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First gpu code draft. Interface might be significantly changed in future.

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Simple implementation of StereoBM_GPU.
It is excluded from compilation now.
This commit is contained in:
Anatoly Baksheev 2010-07-14 15:55:16 +00:00
parent fbc88e2d66
commit 7f6fb6ef97
15 changed files with 2046 additions and 1 deletions
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2
OpenCVConfig.cmake.in
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@ -43,7 +43,7 @@ SET(OpenCV_LIB_DIR "@CMAKE_LIB_DIRS_CONFIGCMAKE@")
# ====================================================================
# Link libraries: e.g. opencv_core220.so, opencv_imgproc220d.lib, etc...
# ====================================================================
set(OPENCV_LIB_COMPONENTS opencv_core opencv_imgproc opencv_features2d opencv_calib3d opencv_objdetect opencv_video opencv_highgui opencv_ml opencv_legacy opencv_contrib)
set(OPENCV_LIB_COMPONENTS opencv_core opencv_imgproc opencv_features2d opencv_gpu opencv_calib3d opencv_objdetect opencv_video opencv_highgui opencv_ml opencv_legacy opencv_contrib)
SET(OpenCV_LIBS "")
foreach(__CVLIB ${OPENCV_LIB_COMPONENTS})
# CMake>=2.6 supports the notation "debug XXd optimized XX"

3
modules/CMakeLists.txt
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@ -22,3 +22,6 @@ endif()
add_subdirectory(video)
add_subdirectory(haartraining)
add_subdirectory(traincascade)
#add_subdirectory(gpu)

101
modules/gpu/CMakeLists.txt Normal file
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@ -0,0 +1,101 @@
include(FindCUDA)
if (CUDA_FOUND)
include_directories(${CUDA_INCLUDE_DIRS})
link_directories(${CUDA_LIBRARIES})
#CUDA_GENERATED_OUTPUT_DIR (Default CMAKE_CURRENT_BINARY_DIR)
#====================================================================================
set(name "gpu")
set(DEPS "opencv_core")
project(opencv_${name})
add_definitions(-DCVAPI_EXPORTS)
include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include"
"${CMAKE_CURRENT_SOURCE_DIR}/cuda"
"${CMAKE_CURRENT_SOURCE_DIR}/src"
"${CMAKE_CURRENT_BINARY_DIR}")
foreach(d ${DEPS})
if(${d} MATCHES "opencv_")
string(REPLACE "opencv_" "${CMAKE_CURRENT_SOURCE_DIR}/../" d_dir ${d})
include_directories("${d_dir}/include")
endif()
endforeach()
file(GLOB lib_srcs "src/*.cpp")
file(GLOB lib_int_hdrs "src/*.h*")
file(GLOB lib_cuda "cuda/*.cu")
file(GLOB lib_cuda_hdrs "cuda/*.h*")
source_group("Src" FILES ${lib_srcs} ${lib_int_hdrs})
source_group("Cuda" FILES ${lib_cuda} ${lib_cuda_hdrs})
file(GLOB lib_hdrs "include/opencv2/${name}/*.h*")
source_group("Include" FILES ${lib_hdrs})
CUDA_COMPILE(cuda_objs ${lib_cuda})
#CUDA_BUILD_CLEAN_TARGET()
set(the_target "opencv_${name}")
add_library(${the_target} ${lib_srcs} ${lib_hdrs} ${lib_int_hdrs} ${lib_cuda} ${lib_cuda_hdrs} ${cuda_objs})
if(PCHSupport_FOUND)
set(pch_header ${CMAKE_CURRENT_SOURCE_DIR}/src/precomp.hpp)
if(${CMAKE_GENERATOR} MATCHES "Visual*" OR ${CMAKE_GENERATOR} MATCHES "Xcode*")
if(${CMAKE_GENERATOR} MATCHES "Visual*")
set(${the_target}_pch "src/precomp.cpp")
endif()
add_native_precompiled_header(${the_target} ${pch_header})
elseif(CMAKE_COMPILER_IS_GNUCXX AND ${CMAKE_GENERATOR} MATCHES ".*Makefiles")
add_precompiled_header(${the_target} ${pch_header})
endif()
endif()
# For dynamic link numbering convenions
set_target_properties(${the_target} PROPERTIES
VERSION ${OPENCV_VERSION}
SOVERSION ${OPENCV_SOVERSION}
OUTPUT_NAME "${the_target}${OPENCV_DLLVERSION}"
)
# Additional target properties
set_target_properties(${the_target} PROPERTIES
DEBUG_POSTFIX "${OPENCV_DEBUG_POSTFIX}"
ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib/"
RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/"
INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib"
)
# Add the required libraries for linking:
target_link_libraries(${the_target} ${OPENCV_LINKER_LIBS} ${IPP_LIBS} ${DEPS} ${CUDA_LIBRARIES})
if(MSVC)
if(CMAKE_CROSSCOMPILING)
set_target_properties(${the_target} PROPERTIES
LINK_FLAGS "/NODEFAULTLIB:secchk"
)
endif()
set_target_properties(${the_target} PROPERTIES
LINK_FLAGS "/NODEFAULTLIB:libc"
)
endif()
# Dependencies of this target:
add_dependencies(${the_target} ${DEPS})
install(TARGETS ${the_target}
RUNTIME DESTINATION bin COMPONENT main
LIBRARY DESTINATION lib COMPONENT main
ARCHIVE DESTINATION lib COMPONENT main)
install(FILES ${lib_hdrs}
DESTINATION include/opencv2/${name}
COMPONENT main)
endif()

322
modules/gpu/cuda/Stereo.cu Normal file
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@ -0,0 +1,322 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "cuda_shared.hpp"
using namespace cv::gpu;
#define cudaSafeCall
#define ROWSperTHREAD 21 // the number of rows a thread will process
#define BLOCK_W 128 // the thread block width (464)
#define N_DISPARITIES 8
#define STEREO_MIND 0 // The minimum d range to check
#define STEREO_DISP_STEP N_DISPARITIES // the d step, must be <= 1 to avoid aliasing
#define RADIUS 9 // Kernel Radius 5V & 5H = 11x11 kernel
#define WINSZ (2 * RADIUS + 1)
#define N_DIRTY_PIXELS (2 * RADIUS)
#define COL_SSD_SIZE (BLOCK_W + N_DIRTY_PIXELS)
#define SHARED_MEM_SIZE (COL_SSD_SIZE) // amount of shared memory used
__constant__ unsigned int* cminSSDImage;
__constant__ size_t cminSSD_step;
__constant__ int cwidth;
__constant__ int cheight;
namespace device_code
{
__device__ int SQ(int a)
{
return a * a;
}
__device__ unsigned int CalcSSD(unsigned int *col_ssd_cache, unsigned int *col_ssd)
{
unsigned int cache = 0;
unsigned int cache2 = 0;
for(int i = 1; i <= RADIUS; i++)
cache += col_ssd[i];
col_ssd_cache[0] = cache;
__syncthreads();
if (threadIdx.x < BLOCK_W - RADIUS)
cache2 = col_ssd_cache[RADIUS];
else
for(int i = RADIUS + 1; i < WINSZ; i++)
