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implemented asynchronous call for StereoBeliefPropagation_GPU

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Vladislav Vinogradov 2010-07-29 07:20:35 +00:00
parent 70a2c8f50a
commit 84f51332dd
3 changed files with 138 additions and 49 deletions
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27
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -379,19 +379,26 @@ namespace cv
enum { DEFAULT_ITERS = 5 }; enum { DEFAULT_ITERS = 5 };
enum { DEFAULT_LEVELS = 5 }; enum { DEFAULT_LEVELS = 5 };
static const float DEFAULT_DISC_COST; //! the default constructor
static const float DEFAULT_DATA_COST; explicit StereoBeliefPropagation_GPU(int ndisp = DEFAULT_NDISP,
static const float DEFAULT_LAMBDA_COST; int iters = DEFAULT_ITERS,
int levels = DEFAULT_LEVELS);
explicit StereoBeliefPropagation_GPU(int ndisp = DEFAULT_NDISP, //! the full constructor taking the number of disparities, number of BP iterations on first level,
int iters = DEFAULT_ITERS, //! number of levels, truncation of discontinuity cost, truncation of data cost and weighting of data cost.
int levels = DEFAULT_LEVELS, StereoBeliefPropagation_GPU(int ndisp, int iters, int levels, float disc_cost, float data_cost, float lambda);
float disc_cost = DEFAULT_DISC_COST,
float data_cost = DEFAULT_DATA_COST,
float lambda = DEFAULT_LAMBDA_COST);
//! 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); void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity);
//! Acync version
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, const CudaStream& stream);
//! Some heuristics that tries to estmate
//! if current GPU will be faster then CPU in this algorithm.
//! It queries current active device.
static bool checkIfGpuCallReasonable();
int ndisp; int ndisp;
int iters; int iters;

81
modules/gpu/src/beliefpropagation_gpu.cpp
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@ -46,29 +46,42 @@ using namespace cv;
using namespace cv::gpu; using namespace cv::gpu;
using namespace std; using namespace std;
const float cv::gpu::StereoBeliefPropagation_GPU::DEFAULT_DISC_COST = 1.7f;
const float cv::gpu::StereoBeliefPropagation_GPU::DEFAULT_DATA_COST = 10.0f;
const float cv::gpu::StereoBeliefPropagation_GPU::DEFAULT_LAMBDA_COST = 0.07f;
#if !defined (HAVE_CUDA) #if !defined (HAVE_CUDA)
cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int, int, int) { throw_nogpu(); }
cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int, int, int, float, float, float) { throw_nogpu(); } cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int, int, int, float, float, float) { throw_nogpu(); }
void cv::gpu::StereoBeliefPropagation_GPU::operator() (const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); } void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat&, const GpuMat&, GpuMat&, const CudaStream&) { throw_nogpu(); }
bool cv::gpu::StereoBeliefPropagation_GPU::checkIfGpuCallReasonable() { throw_nogpu(); return false; }
#else /* !defined (HAVE_CUDA) */ #else /* !defined (HAVE_CUDA) */
static const float DEFAULT_DISC_COST = 1.7f;
static const float DEFAULT_DATA_COST = 10.0f;
static const float DEFAULT_LAMBDA_COST = 0.07f;
typedef DevMem2D_<float> DevMem2Df; typedef DevMem2D_<float> DevMem2Df;
namespace cv { namespace gpu { namespace impl { namespace cv { namespace gpu { namespace impl {
extern "C" void load_constants(int ndisp, float disc_cost, float data_cost, float lambda); extern "C" void load_constants(int ndisp, float disc_cost, float data_cost, float lambda);
extern "C" void comp_data_caller(const DevMem2D& l, const DevMem2D& r, DevMem2Df mdata); extern "C" void comp_data_caller(const DevMem2D& l, const DevMem2D& r, DevMem2Df mdata, const cudaStream_t& stream);
