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ndisp no longer constant

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pull/2983/head
Aaron Denney 11 years ago
parent 2832cfdfe5
commit 0e2ea45c93
3 changed files with 21 additions and 25 deletions
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  1. 42
      modules/cudastereo/src/cuda/stereocsbp.cu
  2. 2
      modules/cudastereo/src/cuda/stereocsbp.hpp
  3. 2
      modules/cudastereo/src/stereocsbp.cpp

42
modules/cudastereo/src/cuda/stereocsbp.cu
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@ -58,8 +58,6 @@ namespace cv { namespace cuda { namespace device
/////////////////////// load constants //////////////////////// /////////////////////// load constants ////////////////////////
/////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////
__constant__ int cndisp;
__constant__ float cmax_data_term; __constant__ float cmax_data_term;
__constant__ float cdata_weight; __constant__ float cdata_weight;
__constant__ float cmax_disc_term; __constant__ float cmax_disc_term;
@ -72,10 +70,8 @@ namespace cv { namespace cuda { namespace device
__constant__ size_t cdisp_step2; __constant__ size_t cdisp_step2;
void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th) void load_constants(float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th)
{ {
cudaSafeCall( cudaMemcpyToSymbol(cndisp, &ndisp, sizeof(int)) );
cudaSafeCall( cudaMemcpyToSymbol(cmax_data_term, &max_data_term, sizeof(float)) ); cudaSafeCall( cudaMemcpyToSymbol(cmax_data_term, &max_data_term, sizeof(float)) );
cudaSafeCall( cudaMemcpyToSymbol(cdata_weight, &data_weight, sizeof(float)) ); cudaSafeCall( cudaMemcpyToSymbol(cdata_weight, &data_weight, sizeof(float)) );
cudaSafeCall( cudaMemcpyToSymbol(cmax_disc_term, &max_disc_term, sizeof(float)) ); cudaSafeCall( cudaMemcpyToSymbol(cmax_disc_term, &max_disc_term, sizeof(float)) );
@ -123,7 +119,7 @@ namespace cv { namespace cuda { namespace device
}; };
template <typename T> template <typename T>
__global__ void get_first_k_initial_global(uchar *ctemp, T* data_cost_selected_, T *selected_disp_pyr, int h, int w, int nr_plane) __global__ void get_first_k_initial_global(uchar *ctemp, T* data_cost_selected_, T *selected_disp_pyr, int h, int w, int nr_plane, int ndisp)
{ {
int x = blockIdx.x * blockDim.x + threadIdx.x; int x = blockIdx.x * blockDim.x + threadIdx.x;
int y = blockIdx.y * blockDim.y + threadIdx.y; int y = blockIdx.y * blockDim.y + threadIdx.y;
@ -138,7 +134,7 @@ namespace cv { namespace cuda { namespace device
{ {
T minimum = device::numeric_limits<T>::max(); T minimum = device::numeric_limits<T>::max();
int id = 0; int id = 0;
for(int d = 0; d < cndisp; d++) for(int d = 0; d < ndisp; d++)
{ {
T cur = data_cost[d * cdisp_step1]; T cur = data_cost[d * cdisp_step1];
if(cur < minimum) if(cur < minimum)
@ -157,7 +153,7 @@ namespace cv { namespace cuda { namespace device
template <typename T> template <typename T>
__global__ void get_first_k_initial_local(uchar *ctemp, T* data_cost_selected_, T* selected_disp_pyr, int h, int w, int nr_plane) __global__ void get_first_k_initial_local(uchar *ctemp, T* data_cost_selected_, T* selected_disp_pyr, int h, int w, int nr_plane, int ndisp)
{ {
int x = blockIdx.x * blockDim.x + threadIdx.x; int x = blockIdx.x * blockDim.x + threadIdx.x;
int y = blockIdx.y * blockDim.y + threadIdx.y; int y = blockIdx.y * blockDim.y + threadIdx.y;
@ -174,7 +170,7 @@ namespace cv { namespace cuda { namespace device
T cur = data_cost[1 * cdisp_step1]; T cur = data_cost[1 * cdisp_step1];
T next = data_cost[2 * cdisp_step1]; T next = data_cost[2 * cdisp_step1];
for (int d = 1; d < cndisp - 1 && nr_local_minimum < nr_plane; d++) for (int d = 1; d < ndisp - 1 && nr_local_minimum < nr_plane; d++)
{ {
if (cur < prev && cur < next) if (cur < prev && cur < next)
{ {
@ -195,7 +191,7 @@ namespace cv { namespace cuda { namespace device
T minimum = numeric_limits<T>::max(); T minimum = numeric_limits<T>::max();
int id = 0; int id = 0;
for (int d = 0; d < cndisp; d++) for (int d = 0; d < ndisp; d++)
{ {
cur = data_cost[d * cdisp_step1]; cur = data_cost[d * cdisp_step1];
if (cur < minimum) if (cur < minimum)
@ -213,7 +209,7 @@ namespace cv { namespace cuda { namespace device
} }
template <typename T, int channels> template <typename T, int channels>
__global__ void init_data_cost(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int h, int w, int level) __global__ void init_data_cost(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int h, int w, int level, int ndisp)
{ {
int x = blockIdx.x * blockDim.x + threadIdx.x; int x = blockIdx.x * blockDim.x + threadIdx.x;
int y = blockIdx.y * blockDim.y + threadIdx.y; int y = blockIdx.y * blockDim.y + threadIdx.y;
@ -228,7 +224,7 @@ namespace cv { namespace cuda { namespace device
T* data_cost = (T*)ctemp + y * cmsg_step + x; T* data_cost = (T*)ctemp + y * cmsg_step + x;
for(int d = 0; d < cndisp; ++d) for(int d = 0; d < ndisp; ++d)
{ {
float val = 0.0f; float val = 0.0f;
for(int yi = y0; yi < yt; yi++) for(int yi = y0; yi < yt; yi++)
@ -253,7 +249,7 @@ namespace cv { namespace cuda { namespace device
} }