cache2 += col_ssd[i];
return col_ssd[0] + cache + cache2;
}
__device__ uint2 MinSSD(unsigned int *col_ssd_cache, unsigned int *col_ssd)
{
unsigned int ssd[N_DISPARITIES];
ssd[0] = CalcSSD(col_ssd_cache, col_ssd + 0 * SHARED_MEM_SIZE);
ssd[1] = CalcSSD(col_ssd_cache, col_ssd + 1 * SHARED_MEM_SIZE);
ssd[2] = CalcSSD(col_ssd_cache, col_ssd + 2 * SHARED_MEM_SIZE);
ssd[3] = CalcSSD(col_ssd_cache, col_ssd + 3 * SHARED_MEM_SIZE);
ssd[4] = CalcSSD(col_ssd_cache, col_ssd + 4 * SHARED_MEM_SIZE);
ssd[5] = CalcSSD(col_ssd_cache, col_ssd + 5 * SHARED_MEM_SIZE);
ssd[6] = CalcSSD(col_ssd_cache, col_ssd + 6 * SHARED_MEM_SIZE);
ssd[7] = CalcSSD(col_ssd_cache, col_ssd + 7 * SHARED_MEM_SIZE);
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])));
int bestIdx = 0;
for (int i = 0; i < N_DISPARITIES; i++)
{
if (mssd == ssd[i])
bestIdx = i;
}
return make_uint2(mssd, bestIdx);
}
__device__ void StepDown(int idx1, int idx2, unsigned char* imageL, unsigned char* imageR, int d, unsigned int *col_ssd)
{
unsigned char leftPixel1;
unsigned char leftPixel2;
unsigned char rightPixel1[8];
unsigned char rightPixel2[8];
unsigned int diff1, diff2;
leftPixel1 = imageL[idx1];
leftPixel2 = imageL[idx2];
idx1 = idx1 - d;
idx2 = idx2 - d;
rightPixel1[7] = imageR[idx1 - 7];
rightPixel1[0] = imageR[idx1 - 0];
rightPixel1[1] = imageR[idx1 - 1];
rightPixel1[2] = imageR[idx1 - 2];
rightPixel1[3] = imageR[idx1 - 3];
rightPixel1[4] = imageR[idx1 - 4];
rightPixel1[5] = imageR[idx1 - 5];
rightPixel1[6] = imageR[idx1 - 6];
rightPixel2[7] = imageR[idx2 - 7];
rightPixel2[0] = imageR[idx2 - 0];
rightPixel2[1] = imageR[idx2 - 1];
rightPixel2[2] = imageR[idx2 - 2];
rightPixel2[3] = imageR[idx2 - 3];
rightPixel2[4] = imageR[idx2 - 4];
rightPixel2[5] = imageR[idx2 - 5];
rightPixel2[6] = imageR[idx2 - 6];
diff1 = leftPixel1 - rightPixel1[0];
diff2 = leftPixel2 - rightPixel2[0];
col_ssd[0 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[1];
diff2 = leftPixel2 - rightPixel2[1];
col_ssd[1 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[2];
diff2 = leftPixel2 - rightPixel2[2];
col_ssd[2 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[3];
diff2 = leftPixel2 - rightPixel2[3];
col_ssd[3 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[4];
diff2 = leftPixel2 - rightPixel2[4];
col_ssd[4 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[5];
diff2 = leftPixel2 - rightPixel2[5];
col_ssd[5 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[6];
diff2 = leftPixel2 - rightPixel2[6];
col_ssd[6 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[7];
diff2 = leftPixel2 - rightPixel2[7];
col_ssd[7 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1);
}
__device__ void InitColSSD(int x_tex, int y_tex, int im_pitch, unsigned char* imageL, unsigned char* imageR, int d, unsigned int *col_ssd)
{
unsigned char leftPixel1;
int idx;
unsigned int diffa[] = {0, 0, 0, 0, 0, 0, 0, 0};
for(int i = 0; i < WINSZ; i++)
{
idx = y_tex * im_pitch + x_tex;
leftPixel1 = imageL[idx];
idx = idx - d;
diffa[0] += SQ(leftPixel1 - imageR[idx - 0]);
diffa[1] += SQ(leftPixel1 - imageR[idx - 1]);
diffa[2] += SQ(leftPixel1 - imageR[idx - 2]);
diffa[3] += SQ(leftPixel1 - imageR[idx - 3]);
diffa[4] += SQ(leftPixel1 - imageR[idx - 4]);
diffa[5] += SQ(leftPixel1 - imageR[idx - 5]);
diffa[6] += SQ(leftPixel1 - imageR[idx - 6]);
diffa[7] += SQ(leftPixel1 - imageR[idx - 7]);
y_tex += 1;
}
col_ssd[0 * SHARED_MEM_SIZE] = diffa[0];
col_ssd[1 * SHARED_MEM_SIZE] = diffa[1];
col_ssd[2 * SHARED_MEM_SIZE] = diffa[2];
col_ssd[3 * SHARED_MEM_SIZE] = diffa[3];
col_ssd[4 * SHARED_MEM_SIZE] = diffa[4];
col_ssd[5 * SHARED_MEM_SIZE] = diffa[5];
col_ssd[6 * SHARED_MEM_SIZE] = diffa[6];
col_ssd[7 * SHARED_MEM_SIZE] = diffa[7];
}
extern "C" __global__ void stereoKernel(uchar *left, uchar *right, size_t img_step, uchar* disp, size_t disp_pitch, int maxdisp)
{
extern __shared__ unsigned int col_ssd_cache[];
unsigned int *col_ssd = col_ssd_cache + BLOCK_W + threadIdx.x;
unsigned int *col_ssd_extra = threadIdx.x < N_DIRTY_PIXELS ? col_ssd + BLOCK_W : 0;
//#define X (blockIdx.x * BLOCK_W + threadIdx.x + STEREO_MAXD)
int X = (blockIdx.x * BLOCK_W + threadIdx.x + maxdisp);
//#define Y (__mul24(blockIdx.y, ROWSperTHREAD) + RADIUS)
#define Y (blockIdx.y * ROWSperTHREAD + RADIUS)
//int Y = blockIdx.y * ROWSperTHREAD + RADIUS;
unsigned int* minSSDImage = cminSSDImage + X + Y * cminSSD_step;
uchar* disparImage = disp + X + Y * disp_pitch;
/* if (X < cwidth)
{
unsigned int *minSSDImage_end = minSSDImage + min(ROWSperTHREAD, cheight - Y) * minssd_step;
for(uint *ptr = minSSDImage; ptr != minSSDImage_end; ptr += minssd_step )
*ptr = 0xFFFFFFFF;
}*/
int end_row = min(ROWSperTHREAD, cheight - Y);
int y_tex;
int x_tex = X - RADIUS;
for(int d = STEREO_MIND; d < maxdisp; d += STEREO_DISP_STEP)
{
y_tex = Y - RADIUS;
InitColSSD(x_tex, y_tex, img_step, left, right, d, col_ssd);
if (col_ssd_extra > 0)
InitColSSD(x_tex + BLOCK_W, y_tex, img_step, left, right, d, col_ssd_extra);
__syncthreads(); //before MinSSD function
if (X < cwidth - RADIUS && Y < cheight - RADIUS)
{
uint2 minSSD = MinSSD(col_ssd_cache + threadIdx.x, col_ssd);
if (minSSD.x < minSSDImage[0])
{
disparImage[0] = (unsigned char)(d + minSSD.y);
minSSDImage[0] = minSSD.x;
}
}
for(int row = 1; row < end_row; row++)
{
int idx1 = y_tex * img_step + x_tex;
int idx2 = (y_tex + WINSZ) * img_step + x_tex;
__syncthreads();
StepDown(idx1, idx2, left, right, d, col_ssd);
if (col_ssd_extra)
StepDown(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra);
y_tex += 1;
__syncthreads(); //before MinSSD function
if (X < cwidth - RADIUS && row < cheight - RADIUS - Y)
{
int idx = row * cminSSD_step;
uint2 minSSD = MinSSD(col_ssd_cache + threadIdx.x, col_ssd);
if (minSSD.x < minSSDImage[idx])
{
disparImage[disp_pitch * row] = (unsigned char)(d + minSSD.y);