extern "C" void data_down_kernel_caller(int dst_cols, int dst_rows, int src_rows, const DevMem2Df& src, DevMem2Df dst); extern "C" void data_down_kernel_caller(int dst_cols, int dst_rows, int src_rows, const DevMem2Df& src, DevMem2Df dst, const cudaStream_t& stream);
extern "C" void level_up(int dst_idx, int dst_cols, int dst_rows, int src_rows, DevMem2Df* mu, DevMem2Df* md, DevMem2Df* ml, DevMem2Df* mr); extern "C" void level_up(int dst_idx, int dst_cols, int dst_rows, int src_rows, DevMem2Df* mu, DevMem2Df* md, DevMem2Df* ml, DevMem2Df* mr, const cudaStream_t& stream);
extern "C" void call_all_iterations(int cols, int rows, int iters, DevMem2Df& u, DevMem2Df& d, DevMem2Df& l, DevMem2Df& r, const DevMem2Df& data); extern "C" void call_all_iterations(int cols, int rows, int iters, DevMem2Df& u, DevMem2Df& d, DevMem2Df& l, DevMem2Df& r, const DevMem2Df& data, const cudaStream_t& stream);
extern "C" void output_caller(const DevMem2Df& u, const DevMem2Df& d, const DevMem2Df& l, const DevMem2Df& r, const DevMem2Df& data, DevMem2D disp); extern "C" void output_caller(const DevMem2Df& u, const DevMem2Df& d, const DevMem2Df& l, const DevMem2Df& r, const DevMem2Df& data, DevMem2D disp, const cudaStream_t& stream);
}}} }}}
cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int ndisp_, int iters_, int levels_)
: ndisp(ndisp_), iters(iters_), levels(levels_), disc_cost(DEFAULT_DISC_COST), data_cost(DEFAULT_DATA_COST), lambda(DEFAULT_LAMBDA_COST), datas(levels_)
{
const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
CV_Assert(0 < ndisp && ndisp <= max_supported_ndisp);
CV_Assert(ndisp % 8 == 0);
}
cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int ndisp_, int iters_, int levels_, float disc_cost_, float data_cost_, float lambda_) cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int ndisp_, int iters_, int levels_, float disc_cost_, float data_cost_, float lambda_)
: ndisp(ndisp_), iters(iters_), levels(levels_), disc_cost(disc_cost_), data_cost(data_cost_), lambda(lambda_), datas(levels_) : ndisp(ndisp_), iters(iters_), levels(levels_), disc_cost(disc_cost_), data_cost(data_cost_), lambda(lambda_), datas(levels_)
{ {
@ -78,8 +91,13 @@ cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int ndisp_, in
CV_Assert(ndisp % 8 == 0); CV_Assert(ndisp % 8 == 0);
} }
void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp) static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_cost, float data_cost, float lambda,
{ GpuMat& u, GpuMat& d, GpuMat& l, GpuMat& r,
GpuMat& u2, GpuMat& d2, GpuMat& l2, GpuMat& r2,
vector<GpuMat>& datas,
const GpuMat& left, const GpuMat& right, GpuMat& disp,
const cudaStream_t& stream)
{
CV_DbgAssert(left.cols == right.cols && left.rows == right.rows && left.type() == right.type() && left.type() == CV_8U); CV_DbgAssert(left.cols == right.cols && left.rows == right.rows && left.type() == right.type() && left.type() == CV_8U);
const Scalar zero = Scalar::all(0); const Scalar zero = Scalar::all(0);
@ -98,7 +116,7 @@ void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const
u.create(rows * ndisp, cols, CV_32F); u.create(rows * ndisp, cols, CV_32F);
d.create(rows * ndisp, cols, CV_32F); d.create(rows * ndisp, cols, CV_32F);
l.create(rows * ndisp, cols, CV_32F); l.create(rows * ndisp, cols, CV_32F);
r.create(rows * ndisp, cols, CV_32F); r.create(rows * ndisp, cols, CV_32F);
if (levels & 1) if (levels & 1)
{ {
@ -140,7 +158,7 @@ void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const
datas[0].create(rows * ndisp, cols, CV_32F); datas[0].create(rows * ndisp, cols, CV_32F);
//datas[0] = Scalar(data_cost); //DOTO did in kernel, but not sure if correct //datas[0] = Scalar(data_cost); //DOTO did in kernel, but not sure if correct
impl::comp_data_caller(left, right, datas.front()); impl::comp_data_caller(left, right, datas.front(), stream);