template <typename T, int winsz, int channels> template <typename T, int winsz, int channels>
__global__ void init_data_cost_reduce(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int level, int rows, int cols, int h) __global__ void init_data_cost_reduce(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int level, int rows, int cols, int h, int ndisp)
{ {
int x_out = blockIdx.x; int x_out = blockIdx.x;
int y_out = blockIdx.y % h; int y_out = blockIdx.y % h;
@ -261,7 +257,7 @@ namespace cv { namespace cuda { namespace device
int tid = threadIdx.x; int tid = threadIdx.x;
if (d < cndisp) if (d < ndisp)
{ {
int x0 = x_out << level; int x0 = x_out << level;
int y0 = y_out << level; int y0 = y_out << level;
@ -301,7 +297,7 @@ namespace cv { namespace cuda { namespace device
template <typename T> template <typename T>
void init_data_cost_caller_(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int /*rows*/, int /*cols*/, int h, int w, int level, int /*ndisp*/, int channels, cudaStream_t stream) void init_data_cost_caller_(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int /*rows*/, int /*cols*/, int h, int w, int level, int ndisp, int channels, cudaStream_t stream)
{ {
dim3 threads(32, 8, 1); dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1); dim3 grid(1, 1, 1);
@ -311,9 +307,9 @@ namespace cv { namespace cuda { namespace device
switch (channels) switch (channels)
{ {
case 1: init_data_cost<T, 1><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level); break; case 1: init_data_cost<T, 1><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level, ndisp); break;
case 3: init_data_cost<T, 3><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level); break; case 3: init_data_cost<T, 3><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level, ndisp); break;
case 4: init_data_cost<T, 4><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level); break; case 4: init_data_cost<T, 4><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level, ndisp); break;
default: CV_Error(cv::Error::BadNumChannels, "Unsupported channels count"); default: CV_Error(cv::Error::BadNumChannels, "Unsupported channels count");
} }
} }
@ -330,9 +326,9 @@ namespace cv { namespace cuda { namespace device
switch (channels) switch (channels)
{ {
case 1: init_data_cost_reduce<T, winsz, 1><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h); break; case 1: init_data_cost_reduce<T, winsz, 1><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h, ndisp); break;
case 3: init_data_cost_reduce<T, winsz, 3><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h); break; case 3: init_data_cost_reduce<T, winsz, 3><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h, ndisp); break;
case 4: init_data_cost_reduce<T, winsz, 4><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h); break; case 4: init_data_cost_reduce<T, winsz, 4><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h, ndisp); break;
default: CV_Error(cv::Error::BadNumChannels, "Unsupported channels count"); default: CV_Error(cv::Error::BadNumChannels, "Unsupported channels count");
} }
} }
@ -368,9 +364,9 @@ namespace cv { namespace cuda { namespace device
grid.y = divUp(h, threads.y); grid.y = divUp(h, threads.y);
if (use_local_init_data_cost == true) if (use_local_init_data_cost == true)
get_first_k_initial_local<<<grid, threads, 0, stream>>> (ctemp, data_cost_selected, disp_selected_pyr, h, w, nr_plane); get_first_k_initial_local<<<grid, threads, 0, stream>>> (ctemp, data_cost_selected, disp_selected_pyr, h, w, nr_plane, ndisp);
else else
get_first_k_initial_global<<<grid, threads, 0, stream>>>(ctemp, data_cost_selected, disp_selected_pyr, h, w, nr_plane); get_first_k_initial_global<<<grid, threads, 0, stream>>>(ctemp, data_cost_selected, disp_selected_pyr, h, w, nr_plane, ndisp);
cudaSafeCall( cudaGetLastError() ); cudaSafeCall( cudaGetLastError() );

2
modules/cudastereo/src/cuda/stereocsbp.hpp
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@ -2,7 +2,7 @@ namespace cv { namespace cuda { namespace device
{ {
namespace stereocsbp namespace stereocsbp
{ {
void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th); void load_constants(float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th);
template<class T> template<class T>
void init_data_cost(const uchar *left, const uchar *right, uchar *ctemp, size_t cimg_step, int rows, int cols, T* disp_selected_pyr, T* data_cost_selected, size_t msg_step, void init_data_cost(const uchar *left, const uchar *right, uchar *ctemp, size_t cimg_step, int rows, int cols, T* disp_selected_pyr, T* data_cost_selected, size_t msg_step,

2
modules/cudastereo/src/stereocsbp.cpp
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@ -222,7 +222,7 @@ namespace
//////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////
// Compute // Compute
load_constants(ndisp_, max_data_term_, data_weight_, max_disc_term_, disc_single_jump_, min_disp_th_); load_constants(max_data_term_, data_weight_, max_disc_term_, disc_single_jump_, min_disp_th_);
l[0].setTo(0, _stream); l[0].setTo(0, _stream);
d[0].setTo(0, _stream); d[0].setTo(0, _stream);

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