minSSDImage[idx] = minSSD.x;
}
}
} // for row loop
} // for d loop
}
}
extern "C" void cv::gpu::impl::stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, DevMem2D& disp, int maxdisp, DevMem2D_<unsigned int>& minSSD_buf)
{
//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferL1) );
//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferShared) );
size_t smem_size = (BLOCK_W + N_DISPARITIES * SHARED_MEM_SIZE) * sizeof(unsigned int);
cudaSafeCall( cudaMemset2D(disp.ptr, disp.step, 0, disp.cols, disp. rows) );
cudaSafeCall( cudaMemset2D(minSSD_buf.ptr, minSSD_buf.step, 0xFF, minSSD_buf.cols * minSSD_buf.elemSize(), disp. rows) );
dim3 grid(1,1,1);
dim3 threads(BLOCK_W, 1, 1);
grid.x = divUp(left.cols - maxdisp - 2 * RADIUS, BLOCK_W);
grid.y = divUp(left.rows - 2 * RADIUS, ROWSperTHREAD);
cudaSafeCall( cudaMemcpyToSymbol( cwidth, &left.cols, sizeof (left.cols) ) );
cudaSafeCall( cudaMemcpyToSymbol( cheight, &left.rows, sizeof (left.rows) ) );
cudaSafeCall( cudaMemcpyToSymbol( cminSSDImage, &minSSD_buf.ptr, sizeof (minSSD_buf.ptr) ) );
size_t minssd_step = minSSD_buf.step/minSSD_buf.elemSize();
cudaSafeCall( cudaMemcpyToSymbol( cminSSD_step, &minssd_step, sizeof (minssd_step) ) );
device_code::stereoKernel<<<grid, threads, smem_size>>>(left.ptr, right.ptr, left.step, disp.ptr, disp.step, maxdisp);
cudaSafeCall( cudaThreadSynchronize() );
}

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modules/gpu/cuda/cuda_shared.hpp Normal file
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_CUDA_SHARED_HPP__
#define __OPENCV_CUDA_SHARED_HPP__
#include "opencv2/gpu/devmem2d.hpp"
namespace cv
{
namespace gpu
{
typedef unsigned char uchar;
typedef unsigned short ushort;
typedef unsigned int uint;
namespace impl
{
static inline int divUp(int a, int b) { return (a % b == 0) ? a/b : a/b + 1; }
extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, DevMem2D& disp, int maxdisp, DevMem2D_<uint>& minSSD_buf);
}
}
}
#endif /* __OPENCV_CUDA_SHARED_HPP__ */

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modules/gpu/include/opencv2/gpu/devmem2d.hpp Normal file
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@ -0,0 +1,73 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other GpuMaterials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_GPU_DEVMEM2D_HPP__
#define __OPENCV_GPU_DEVMEM2D_HPP__
namespace cv
{
namespace gpu
{
// Simple lightweight structure that encapsulates image ptr on device, its pitch and its sizes.
// It is intended to pass to nvcc-compiled code.
template<typename T = unsigned char>
struct DevMem2D_
{
enum { elem_size = sizeof(T) };
int cols;
int rows;
T* ptr;
size_t step;
DevMem2D_(int rows_, int cols_, T *ptr_, size_t step_)
: cols(cols_), rows(rows_), ptr(ptr_), step(step_) {}
size_t elemSize() const { return elem_size; }
};
typedef DevMem2D_<> DevMem2D;
}
}
#endif /* __OPENCV_GPU_DEVMEM2D_HPP__ */

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modules/gpu/include/opencv2/gpu/gpu.hpp Normal file
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other GpuMaterials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_GPU_HPP__
#define __OPENCV_GPU_HPP__
#include "opencv2/core/core.hpp"
#include "opencv2/gpu/devmem2d.hpp"
namespace cv
{
namespace gpu
{
//////////////////////////////// Initialization ////////////////////////
CV_EXPORTS int getCudaEnabledDeviceCount();
CV_EXPORTS string getDeviceName(int device);
CV_EXPORTS void setDevice(int device);
enum { CV_GPU_CC_10, CV_GPU_CC_11, CV_GPU_CC_12, CV_GPU_CC_13, CV_GPU_CC_20 };
CV_EXPORTS int getComputeCapability(int device);
CV_EXPORTS int getNumberOfSMs(int device);
//////////////////////////////// GpuMat ////////////////////////////////
class CV_EXPORTS GpuMat
{
public:
//! default constructor
GpuMat();
//! constructs GpuMatrix of the specified size and type
// (_type is CV_8UC1, CV_64FC3, CV_32SC(12) etc.)
GpuMat(int _rows, int _cols, int _type);
GpuMat(Size _size, int _type);
//! constucts GpuMatrix and fills it with the specified value _s.
GpuMat(int _rows, int _cols, int _type, const Scalar& _s);
GpuMat(Size _size, int _type, const Scalar& _s);
//! copy constructor
GpuMat(const GpuMat& m);
//! constructor for GpuMatrix headers pointing to user-allocated data
GpuMat(int _rows, int _cols, int _type, void* _data, size_t _step = Mat::AUTO_STEP);
GpuMat(Size _size, int _type, void* _data, size_t _step = Mat::AUTO_STEP);
//! creates a matrix header for a part of the bigger matrix
GpuMat(const GpuMat& m, const Range& rowRange, const Range& colRange);
GpuMat(const GpuMat& m, const Rect& roi);
//! builds GpuMat from Mat. Perfom blocking upload to device.
GpuMat (const Mat& m);
//! destructor - calls release()
~GpuMat();
//! assignment operators
GpuMat& operator = (const GpuMat& m);
//! assignment operator. Perfom blocking upload to device.
GpuMat& operator = (const Mat& m);
//! returns lightweight DevMem2D_ structure for passing to nvcc-compiled code.
// Contains just image size, data ptr and step.
template <class T> operator DevMem2D_<T>() const;
//! pefroms blocking upload data to GpuMat. .
void upload(const cv::Mat& m);
//! Downloads data from device to host memory. Blocking calls.
operator Mat() const;
void download(cv::Mat& m) const;
//! returns a new GpuMatrix header for the specified row
GpuMat row(int y) const;
//! returns a new GpuMatrix header for the specified column
GpuMat col(int x) const;
//! ... for the specified row span
GpuMat rowRange(int startrow, int endrow) const;
GpuMat rowRange(const Range& r) const;
//! ... for the specified column span
GpuMat colRange(int startcol, int endcol) const;
GpuMat colRange(const Range& r) const;
//! returns deep copy of the GpuMatrix, i.e. the data is copied
GpuMat clone() const;
//! copies the GpuMatrix content to "m".