for (int i = 1; i < levels; i++) for (int i = 1; i < levels; i++)
{ {
@ -153,7 +171,7 @@ void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const
datas[i].create(rows_all[i] * ndisp, cols_all[i], CV_32F); datas[i].create(rows_all[i] * ndisp, cols_all[i], CV_32F);
impl::data_down_kernel_caller(cols_all[i], rows_all[i], rows_all[i-1], datas[i-1], datas[i]); impl::data_down_kernel_caller(cols_all[i], rows_all[i], rows_all[i-1], datas[i-1], datas[i], stream);
} }
DevMem2D_<float> mus[] = {u, u2}; DevMem2D_<float> mus[] = {u, u2};
@ -166,14 +184,41 @@ void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const
for (int i = levels - 1; i >= 0; i--) // for lower level we have already computed messages by setting to zero for (int i = levels - 1; i >= 0; i--) // for lower level we have already computed messages by setting to zero
{ {
if (i != levels - 1) if (i != levels - 1)
impl::level_up(mem_idx, cols_all[i], rows_all[i], rows_all[i+1], mus, mds, mls, mrs); impl::level_up(mem_idx, cols_all[i], rows_all[i], rows_all[i+1], mus, mds, mls, mrs, stream);
impl::call_all_iterations(cols_all[i], rows_all[i], iters_all[i], mus[mem_idx], mds[mem_idx], mls[mem_idx], mrs[mem_idx], datas[i]); impl::call_all_iterations(cols_all[i], rows_all[i], iters_all[i], mus[mem_idx], mds[mem_idx], mls[mem_idx], mrs[mem_idx], datas[i], stream);
mem_idx = (mem_idx + 1) & 1; mem_idx = (mem_idx + 1) & 1;
} }
impl::output_caller(u, d, l, r, datas.front(), disp); impl::output_caller(u, d, l, r, datas.front(), disp, stream);
}
void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
{
::stereo_bp_gpu_operator(ndisp, iters, levels, disc_cost, data_cost, lambda, u, d, l, r, u2, d2, l2, r2, datas, left, right, disp, 0);
}
void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, const CudaStream& stream)
{
::stereo_bp_gpu_operator(ndisp, iters, levels, disc_cost, data_cost, lambda, u, d, l, r, u2, d2, l2, r2, datas, left, right, disp, StreamAccessor::getStream(stream));
}
bool cv::gpu::StereoBeliefPropagation_GPU::checkIfGpuCallReasonable()
{
if (0 == getCudaEnabledDeviceCount())
return false;
int device = getDevice();
int minor, major;
getComputeCapability(device, &major, &minor);
int numSM = getNumberOfSMs(device);
if (major > 1 || numSM > 16)
return true;
return false;
} }
#endif /* !defined (HAVE_CUDA) */ #endif /* !defined (HAVE_CUDA) */

79
modules/gpu/src/cuda/beliefpropagation.cu
View File

@ -108,7 +108,7 @@ namespace cv { namespace gpu { namespace impl {
cudaSafeCall( cudaMemcpyToSymbol(beliefpropagation_gpu::clambda, &lambda, sizeof(lambda)) ); cudaSafeCall( cudaMemcpyToSymbol(beliefpropagation_gpu::clambda, &lambda, sizeof(lambda)) );
} }
extern "C" void comp_data_caller(const DevMem2D& l, const DevMem2D& r, DevMem2D_<float> mdata) extern "C" void comp_data_caller(const DevMem2D& l, const DevMem2D& r, DevMem2D_<float> mdata, const cudaStream_t& stream)
{ {
dim3 threads(32, 8, 1); dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1); dim3 grid(1, 1, 1);
@ -116,8 +116,15 @@ namespace cv { namespace gpu { namespace impl {
grid.x = divUp(l.cols, threads.x); grid.x = divUp(l.cols, threads.x);
grid.y = divUp(l.rows, threads.y); grid.y = divUp(l.rows, threads.y);
beliefpropagation_gpu::comp_data_kernel<<<grid, threads>>>(l.ptr, r.ptr, l.step, mdata.ptr, mdata.step/sizeof(float), l.cols, l.rows); if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() ); {
beliefpropagation_gpu::comp_data_kernel<<<grid, threads>>>(l.ptr, r.ptr, l.step, mdata.ptr, mdata.step/sizeof(float), l.cols, l.rows);
//cudaSafeCall( cudaThreadSynchronize() );
}
else
{
beliefpropagation_gpu::comp_data_kernel<<<grid, threads, 0, stream>>>(l.ptr, r.ptr, l.step, mdata.ptr, mdata.step/sizeof(float), l.cols, l.rows);
}
} }
}}} }}}
