generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

renamed colorizeDisp to drawColorDisp, added acync version of drawColorDisp and reprojectImageTo3D_GPU.

Browse Source
This commit is contained in:
Vladislav Vinogradov
2010-08-25 06:30:11 +00:00
parent 24427d593f
commit 1febf345bf
3 changed files with 86 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files

48
modules/gpu/src/cuda/imgproc.cu
View File

@@ -182,7 +182,7 @@ namespace cv { namespace gpu { namespace impl
}
}}}
/////////////////////////////////// colorizeDisp ///////////////////////////////////////////////
/////////////////////////////////// drawColorDisp ///////////////////////////////////////////////
namespace imgproc
{
@@ -240,14 +240,15 @@ namespace imgproc
res.y = p;
res.z = V;
}
unsigned int b = (unsigned int)(max(0.f, min (res.x, 1.f)) * 255.f);
unsigned int g = (unsigned int)(max(0.f, min (res.y, 1.f)) * 255.f);
unsigned int r = (unsigned int)(max(0.f, min (res.z, 1.f)) * 255.f);
const unsigned int b = (unsigned int)(max(0.f, min (res.x, 1.f)) * 255.f);
const unsigned int g = (unsigned int)(max(0.f, min (res.y, 1.f)) * 255.f);
const unsigned int r = (unsigned int)(max(0.f, min (res.z, 1.f)) * 255.f);
const unsigned int a = 255U;
return (r << 16) + (g << 8) + b;
return (a << 24) + (r << 16) + (g << 8) + b;
}
__global__ void colorizeDisp(uchar* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
__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;
@@ -267,7 +268,7 @@ namespace imgproc
}
}
__global__ void colorizeDisp(short* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
__global__ void drawColorDisp(short* 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) << 1;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
@@ -288,30 +289,34 @@ namespace imgproc
namespace cv { namespace gpu { namespace impl
{
void colorizeDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp)
void drawColorDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream)
{
dim3 threads(16, 16, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(src.cols, threads.x << 2);
grid.y = divUp(src.rows, threads.y);
imgproc::colorizeDisp<<<grid, threads>>>(src.ptr, src.step, dst.ptr, dst.step, src.cols, src.rows, ndisp);
cudaSafeCall( cudaThreadSynchronize() );
imgproc::drawColorDisp<<<grid, threads, 0, stream>>>(src.ptr, src.step, dst.ptr, dst.step, src.cols, src.rows, ndisp);
if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() );
}
void colorizeDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp)
void drawColorDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(src.cols, threads.x << 1);
grid.y = divUp(src.rows, threads.y);
imgproc::colorizeDisp<<<grid, threads>>>(src.ptr, src.step / sizeof(short), dst.ptr, dst.step, src.cols, src.rows, ndisp);
cudaSafeCall( cudaThreadSynchronize() );
imgproc::drawColorDisp<<<grid, threads, 0, stream>>>(src.ptr, src.step / sizeof(short), dst.ptr, dst.step, src.cols, src.rows, ndisp);
if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() );
}
}}}
/////////////////////////////////// colorizeDisp ///////////////////////////////////////////////
/////////////////////////////////// reprojectImageTo3D ///////////////////////////////////////////////
namespace imgproc
{
@@ -351,7 +356,7 @@ namespace imgproc
namespace cv { namespace gpu { namespace impl
{
template <typename T>
inline void reprojectImageTo3D_caller(const DevMem2D_<T>& disp, const DevMem2Df& xyzw, const float* q)
inline void reprojectImageTo3D_caller(const DevMem2D_<T>& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
@@ -360,18 +365,19 @@ namespace cv { namespace gpu { namespace impl
cudaSafeCall( cudaMemcpyToSymbol(imgproc::cq, q, 16 * sizeof(float)) );
imgproc::reprojectImageTo3D<<<grid, threads>>>(disp.ptr, disp.step / sizeof(T), xyzw.ptr, xyzw.step / sizeof(float), disp.rows, disp.cols);
imgproc::reprojectImageTo3D<<<grid, threads, 0, stream>>>(disp.ptr, disp.step / sizeof(T), xyzw.ptr, xyzw.step / sizeof(float), disp.rows, disp.cols);
cudaSafeCall( cudaThreadSynchronize() );
if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() );
}
void reprojectImageTo3D_gpu(const DevMem2D& disp, const DevMem2Df& xyzw, const float* q)
void reprojectImageTo3D_gpu(const DevMem2D& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream)
{
reprojectImageTo3D_caller(disp, xyzw, q);
reprojectImageTo3D_caller(disp, xyzw, q, stream);
}
void reprojectImageTo3D_gpu(const DevMem2D_<short>& disp, const DevMem2Df& xyzw, const float* q)
void reprojectImageTo3D_gpu(const DevMem2D_<short>& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream)
{
reprojectImageTo3D_caller(disp, xyzw, q);
reprojectImageTo3D_caller(disp, xyzw, q, stream);
}
}}}