// It calls m.create(this->size(), this->type()).
void copyTo( GpuMat& m ) const;
//! copies those GpuMatrix elements to "m" that are marked with non-zero mask elements.
void copyTo( GpuMat& m, const GpuMat& mask ) const;
//! converts GpuMatrix to another datatype with optional scalng. See cvConvertScale.
void convertTo( GpuMat& m, int rtype, double alpha=1, double beta=0 ) const;
void assignTo( GpuMat& m, int type=-1 ) const;
//! sets every GpuMatrix element to s
GpuMat& operator = (const Scalar& s);
//! sets some of the GpuMatrix elements to s, according to the mask
GpuMat& setTo(const Scalar& s, const GpuMat& mask=GpuMat());
//! creates alternative GpuMatrix header for the same data, with different
// number of channels and/or different number of rows. see cvReshape.
GpuMat reshape(int _cn, int _rows=0) const;
//! allocates new GpuMatrix data unless the GpuMatrix already has specified size and type.
// previous data is unreferenced if needed.
void create(int _rows, int _cols, int _type);
void create(Size _size, int _type);
//! decreases reference counter;
// deallocate the data when reference counter reaches 0.
void release();
//! swaps with other smart pointer
void swap(GpuMat& mat);
//! locates GpuMatrix header within a parent GpuMatrix. See below
void locateROI( Size& wholeSize, Point& ofs ) const;
//! moves/resizes the current GpuMatrix ROI inside the parent GpuMatrix.
GpuMat& adjustROI( int dtop, int dbottom, int dleft, int dright );
//! extracts a rectangular sub-GpuMatrix
// (this is a generalized form of row, rowRange etc.)
GpuMat operator()( Range rowRange, Range colRange ) const;
GpuMat operator()( const Rect& roi ) const;
//! returns true iff the GpuMatrix data is continuous
// (i.e. when there are no gaps between successive rows).
// similar to CV_IS_GpuMat_CONT(cvGpuMat->type)
bool isContinuous() const;
//! returns element size in bytes,
// similar to CV_ELEM_SIZE(cvMat->type)
size_t elemSize() const;
//! returns the size of element channel in bytes.
size_t elemSize1() const;
//! returns element type, similar to CV_MAT_TYPE(cvMat->type)
int type() const;
//! returns element type, similar to CV_MAT_DEPTH(cvMat->type)
int depth() const;
//! returns element type, similar to CV_MAT_CN(cvMat->type)
int channels() const;
//! returns step/elemSize1()
size_t step1() const;
//! returns GpuMatrix size:
// width == number of columns, height == number of rows
Size size() const;
//! returns true if GpuMatrix data is NULL
bool empty() const;
//! returns pointer to y-th row
uchar* ptr(int y=0);
const uchar* ptr(int y=0) const;
//! template version of the above method
template<typename _Tp> _Tp* ptr(int y=0);
template<typename _Tp> const _Tp* ptr(int y=0) const;
/*! includes several bit-fields:
- the magic signature
- continuity flag
- depth
- number of channels
*/
int flags;
//! the number of rows and columns
int rows, cols;
//! a distance between successive rows in bytes; includes the gap if any
size_t step;
//! pointer to the data
uchar* data;
//! pointer to the reference counter;
// when GpuMatrix points to user-allocated data, the pointer is NULL
int* refcount;
//! helper fields used in locateROI and adjustROI
uchar* datastart;
uchar* dataend;
};
//////////////////////////////// CudaStream ////////////////////////////////
class CudaStream
{
public:
CudaStream();
~CudaStream();
bool queryIfComplete();
void waitForCompletion();
//calls cudaMemcpyAsync
void enqueueDownload(const GpuMat& src, Mat& dst);
void enqueueUpload(const Mat& src, GpuMat& dst);
void enqueueCopy(const GpuMat& src, GpuMat& dst);
// calls cudaMemset2D asynchronous for single channel. Invoke kernel for some multichannel.
void enqueueMemSet(const GpuMat& src, Scalar val);
// invoke kernel asynchronous because of mask
void enqueueMemSet(const GpuMat& src, Scalar val, const GpuMat& mask);
// converts matrix type, ex from float to uchar depending on type
void enqueueConvert(const GpuMat& src, GpuMat& dst, int type);
//CUstream_st& getStream();
private:
void *impl;
CudaStream(const CudaStream&);
CudaStream& operator=(const CudaStream&);
};
//////////////////////////////// StereoBM_GPU ////////////////////////////////
class CV_EXPORTS StereoBM_GPU
{
public:
enum { BASIC_PRESET=0, PREFILTER_XSOBEL = 1 };
//! the default constructor
StereoBM_GPU();
//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size
//! ndisparities should be multiple of 8. SSD WindowsSize is fixed to 19 now
StereoBM_GPU(int preset, int ndisparities=0);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
//! Output disparity has CV_8U type.
void operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity) const;
private:
mutable GpuMat minSSD;
int preset;
int ndisp;
};
}
}
#include "opencv2/gpu/gpumat.hpp"
#endif /* __OPENCV_GPU_HPP__ */

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other GpuMaterials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_GPU_MATRIX_OPERATIONS_HPP__
#define __OPENCV_GPU_MATRIX_OPERATIONS_HPP__
namespace cv
{
namespace gpu
{
//////////////////////////////// GpuMat ////////////////////////////////
inline GpuMat::GpuMat()
: flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0) {}
inline GpuMat::GpuMat(int _rows, int _cols, int _type)
: flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0)
{
if( _rows > 0 && _cols > 0 )
create( _rows, _cols, _type );
}
inline GpuMat::GpuMat(Size _size, int _type)
: flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0)
{
if( _size.height > 0 && _size.width > 0 )
create( _size.height, _size.width, _type );
}
inline GpuMat::GpuMat(int _rows, int _cols, int _type, const Scalar& _s)
: flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0)
{
if(_rows > 0 && _cols > 0)
{
create(_rows, _cols, _type);
*this = _s;
}
}
inline GpuMat::GpuMat(Size _size, int _type, const Scalar& _s)
: flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0)
{
if( _size.height > 0 && _size.width > 0 )
{
create( _size.height, _size.width, _type );
