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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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108
modules/gpu/src/cudastream.cpp 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*/
#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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modules/gpu/src/gpumat.cpp 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*/
#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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modules/gpu/src/initialization.cpp 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*/
#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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modules/gpu/src/precomp.cpp 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.
//
//
// 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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modules/gpu/src/precomp.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_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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modules/gpu/src/stereobm_gpu.cpp 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*/
#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);
}