@ -151,7 +158,7 @@ namespace beliefpropagation_gpu
} }
namespace cv { namespace gpu { namespace impl { namespace cv { namespace gpu { namespace impl {
extern "C" void data_down_kernel_caller(int dst_cols, int dst_rows, int src_rows, const DevMem2D_<float>& src, DevMem2D_<float> dst) extern "C" void data_down_kernel_caller(int dst_cols, int dst_rows, int src_rows, const DevMem2D_<float>& src, DevMem2D_<float> dst, const cudaStream_t& stream)
{ {
dim3 threads(32, 8, 1); dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1); dim3 grid(1, 1, 1);
@ -159,8 +166,15 @@ namespace cv { namespace gpu { namespace impl {
grid.x = divUp(dst_cols, threads.x); grid.x = divUp(dst_cols, threads.x);
grid.y = divUp(dst_rows, threads.y); grid.y = divUp(dst_rows, threads.y);
beliefpropagation_gpu::data_down_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, src.ptr, src.step/sizeof(float), dst.ptr, dst.step/sizeof(float)); if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() ); {
beliefpropagation_gpu::data_down_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, src.ptr, src.step/sizeof(float), dst.ptr, dst.step/sizeof(float));
//cudaSafeCall( cudaThreadSynchronize() );
}
else
{
beliefpropagation_gpu::data_down_kernel<<<grid, threads, 0, stream>>>(dst_cols, dst_rows, src_rows, src.ptr, src.step/sizeof(float), dst.ptr, dst.step/sizeof(float));
}
} }
}}} }}}
@ -191,7 +205,7 @@ namespace beliefpropagation_gpu
} }
namespace cv { namespace gpu { namespace impl { namespace cv { namespace gpu { namespace impl {
extern "C" void level_up(int dst_idx, int dst_cols, int dst_rows, int src_rows, DevMem2D_<float>* mu, DevMem2D_<float>* md, DevMem2D_<float>* ml, DevMem2D_<float>* mr) extern "C" void level_up(int dst_idx, int dst_cols, int dst_rows, int src_rows, DevMem2D_<float>* mu, DevMem2D_<float>* md, DevMem2D_<float>* ml, DevMem2D_<float>* mr, const cudaStream_t& stream)
{ {
dim3 threads(32, 8, 1); dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1); dim3 grid(1, 1, 1);
@ -201,12 +215,21 @@ namespace cv { namespace gpu { namespace impl {
int src_idx = (dst_idx + 1) & 1; int src_idx = (dst_idx + 1) & 1;
beliefpropagation_gpu::level_up_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, mu[src_idx].ptr, mu[src_idx].step/sizeof(float), mu[dst_idx].ptr, mu[dst_idx].step/sizeof(float)); if (stream == 0)
beliefpropagation_gpu::level_up_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, md[src_idx].ptr, md[src_idx].step/sizeof(float), md[dst_idx].ptr, md[dst_idx].step/sizeof(float)); {
beliefpropagation_gpu::level_up_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, ml[src_idx].ptr, ml[src_idx].step/sizeof(float), ml[dst_idx].ptr, ml[dst_idx].step/sizeof(float)); beliefpropagation_gpu::level_up_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, mu[src_idx].ptr, mu[src_idx].step/sizeof(float), mu[dst_idx].ptr, mu[dst_idx].step/sizeof(float));
beliefpropagation_gpu::level_up_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, mr[src_idx].ptr, mr[src_idx].step/sizeof(float), mr[dst_idx].ptr, mr[dst_idx].step/sizeof(float)); beliefpropagation_gpu::level_up_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, md[src_idx].ptr, md[src_idx].step/sizeof(float), md[dst_idx].ptr, md[dst_idx].step/sizeof(float));
beliefpropagation_gpu::level_up_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, ml[src_idx].ptr, ml[src_idx].step/sizeof(float), ml[dst_idx].ptr, ml[dst_idx].step/sizeof(float));
cudaSafeCall( cudaThreadSynchronize() ); beliefpropagation_gpu::level_up_kernel<<<grid, threads>>>(dst_cols, dst_rows, src_rows, mr[src_idx].ptr, mr[src_idx].step/sizeof(float), mr[dst_idx].ptr, mr[dst_idx].step/sizeof(float));
//cudaSafeCall( cudaThreadSynchronize() );
}
else
{