*this = _s;
}
}
inline GpuMat::GpuMat(const GpuMat& m)
: flags(m.flags), rows(m.rows), cols(m.cols), step(m.step), data(m.data), refcount(m.refcount), datastart(m.datastart), dataend(m.dataend)
{
if( refcount )
CV_XADD(refcount, 1);
}
inline GpuMat::GpuMat(int _rows, int _cols, int _type, void* _data, size_t _step)
: flags(Mat::MAGIC_VAL + (_type & TYPE_MASK)), rows(_rows), cols(_cols), step(_step), data((uchar*)_data), refcount(0),
datastart((uchar*)_data), dataend((uchar*)_data)
{
size_t minstep = cols*elemSize();
if( step == Mat::AUTO_STEP )
{
step = minstep;
flags |= Mat::CONTINUOUS_FLAG;
}
else
{
if( rows == 1 ) step = minstep;
CV_DbgAssert( step >= minstep );
flags |= step == minstep ? Mat::CONTINUOUS_FLAG : 0;
}
dataend += step*(rows-1) + minstep;
}
inline GpuMat::GpuMat(Size _size, int _type, void* _data, size_t _step)
: flags(Mat::MAGIC_VAL + (_type & TYPE_MASK)), rows(_size.height), cols(_size.width),
step(_step), data((uchar*)_data), refcount(0),
datastart((uchar*)_data), dataend((uchar*)_data)
{
size_t minstep = cols*elemSize();
if( step == Mat::AUTO_STEP )
{
step = minstep;
flags |= Mat::CONTINUOUS_FLAG;
}
else
{
if( rows == 1 ) step = minstep;
CV_DbgAssert( step >= minstep );
flags |= step == minstep ? Mat::CONTINUOUS_FLAG : 0;
}
dataend += step*(rows-1) + minstep;
}
inline GpuMat::GpuMat(const GpuMat& m, const Range& rowRange, const Range& colRange)
{
flags = m.flags;
step = m.step; refcount = m.refcount;
data = m.data; datastart = m.datastart; dataend = m.dataend;
if( rowRange == Range::all() )
rows = m.rows;
else
{
CV_Assert( 0 <= rowRange.start && rowRange.start <= rowRange.end && rowRange.end <= m.rows );
rows = rowRange.size();
data += step*rowRange.start;
}
if( colRange == Range::all() )
cols = m.cols;
else
{
CV_Assert( 0 <= colRange.start && colRange.start <= colRange.end && colRange.end <= m.cols );
cols = colRange.size();
data += colRange.start*elemSize();
flags &= cols < m.cols ? ~Mat::CONTINUOUS_FLAG : -1;
}
if( rows == 1 )
flags |= Mat::CONTINUOUS_FLAG;
if( refcount )
CV_XADD(refcount, 1);
if( rows <= 0 || cols <= 0 )
rows = cols = 0;
}
inline GpuMat::GpuMat(const GpuMat& m, const Rect& roi)
: flags(m.flags), rows(roi.height), cols(roi.width),
step(m.step), data(m.data + roi.y*step), refcount(m.refcount),
datastart(m.datastart), dataend(m.dataend)
{
flags &= roi.width < m.cols ? ~Mat::CONTINUOUS_FLAG : -1;
data += roi.x*elemSize();
CV_Assert( 0 <= roi.x && 0 <= roi.width && roi.x + roi.width <= m.cols &&
0 <= roi.y && 0 <= roi.height && roi.y + roi.height <= m.rows );
if( refcount )
CV_XADD(refcount, 1);
if( rows <= 0 || cols <= 0 )
rows = cols = 0;
}
inline GpuMat::GpuMat(const Mat& m)
: flags(0), rows(0), cols(0), step(0), data(0), refcount(0), datastart(0), dataend(0) { upload(m); }
inline GpuMat::~GpuMat() { release(); }
inline GpuMat& GpuMat::operator = (const GpuMat& m)
{
if( this != &m )
{
if( m.refcount )
CV_XADD(m.refcount, 1);
release();
flags = m.flags;
rows = m.rows; cols = m.cols;
step = m.step; data = m.data;
datastart = m.datastart; dataend = m.dataend;
refcount = m.refcount;
}
return *this;
}
inline GpuMat& GpuMat::operator = (const Mat& m) { upload(m); return *this; }
template <class T> inline GpuMat::operator DevMem2D_<T>() const { return DevMem2D_<T>(rows, cols, (T*)data, step); }
//CPP: void GpuMat::upload(const Mat& m);
inline GpuMat::operator Mat() const
{
Mat m;
download(m);
return m;
}
//CPP void GpuMat::download(cv::Mat& m) const;
inline GpuMat GpuMat::row(int y) const { return GpuMat(*this, Range(y, y+1), Range::all()); }
inline GpuMat GpuMat::col(int x) const { return GpuMat(*this, Range::all(), Range(x, x+1)); }
inline GpuMat GpuMat::rowRange(int startrow, int endrow) const { return GpuMat(*this, Range(startrow, endrow), Range::all()); }
inline GpuMat GpuMat::rowRange(const Range& r) const { return GpuMat(*this, r, Range::all()); }
inline GpuMat GpuMat::colRange(int startcol, int endcol) const { return GpuMat(*this, Range::all(), Range(startcol, endcol)); }
inline GpuMat GpuMat::colRange(const Range& r) const { return GpuMat(*this, Range::all(), r); }
inline GpuMat GpuMat::clone() const
{
GpuMat m;
copyTo(m);
return m;
}
//CPP void GpuMat::copyTo( GpuMat& m ) const;
//CPP void GpuMat::copyTo( GpuMat& m, const GpuMat& mask ) const;
//CPP void GpuMat::convertTo( GpuMat& m, int rtype, double alpha=1, double beta=0 ) const;
inline void GpuMat::assignTo( GpuMat& m, int type ) const
{
if( type < 0 )
m = *this;
else
convertTo(m, type);
}
//CPP GpuMat& GpuMat::operator = (const Scalar& s);
//CPP GpuMat& GpuMat::setTo(const Scalar& s, const GpuMat& mask=GpuMat());
//CPP GpuMat GpuMat::reshape(int _cn, int _rows=0) const;
//CPP void GpuMat::create(int _rows, int _cols, int _type);
inline void GpuMat::create(Size _size, int _type) { create(_size.height, _size.width, _type); }
//CPP void GpuMat::release();
inline void GpuMat::swap(GpuMat& b)
{
std::swap( flags, b.flags );
std::swap( rows, b.rows ); std::swap( cols, b.cols );
std::swap( step, b.step ); std::swap( data, b.data );
std::swap( datastart, b.datastart );
std::swap( dataend, b.dataend );
std::swap( refcount, b.refcount );
}
inline void GpuMat::locateROI( Size& wholeSize, Point& ofs ) const
{
size_t esz = elemSize(), minstep;
ptrdiff_t delta1 = data - datastart, delta2 = dataend - datastart;
CV_DbgAssert( step > 0 );
if( delta1 == 0 )
ofs.x = ofs.y = 0;
else
{
ofs.y = (int)(delta1/step);
ofs.x = (int)((delta1 - step*ofs.y)/esz);
CV_DbgAssert( data == datastart + ofs.y*step + ofs.x*esz );
}
minstep = (ofs.x + cols)*esz;
wholeSize.height = (int)((delta2 - minstep)/step + 1);
wholeSize.height = std::max(wholeSize.height, ofs.y + rows);
wholeSize.width = (int)((delta2 - step*(wholeSize.height-1))/esz);
wholeSize.width = std::max(wholeSize.width, ofs.x + cols);
}
inline GpuMat& GpuMat::adjustROI( int dtop, int dbottom, int dleft, int dright )
{
Size wholeSize; Point ofs;
size_t esz = elemSize();
locateROI( wholeSize, ofs );
