)
|
||||
extern "C" __global__ void prefilter_kernel(unsigned char *output, size_t step, int width, int height, int prefilterCap)
|
||||
{
|
||||
int x = blockDim.x * blockIdx.x + threadIdx.x;
|
||||
int y = blockDim.y * blockIdx.y + threadIdx.y;
|
||||
|
||||
if (x < width && y < height)
|
||||
{
|
||||
int conv = (int)tex2D(tex, x - 1, y - 1) * (-1) + (int)tex2D(tex, x + 1, y - 1) * (1) +
|
||||
(int)tex2D(tex, x - 1, y ) * (-2) + (int)tex2D(tex, x + 1, y ) * (2) +
|
||||
(int)tex2D(tex, x - 1, y + 1) * (-1) + (int)tex2D(tex, 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);
|
||||
|
||||
|
||||
conv = min(min(max(-prefilterCap, conv), prefilterCap) + prefilterCap, 255);
|
||||
@ -353,7 +393,7 @@ namespace cv { namespace gpu { namespace impl
|
||||
extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap)
|
||||
{
|
||||
cudaChannelFormatDesc desc = cudaCreateChannelDesc<uchar>();
|
||||
cudaSafeCall( cudaBindTexture2D( 0, stereobm_gpu::tex, 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);
|
||||
@ -361,8 +401,139 @@ namespace cv { namespace gpu { namespace impl
|
||||
grid.x = divUp(input.cols, threads.x);
|
||||
grid.y = divUp(input.rows, threads.y);
|
||||
|
||||
stereobm_gpu::prefilert_kernel<<<grid, threads>>>(output.ptr, output.step, output.cols, output.rows, prefilterCap);
|
||||
stereobm_gpu::prefilter_kernel<<<grid, threads>>>(output.ptr, output.step, output.cols, output.rows, prefilterCap);
|
||||
cudaSafeCall( cudaThreadSynchronize() );
|
||||
|
||||
cudaSafeCall( cudaUnbindTexture (stereobm_gpu::texForSobel ) );
|
||||
}
|
||||
|
||||
}}}
|
||||
}}}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////// Textureness filtering ////////////////////////////////////////
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
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) +
|
||||
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);
|
||||
}
|
||||
|
||||
__device__ float CalcSums(float *cols, float *cols_cache, int winsz)
|
||||
{
|
||||
float cache = 0;
|
||||
float cache2 = 0;
|
||||
int winsz2 = winsz/2;
|
||||
|
||||
for(int i = 1; i <= winsz2; i++)
|
||||
cache += cols[i];
|
||||
|
||||
cols_cache[0] = cache;
|
||||
|
||||
__syncthreads();
|
||||
|
||||
if (threadIdx.x < blockDim.x - winsz2)
|
||||
cache2 = cols_cache[winsz2];
|
||||
else
|
||||
for(int i = winsz2 + 1; i < winsz; i++)
|
||||
cache2 += cols[i];
|
||||
|
||||
return cols[0] + cache + cache2;
|
||||
}
|
||||
|
||||
#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;
|
||||
|
||||
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)
|
||||
{
|
||||
int y = beg_row;
|
||||
|
||||
float sum = 0;
|
||||
float sum_extra = 0;
|
||||
|
||||
for(int i = y - winsz2; i <= y + winsz2; ++i)
|
||||
{
|
||||
sum += sobel(x - winsz2, i);
|
||||
if (cols_extra)
|
||||
sum_extra += sobel(x + blockDim.x - winsz2, i);
|
||||
}
|
||||
*cols = sum;
|
||||
if (cols_extra)
|
||||
*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)
|
||||
{
|
||||
sum = sum - sobel(x - winsz2, y - winsz2 - 1) + sobel(x - winsz2, y + winsz2);
|
||||
*cols = sum;
|
||||
|
||||
if (cols_extra)
|
||||
{
|
||||
sum_extra = sum_extra - sobel(x + blockDim.x - winsz2, y - winsz2 - 1) + sobel(x + blockDim.x - winsz2, y + winsz2);
|
||||
*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();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
namespace cv { namespace gpu { namespace impl
|
||||
{
|
||||
extern "C" void postfilter_textureness(const DevMem2D& input, int winsz, float avgTexturenessThreshold, const DevMem2D& disp)
|
||||
{
|
||||
avgTexturenessThreshold *= winsz * winsz;
|
||||
|
||||
stereobm_gpu::texForTF.filterMode = cudaFilterModeLinear;
|
||||
stereobm_gpu::texForTF.addressMode[0] = cudaAddressModeWrap;
|
||||
stereobm_gpu::texForTF.addressMode[1] = cudaAddressModeWrap;
|
||||
|
||||
cudaChannelFormatDesc desc = cudaCreateChannelDesc<uchar>();
|
||||
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);
|
||||
|
||||
stereobm_gpu::textureness_kernel<<<grid, threads, smem_size>>>(disp.ptr, disp.step, winsz, avgTexturenessThreshold, disp.cols, disp.rows);
|
||||
cudaSafeCall( cudaThreadSynchronize() );
|
||||
|
||||
cudaSafeCall( cudaUnbindTexture (stereobm_gpu::texForTF) );
|
||||
}
|
||||
}}}
|
||||
|
||||
@ -48,12 +48,11 @@ using namespace cv::gpu;
|
||||
#if !defined (HAVE_CUDA)
|
||||
|
||||
cv::gpu::StereoBM_GPU::StereoBM_GPU() { throw_nogpu(); }
|
||||
cv::gpu::StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_) { throw_nogpu(); }
|
||||
cv::gpu::StereoBM_GPU::StereoBM_GPU(int, int, int) { throw_nogpu(); }
|
||||
|
||||
bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable() { throw_nogpu(); return false; }
|
||||
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity) { throw_nogpu(); }
|
||||
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, const CudaStream& stream) { throw_nogpu(); }
|
||||
|
||||
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
|
||||
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat&, const GpuMat&, GpuMat&, const CudaStream&) { throw_nogpu(); }
|
||||
|
||||
#else /* !defined (HAVE_CUDA) */
|
||||
|
||||
@ -61,17 +60,24 @@ namespace cv { namespace gpu
|
||||
{
|
||||
namespace impl
|
||||
{
|
||||
extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, 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 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() : preset(BASIC_PRESET), ndisp(DEFAULT_NDISP), winSize(DEFAULT_WINSZ) {}
|
||||
cv::gpu::StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_, int winSize_) : preset(preset_), ndisp(ndisparities_), winSize(winSize_)
|
||||
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_)
|
||||
: preset(preset_), ndisp(ndisparities_), winSize(winSize_), avergeTexThreshold(defaultAvgTexThreshold)
|
||||
{
|
||||
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);
|
||||
}
|
||||
|
||||
bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable()
|
||||
@ -87,7 +93,7 @@ bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable()
|
||||
|
||||
if (major > 1 || numSM > 16)
|
||||
return true;
|
||||
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
@ -102,19 +108,22 @@ 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)
|
||||
{
|
||||
leBuf.create( left.size(), left.type());
|
||||
riBuf.create(right.size(), right.type());
|
||||
|
||||
|
||||
impl::prefilter_xsobel( left, leBuf);
|
||||
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);
|
||||
|
||||
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)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user