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modified according to CUDA 4.0 API updates

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This commit is contained in:
Vladislav Vinogradov
2011-05-31 08:31:10 +00:00
parent 98d663e7e0
commit 926a6bba00
40 changed files with 1134 additions and 1818 deletions
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76
modules/gpu/src/stereocsbp.cpp
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@@ -53,7 +53,6 @@ void cv::gpu::StereoConstantSpaceBP::estimateRecommendedParams(int, int, int&, i
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int, int, int, int, int) { throw_nogpu(); }
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int, int, int, int, float, float, float, float, int, int) { throw_nogpu(); }
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat&, const GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
#else /* !defined (HAVE_CUDA) */
@@ -136,7 +135,7 @@ cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, in
template<class T>
static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
GpuMat disp_selected_pyr[2], GpuMat& data_cost, GpuMat& data_cost_selected,
GpuMat& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp, cudaStream_t stream)
GpuMat& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp, Stream& stream)
{
CV_DbgAssert(0 < rthis.ndisp && 0 < rthis.iters && 0 < rthis.levels && 0 < rthis.nr_plane
&& left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
@@ -145,6 +144,8 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
const Scalar zero = Scalar::all(0);
cudaStream_t cudaStream = StreamAccessor::getStream(stream);
////////////////////////////////////////////////////////////////////////////////////////////
// Init
@@ -210,18 +211,36 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
csbp::load_constants(rthis.ndisp, rthis.max_data_term, rthis.data_weight,
rthis.max_disc_term, rthis.disc_single_jump, rthis.min_disp_th, left, right, temp);
l[0] = zero;
d[0] = zero;
r[0] = zero;
u[0] = zero;
if (stream)
{
stream.enqueueMemSet(l[0], zero);
stream.enqueueMemSet(d[0], zero);
stream.enqueueMemSet(r[0], zero);
stream.enqueueMemSet(u[0], zero);
stream.enqueueMemSet(l[1], zero);
stream.enqueueMemSet(d[1], zero);
stream.enqueueMemSet(r[1], zero);
stream.enqueueMemSet(u[1], zero);
l[1] = zero;
d[1] = zero;
r[1] = zero;
u[1] = zero;
stream.enqueueMemSet(data_cost, zero);
stream.enqueueMemSet(data_cost_selected, zero);
}
else
{
l[0].setTo(zero);
d[0].setTo(zero);
r[0].setTo(zero);
u[0].setTo(zero);
data_cost = zero;
data_cost_selected = zero;
l[1].setTo(zero);
d[1].setTo(zero);
r[1].setTo(zero);
u[1].setTo(zero);
data_cost.setTo(zero);
data_cost_selected.setTo(zero);
}
int cur_idx = 0;
@@ -230,12 +249,12 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
if (i == levels - 1)
{
csbp::init_data_cost(left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<T>(), data_cost_selected.ptr<T>(),
step_pyr[i], rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], rthis.ndisp, left.channels(), rthis.use_local_init_data_cost, stream);
step_pyr[i], rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], rthis.ndisp, left.channels(), rthis.use_local_init_data_cost, cudaStream);
}
else
{
csbp::compute_data_cost(disp_selected_pyr[cur_idx].ptr<T>(), data_cost.ptr<T>(), step_pyr[i], step_pyr[i+1],
left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), cudaStream);
int new_idx = (cur_idx + 1) & 1;
@@ -243,46 +262,49 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
disp_selected_pyr[new_idx].ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(),
data_cost_selected.ptr<T>(), data_cost.ptr<T>(), step_pyr[i], step_pyr[i+1], rows_pyr[i],
cols_pyr[i], nr_plane_pyr[i], rows_pyr[i+1], cols_pyr[i+1], nr_plane_pyr[i+1], stream);
cols_pyr[i], nr_plane_pyr[i], rows_pyr[i+1], cols_pyr[i+1], nr_plane_pyr[i+1], cudaStream);
cur_idx = new_idx;
}
csbp::calc_all_iterations(u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
data_cost_selected.ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(), step_pyr[i],
rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], rthis.iters, stream);
rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], rthis.iters, cudaStream);
}
if (disp.empty())
disp.create(rows, cols, CV_16S);
out = ((disp.type() == CV_16S) ? disp : (out.create(rows, cols, CV_16S), out));
out = zero;
if (stream)
stream.enqueueMemSet(out, zero);
else
out.setTo(zero);
csbp::compute_disp(u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
data_cost_selected.ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(), step_pyr[0], out, nr_plane_pyr[0], stream);
data_cost_selected.ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(), step_pyr[0], out, nr_plane_pyr[0], cudaStream);
if (disp.type() != CV_16S)
out.convertTo(disp, disp.type());
{
if (stream)
stream.enqueueConvert(out, disp, disp.type());
else
out.convertTo(disp, disp.type());
}
}
typedef void (*csbp_operator_t)(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
GpuMat disp_selected_pyr[2], GpuMat& data_cost, GpuMat& data_cost_selected,
GpuMat& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp, cudaStream_t stream);
GpuMat& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp, Stream& stream);
const static csbp_operator_t operators[] = {0, 0, 0, csbp_operator<short>, 0, csbp_operator<float>, 0, 0};
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
{
CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, 0);
}
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, Stream& stream)
{
CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, StreamAccessor::getStream(stream));
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, stream);
}
#endif /* !defined (HAVE_CUDA) */