int row1 = std::max(ofs.y - dtop, 0), row2 = std::min(ofs.y + rows + dbottom, wholeSize.height);
int col1 = std::max(ofs.x - dleft, 0), col2 = std::min(ofs.x + cols + dright, wholeSize.width);
data += (row1 - ofs.y)*step + (col1 - ofs.x)*esz;
rows = row2 - row1; cols = col2 - col1;
if( esz*cols == step || rows == 1 )
flags |= Mat::CONTINUOUS_FLAG;
else
flags &= ~Mat::CONTINUOUS_FLAG;
return *this;
}
inline GpuMat GpuMat::operator()( Range rowRange, Range colRange ) const { return GpuMat(*this, rowRange, colRange); }
inline GpuMat GpuMat::operator()( const Rect& roi ) const { return GpuMat(*this, roi); }
inline bool GpuMat::isContinuous() const { return (flags & Mat::CONTINUOUS_FLAG) != 0; }
inline size_t GpuMat::elemSize() const { return CV_ELEM_SIZE(flags); }
inline size_t GpuMat::elemSize1() const { return CV_ELEM_SIZE1(flags); }
inline int GpuMat::type() const { return CV_MAT_TYPE(flags); }
inline int GpuMat::depth() const { return CV_MAT_DEPTH(flags); }
inline int GpuMat::channels() const { return CV_MAT_CN(flags); }
inline size_t GpuMat::step1() const { return step/elemSize1(); }
inline Size GpuMat::size() const { return Size(cols, rows); }
inline bool GpuMat::empty() const { return data == 0; }
inline uchar* GpuMat::ptr(int y)
{
CV_DbgAssert( (unsigned)y < (unsigned)rows );
return data + step*y;
}
inline const uchar* GpuMat::ptr(int y) const
{
CV_DbgAssert( (unsigned)y < (unsigned)rows );
return data + step*y;
}
template<typename _Tp> inline _Tp* GpuMat::ptr(int y)
{
CV_DbgAssert( (unsigned)y < (unsigned)rows );
return (_Tp*)(data + step*y);
}
template<typename _Tp> inline const _Tp* GpuMat::ptr(int y) const
{
CV_DbgAssert( (unsigned)y < (unsigned)rows );
return (const _Tp*)(data + step*y);
}
static inline void swap( GpuMat& a, GpuMat& b ) { a.swap(b); }
} /* end of namespace gpu */
} /* end of namespace cv */
#endif /* __OPENCV_GPU_MATRIX_OPERATIONS_HPP__ */

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other GpuMaterials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_GPU_MATPL_HPP__
#define __OPENCV_GPU_MATPL_HPP__
#include "opencv2/core/core.hpp"
namespace cv
{
namespace gpu
{
//////////////////////////////// MatPL ////////////////////////////////
//class CV_EXPORTS MatPL : private Mat
//{
//public:
// MatPL() {}
// MatPL(int _rows, int _cols, int _type) : Mat(_rows, _cols, _type) {}
// MatPL(Size _size, int _type) : Mat(_size, _type) {}
//
// Mat(int _rows, int _cols, int _type, const Scalar& _s) : Mat
// MatPL(Size _size, int _type, const Scalar& _s);
// //! copy constructor
// MatPL(const Mat& m);
// //! constructor for matrix headers pointing to user-allocated data
// MatPL(int _rows, int _cols, int _type, void* _data, size_t _step=AUTO_STEP);
// MatPL(Size _size, int _type, void* _data, size_t _step=AUTO_STEP);
// //! creates a matrix header for a part of the bigger matrix
// MatPL(const Mat& m, const Range& rowRange, const Range& colRange);
// MatPL(const Mat& m, const Rect& roi);
// //! converts old-style CvMat to the new matrix; the data is not copied by default
// Mat(const CvMat* m, bool copyData=false);
// MatPL converts old-style IplImage to the new matrix; the data is not copied by default
// MatPL(const IplImage* img, bool copyData=false);
// //! builds matrix from std::vector with or without copying the data
// template<typename _Tp> explicit Mat(const vector<_Tp>& vec, bool copyData=false);
// //! builds matrix from cv::Vec; the data is copied by default
// template<typename _Tp, int n> explicit Mat(const Vec<_Tp, n>& vec,
// bool copyData=true);
// //! builds matrix from cv::Matx; the data is copied by default
// template<typename _Tp, int m, int n> explicit Mat(const Matx<_Tp, m, n>& mtx,
// bool copyData=true);
// //! builds matrix from a 2D point
// template<typename _Tp> explicit Mat(const Point_<_Tp>& pt);
// //! builds matrix from a 3D point
// template<typename _Tp> explicit Mat(const Point3_<_Tp>& pt);
// //! builds matrix from comma initializer
// template<typename _Tp> explicit Mat(const MatCommaInitializer_<_Tp>& commaInitializer);
// //! helper constructor to compile matrix expressions
// Mat(const MatExpr_Base& expr);
// //! destructor - calls release()
// ~Mat();
// //! assignment operators
// Mat& operator = (const Mat& m);
// Mat& operator = (const MatExpr_Base& expr);
// operator MatExpr_<Mat, Mat>() const;
// //! returns a new matrix header for the specified row
// Mat row(int y) const;
// //! returns a new matrix header for the specified column
// Mat col(int x) const;
// //! ... for the specified row span
// Mat rowRange(int startrow, int endrow) const;
// Mat rowRange(const Range& r) const;
// //! ... for the specified column span
// Mat colRange(int startcol, int endcol) const;
// Mat colRange(const Range& r) const;
// //! ... for the specified diagonal
// // (d=0 - the main diagonal,
// // >0 - a diagonal from the lower half,
// // <0 - a diagonal from the upper half)
// Mat diag(int d=0) const;
// //! constructs a square diagonal matrix which main diagonal is vector "d"
// static Mat diag(const Mat& d);
// //! returns deep copy of the matrix, i.e. the data is copied
// Mat clone() const;
// //! copies the matrix content to "m".
// // It calls m.create(this->size(), this->type()).
// void copyTo( Mat& m ) const;
// //! copies those matrix elements to "m" that are marked with non-zero mask elements.
// void copyTo( Mat& m, const Mat& mask ) const;
// //! converts matrix to another datatype with optional scalng. See cvConvertScale.
// void convertTo( Mat& m, int rtype, double alpha=1, double beta=0 ) const;
// void assignTo( Mat& m, int type=-1 ) const;
// //! sets every matrix element to s
// Mat& operator = (const Scalar& s);
// //! sets some of the matrix elements to s, according to the mask
// Mat& setTo(const Scalar& s, const Mat& mask=Mat());
// //! creates alternative matrix header for the same data, with different
// // number of channels and/or different number of rows. see cvReshape.