beliefpropagation_gpu::level_up_kernel<<<grid, threads, 0, stream>>>(dst_cols, dst_rows, src_rows, mu[src_idx].ptr, mu[src_idx].step/sizeof(float), mu[dst_idx].ptr, mu[dst_idx].step/sizeof(float));
beliefpropagation_gpu::level_up_kernel<<<grid, threads, 0, stream>>>(dst_cols, dst_rows, src_rows, md[src_idx].ptr, md[src_idx].step/sizeof(float), md[dst_idx].ptr, md[dst_idx].step/sizeof(float));
beliefpropagation_gpu::level_up_kernel<<<grid, threads, 0, stream>>>(dst_cols, dst_rows, src_rows, ml[src_idx].ptr, ml[src_idx].step/sizeof(float), ml[dst_idx].ptr, ml[dst_idx].step/sizeof(float));
beliefpropagation_gpu::level_up_kernel<<<grid, threads, 0, stream>>>(dst_cols, dst_rows, src_rows, mr[src_idx].ptr, mr[src_idx].step/sizeof(float), mr[dst_idx].ptr, mr[dst_idx].step/sizeof(float));
}
} }
}}} }}}
@ -301,7 +324,7 @@ namespace beliefpropagation_gpu
} }
namespace cv { namespace gpu { namespace impl { namespace cv { namespace gpu { namespace impl {
extern "C" void call_all_iterations(int cols, int rows, int iters, DevMem2D_<float>& u, DevMem2D_<float>& d, DevMem2D_<float>& l, DevMem2D_<float>& r, const DevMem2D_<float>& data) extern "C" void call_all_iterations(int cols, int rows, int iters, DevMem2D_<float>& u, DevMem2D_<float>& d, DevMem2D_<float>& l, DevMem2D_<float>& r, const DevMem2D_<float>& data, const cudaStream_t& stream)
{ {
dim3 threads(32, 8, 1); dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1); dim3 grid(1, 1, 1);
@ -309,10 +332,17 @@ namespace cv { namespace gpu { namespace impl {
grid.x = divUp(cols, threads.x << 1); grid.x = divUp(cols, threads.x << 1);
grid.y = divUp(rows, threads.y); grid.y = divUp(rows, threads.y);
for(int t = 0; t < iters; ++t) if (stream == 0)
beliefpropagation_gpu::one_iteration<<<grid, threads>>>(t, u.ptr, d.ptr, l.ptr, r.ptr, u.step/sizeof(float), data.ptr, data.step/sizeof(float), cols, rows); {
for(int t = 0; t < iters; ++t)
cudaSafeCall( cudaThreadSynchronize() ); beliefpropagation_gpu::one_iteration<<<grid, threads>>>(t, u.ptr, d.ptr, l.ptr, r.ptr, u.step/sizeof(float), data.ptr, data.step/sizeof(float), cols, rows);
//cudaSafeCall( cudaThreadSynchronize() );
}
else
{
for(int t = 0; t < iters; ++t)
beliefpropagation_gpu::one_iteration<<<grid, threads, 0, stream>>>(t, u.ptr, d.ptr, l.ptr, r.ptr, u.step/sizeof(float), data.ptr, data.step/sizeof(float), cols, rows);
}
} }
}}} }}}
@ -358,7 +388,7 @@ namespace beliefpropagation_gpu
} }
namespace cv { namespace gpu { namespace impl { namespace cv { namespace gpu { namespace impl {
extern "C" void output_caller(const DevMem2D_<float>& u, const DevMem2D_<float>& d, const DevMem2D_<float>& l, const DevMem2D_<float>& r, const DevMem2D_<float>& data, DevMem2D disp) extern "C" void output_caller(const DevMem2D_<float>& u, const DevMem2D_<float>& d, const DevMem2D_<float>& l, const DevMem2D_<float>& r, const DevMem2D_<float>& data, DevMem2D disp, const cudaStream_t& stream)
{ {
dim3 threads(32, 8, 1); dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1); dim3 grid(1, 1, 1);
@ -366,7 +396,14 @@ namespace cv { namespace gpu { namespace impl {
grid.x = divUp(disp.cols, threads.x); grid.x = divUp(disp.cols, threads.x);
grid.y = divUp(disp.rows, threads.y); grid.y = divUp(disp.rows, threads.y);
beliefpropagation_gpu::output<<<grid, threads>>>(disp.cols, disp.rows, u.ptr, d.ptr, l.ptr, r.ptr, data.ptr, u.step/sizeof(float), disp.ptr, disp.step); if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() ); {
beliefpropagation_gpu::output<<<grid, threads>>>(disp.cols, disp.rows, u.ptr, d.ptr, l.ptr, r.ptr, data.ptr, u.step/sizeof(float), disp.ptr, disp.step);
cudaSafeCall( cudaThreadSynchronize() );
}
else
{
beliefpropagation_gpu::output<<<grid, threads, 0, stream>>>(disp.cols, disp.rows, u.ptr, d.ptr, l.ptr, r.ptr, data.ptr, u.step/sizeof(float), disp.ptr, disp.step);
}
} }
}}} }}}