// Mat reshape(int _cn, int _rows=0) const;
// //! matrix transposition by means of matrix expressions
// MatExpr_<MatExpr_Op2_<Mat, double, Mat, MatOp_T_<Mat> >, Mat>
// t() const;
// //! matrix inversion by means of matrix expressions
// MatExpr_<MatExpr_Op2_<Mat, int, Mat, MatOp_Inv_<Mat> >, Mat>
// inv(int method=DECOMP_LU) const;
// MatExpr_<MatExpr_Op4_<Mat, Mat, double, char, Mat, MatOp_MulDiv_<Mat> >, Mat>
// //! per-element matrix multiplication by means of matrix expressions
// mul(const Mat& m, double scale=1) const;
// MatExpr_<MatExpr_Op4_<Mat, Mat, double, char, Mat, MatOp_MulDiv_<Mat> >, Mat>
// mul(const MatExpr_<MatExpr_Op2_<Mat, double, Mat, MatOp_Scale_<Mat> >, Mat>& m, double scale=1) const;
// MatExpr_<MatExpr_Op4_<Mat, Mat, double, char, Mat, MatOp_MulDiv_<Mat> >, Mat>
// mul(const MatExpr_<MatExpr_Op2_<Mat, double, Mat, MatOp_DivRS_<Mat> >, Mat>& m, double scale=1) const;
// //! computes cross-product of 2 3D vectors
// Mat cross(const Mat& m) const;
// //! computes dot-product
// double dot(const Mat& m) const;
// //! Matlab-style matrix initialization
// static MatExpr_Initializer zeros(int rows, int cols, int type);
// static MatExpr_Initializer zeros(Size size, int type);
// static MatExpr_Initializer ones(int rows, int cols, int type);
// static MatExpr_Initializer ones(Size size, int type);
// static MatExpr_Initializer eye(int rows, int cols, int type);
// static MatExpr_Initializer eye(Size size, int type);
// //! allocates new matrix data unless the matrix already has specified size and type.
// // previous data is unreferenced if needed.
// void create(int _rows, int _cols, int _type);
// void create(Size _size, int _type);
// //! increases the reference counter; use with care to avoid memleaks
// void addref();
// //! decreases reference counter;
// // deallocate the data when reference counter reaches 0.
// void release();
// //! locates matrix header within a parent matrix. See below
// void locateROI( Size& wholeSize, Point& ofs ) const;
// //! moves/resizes the current matrix ROI inside the parent matrix.
// Mat& adjustROI( int dtop, int dbottom, int dleft, int dright );
// //! extracts a rectangular sub-matrix
// // (this is a generalized form of row, rowRange etc.)
// Mat operator()( Range rowRange, Range colRange ) const;
// Mat operator()( const Rect& roi ) const;
// //! converts header to CvMat; no data is copied
// operator CvMat() const;
// //! converts header to IplImage; no data is copied
// operator IplImage() const;
// //! returns true iff the matrix data is continuous
// // (i.e. when there are no gaps between successive rows).
// // similar to CV_IS_MAT_CONT(cvmat->type)
// bool isContinuous() const;
// //! returns element size in bytes,
// // similar to CV_ELEM_SIZE(cvmat->type)
// size_t elemSize() const;
// //! returns the size of element channel in bytes.
// size_t elemSize1() const;
// //! returns element type, similar to CV_MAT_TYPE(cvmat->type)
// int type() const;
// //! returns element type, similar to CV_MAT_DEPTH(cvmat->type)
// int depth() const;
// //! returns element type, similar to CV_MAT_CN(cvmat->type)
// int channels() const;
// //! returns step/elemSize1()
// size_t step1() const;
// //! returns matrix size:
// // width == number of columns, height == number of rows
// Size size() const;
// //! returns true if matrix data is NULL
// bool empty() const;
// //! returns pointer to y-th row
// uchar* ptr(int y=0);
// const uchar* ptr(int y=0) const;
// //! template version of the above method
// template<typename _Tp> _Tp* ptr(int y=0);
// template<typename _Tp> const _Tp* ptr(int y=0) const;
// //! template methods for read-write or read-only element access.
// // note that _Tp must match the actual matrix type -
// // the functions do not do any on-fly type conversion
// template<typename _Tp> _Tp& at(int y, int x);
// template<typename _Tp> _Tp& at(Point pt);
// template<typename _Tp> const _Tp& at(int y, int x) const;
// template<typename _Tp> const _Tp& at(Point pt) const;
// template<typename _Tp> _Tp& at(int i);
// template<typename _Tp> const _Tp& at(int i) const;
// //! template methods for iteration over matrix elements.
// // the iterators take care of skipping gaps in the end of rows (if any)
// template<typename _Tp> MatIterator_<_Tp> begin();
// template<typename _Tp> MatIterator_<_Tp> end();
// template<typename _Tp> MatConstIterator_<_Tp> begin() const;
// template<typename _Tp> MatConstIterator_<_Tp> end() const;
// enum { MAGIC_VAL=0x42FF0000, AUTO_STEP=0, CONTINUOUS_FLAG=CV_MAT_CONT_FLAG };
// /*! includes several bit-fields:
// - the magic signature
// - continuity flag
// - depth
// - number of channels
// */
// int flags;
// //! the number of rows and columns
// int rows, cols;
// //! a distance between successive rows in bytes; includes the gap if any
// size_t step;
// //! pointer to the data
// uchar* data;
// //! pointer to the reference counter;
// // when matrix points to user-allocated data, the pointer is NULL
// int* refcount;
// //! helper fields used in locateROI and adjustROI
// uchar* datastart;
// uchar* dataend;
//};
}
}
#endif /* __OPENCV_GPU_MATPL_HPP__ */

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
using namespace cv;
using namespace cv::gpu;
cv::gpu::CudaStream::CudaStream() : impl( fastMalloc(sizeof(cudaStream_t)) )
{
cudaSafeCall( cudaStreamCreate((cudaStream_t*)impl) );
}
cv::gpu::CudaStream::~CudaStream()
{
cudaSafeCall( cudaStreamDestroy( *(cudaStream_t*)impl ) );
cv::fastFree( impl );
}
bool cv::gpu::CudaStream::queryIfComplete()
{
cudaError_t err = cudaStreamQuery( *(cudaStream_t*)impl );
if (err == cudaSuccess)
return true;
if (err == cudaErrorNotReady)
return false;
//cudaErrorInvalidResourceHandle
cudaSafeCall( err );
return true;
}
void cv::gpu::CudaStream::waitForCompletion()
{
cudaSafeCall( cudaStreamSynchronize( *(cudaStream_t*)impl ) );
}
void cv::gpu::CudaStream::enqueueDownload(const GpuMat& src, Mat& dst)
{
// cudaMemcpy2DAsync(dst.data, dst.step, src.data, src.step, src.cols * src.elemSize(), src.rows, cudaMemcpyDeviceToHost,
}
void cv::gpu::CudaStream::enqueueUpload(const Mat& src, GpuMat& dst)
{
CV_Assert(!"Not implemented");
}
void cv::gpu::CudaStream::enqueueCopy(const GpuMat& src, GpuMat& dst)
{
CV_Assert(!"Not implemented");
}
void cv::gpu::CudaStream::enqueueMemSet(const GpuMat& src, Scalar val)
{
CV_Assert(!"Not implemented");
}
void cv::gpu::CudaStream::enqueueMemSet(const GpuMat& src, Scalar val, const GpuMat& mask)
{
CV_Assert(!"Not implemented");
}
void cv::gpu::CudaStream::enqueueConvert(const GpuMat& src, GpuMat& dst, int type)
{
CV_Assert(!"Not implemented");
}
//struct cudaStream_t& cv::gpu::CudaStream::getStream() { return stream; }

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
using namespace cv;
using namespace cv::gpu;
//////////////////////////////// GpuMat ////////////////////////////////
void GpuMat::upload(const Mat& m)
{
CV_DbgAssert(!m.empty());
create(m.size(), m.type());
cudaSafeCall( cudaMemcpy2D(data, step, m.data, m.step, cols * elemSize(), rows, cudaMemcpyHostToDevice) );
}
void GpuMat::download(cv::Mat& m) const
{
CV_DbgAssert(!this->empty());
m.create(size(), type());
cudaSafeCall( cudaMemcpy2D(m.data, m.step, data, step, cols * elemSize(), rows, cudaMemcpyDeviceToHost) );
}
void GpuMat::copyTo( GpuMat& m ) const
{
CV_DbgAssert(!this->empty());
m.create(size(), type());
cudaSafeCall( cudaMemcpy2D(m.data, m.step, data, step, cols * elemSize(), rows, cudaMemcpyDeviceToDevice) );
cudaSafeCall( cudaThreadSynchronize() );
}
void GpuMat::copyTo( GpuMat& /*m*/, const GpuMat&/* mask */) const
{
CV_Assert(!"Not implemented");
}
void GpuMat::convertTo( GpuMat& /*m*/, int /*rtype*/, double /*alpha*/, double /*beta*/ ) const
{
CV_Assert(!"Not implemented");
}
GpuMat& GpuMat::operator = (const Scalar& /*s*/)
{
CV_Assert(!"Not implemented");
return *this;
}
GpuMat& GpuMat::setTo(const Scalar& /*s*/, const GpuMat& /*mask*/)
{
CV_Assert(!"Not implemented");
return *this;
}
GpuMat GpuMat::reshape(int new_cn, int new_rows) const
{
GpuMat hdr = *this;
int cn = channels();
if( new_cn == 0 )
new_cn = cn;
int total_width = cols * cn;
if( (new_cn > total_width || total_width % new_cn != 0) && new_rows == 0 )
new_rows = rows * total_width / new_cn;
if( new_rows != 0 && new_rows != rows )
{
int total_size = total_width * rows;
if( !isContinuous() )
CV_Error( CV_BadStep, "The matrix is not continuous, thus its number of rows can not be changed" );
if( (unsigned)new_rows > (unsigned)total_size )
CV_Error( CV_StsOutOfRange, "Bad new number of rows" );
total_width = total_size / new_rows;
if( total_width * new_rows != total_size )
CV_Error( CV_StsBadArg, "The total number of matrix elements is not divisible by the new number of rows" );
hdr.rows = new_rows;
hdr.step = total_width * elemSize1();
}
int new_width = total_width / new_cn;
if( new_width * new_cn != total_width )
CV_Error( CV_BadNumChannels, "The total width is not divisible by the new number of channels" );
hdr.cols = new_width;
hdr.flags = (hdr.flags & ~CV_MAT_CN_MASK) | ((new_cn-1) << CV_CN_SHIFT);
return hdr;
}
void GpuMat::create(int _rows, int _cols, int _type)
{
_type &= TYPE_MASK;
if( rows == _rows && cols == _cols && type() == _type && data )
return;
if( data )
release();
CV_DbgAssert( _rows >= 0 && _cols >= 0 );
if( _rows > 0 && _cols > 0 )
{
flags = Mat::MAGIC_VAL + _type;
rows = _rows;
cols = _cols;
size_t esz = elemSize();
void *dev_ptr;
cudaSafeCall( cudaMallocPitch(&dev_ptr, &step, esz * cols, rows) );
if (esz * cols == step)
flags |= Mat::CONTINUOUS_FLAG;
int64 _nettosize = (int64)step*rows;
size_t nettosize = (size_t)_nettosize;
datastart = data = (uchar*)dev_ptr;
dataend = data + nettosize;
refcount = (int*)fastMalloc(sizeof(*refcount));
*refcount = 1;
}
}
void GpuMat::release()
{
if( refcount && CV_XADD(refcount, -1) == 1 )
{
fastFree(refcount);
cudaSafeCall( cudaFree(datastart) );
}
data = datastart = dataend = 0;
step = rows = cols = 0;
refcount = 0;
}

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
using namespace cv;
using namespace cv::gpu;
CV_EXPORTS int cv::gpu::getCudaEnabledDeviceCount()
{
int count;
cudaSafeCall( cudaGetDeviceCount( &count ) );
return count;
}
CV_EXPORTS string cv::gpu::getDeviceName(int device)
{
cudaDeviceProp prop;
cudaSafeCall( cudaGetDeviceProperties( &prop, device) );
return prop.name;
}
CV_EXPORTS void cv::gpu::setDevice(int device)
{
cudaSafeCall( cudaSetDevice( device ) );
}
CV_EXPORTS int cv::gpu::getComputeCapability(int device)
{
cudaDeviceProp prop;
cudaSafeCall( cudaGetDeviceProperties( &prop, device) );
if (prop.major == 2)
return CV_GPU_CC_20;
if (prop.major == 1)
switch (prop.minor)
{
case 0: return CV_GPU_CC_10;
case 1: return CV_GPU_CC_11;
case 2: return CV_GPU_CC_12;
case 3: return CV_GPU_CC_13;
}
return -1;
}
CV_EXPORTS int cv::gpu::getNumberOfSMs(int device)
{
cudaDeviceProp prop;
cudaSafeCall( cudaGetDeviceProperties( &prop, device ) );
return prop.multiProcessorCount;
}

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
/* End of file. */

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_PRECOMP_H__
#define __OPENCV_PRECOMP_H__
#if _MSC_VER >= 1200
#pragma warning( disable: 4251 4710 4711 4514 4996 )
#endif
#ifdef HAVE_CONFIG_H
#include <cvconfig.h>
#endif
#include "opencv2/gpu/gpu.hpp"
#include "opencv2/gpu/gpumat.hpp"
#include "cuda_shared.hpp"
#include "cuda_runtime.h"
#define cudaSafeCall(err) __cudaSafeCall(err, __FILE__, __LINE__)
//inline void __cudaSafeCall( cudaError err, const char *file, const int line )
//{
// if( cudaSuccess != err)
// CV_Error_(CV_StsAssert, ("%s(%i) : Runtime API error : %s.\n", cudaGetErrorString(err)));
//}
namespace cv
{
namespace gpu
{
inline void __cudaSafeCall( cudaError err, const char *file, const int line )
{
if( cudaSuccess != err)
{
fprintf(stderr, "%s(%i) : cudaSafeCall() Runtime API error : %s.\n", file, line, cudaGetErrorString(err) );
exit(-1);
}
}
template<class T>
inline DevMem2D_<T> getDevMem(const GpuMat& mat) { return DevMem2D_<T>(m.rows, m.cols, m.data, m.step); }
}
}
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other GpuMaterials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include <limits>
using namespace cv;
using namespace cv::gpu;
StereoBM_GPU::StereoBM_GPU() : preset(BASIC_PRESET), ndisp(64) {}
StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_) : preset(preset_), ndisp(ndisparities_)
{
CV_Assert(ndisp <= std::numeric_limits<unsigned char>::max());
}
void StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity) const
{
CV_DbgAssert(left.rows == right.rows && left.cols == right.cols);
CV_DbgAssert(left.type() == CV_8UC1);
CV_DbgAssert(right.type() == CV_8UC1);
disparity.create(left.size(), CV_8U);
minSSD.create(left.size(), CV_32S);
if (preset == PREFILTER_XSOBEL)
{
CV_Assert(!"Not implemented");
}
DevMem2D disp = disparity;
DevMem2D_<uint> mssd = minSSD;
impl::stereoBM_GPU(left, right, disp, ndisp, mssd);
}