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Merge pull request #3173 from rokm:cuda-6.5

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pull/3181/head
Vadim Pisarevsky 10 years ago
parent 1f85ffa11b eb3cb77296
commit 3e574cd26a
2 changed files with 44 additions and 44 deletions
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  1. 82
      modules/cudalegacy/src/cuda/NCVPixelOperations.hpp
  2. 6
      modules/cudastereo/src/cuda/stereocsbp.cu

82
modules/cudalegacy/src/cuda/NCVPixelOperations.hpp
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@ -48,24 +48,24 @@
#include "opencv2/cudalegacy/NCV.hpp"
template<typename TBase> inline __host__ __device__ TBase _pixMaxVal();
template<> static inline __host__ __device__ Ncv8u _pixMaxVal<Ncv8u>() {return UCHAR_MAX;}
template<> static inline __host__ __device__ Ncv16u _pixMaxVal<Ncv16u>() {return USHRT_MAX;}
template<> static inline __host__ __device__ Ncv32u _pixMaxVal<Ncv32u>() {return UINT_MAX;}
template<> static inline __host__ __device__ Ncv8s _pixMaxVal<Ncv8s>() {return SCHAR_MAX;}
template<> static inline __host__ __device__ Ncv16s _pixMaxVal<Ncv16s>() {return SHRT_MAX;}
template<> static inline __host__ __device__ Ncv32s _pixMaxVal<Ncv32s>() {return INT_MAX;}
template<> static inline __host__ __device__ Ncv32f _pixMaxVal<Ncv32f>() {return FLT_MAX;}
template<> static inline __host__ __device__ Ncv64f _pixMaxVal<Ncv64f>() {return DBL_MAX;}
template<> inline __host__ __device__ Ncv8u _pixMaxVal<Ncv8u>() {return UCHAR_MAX;}
template<> inline __host__ __device__ Ncv16u _pixMaxVal<Ncv16u>() {return USHRT_MAX;}
template<> inline __host__ __device__ Ncv32u _pixMaxVal<Ncv32u>() {return UINT_MAX;}
template<> inline __host__ __device__ Ncv8s _pixMaxVal<Ncv8s>() {return SCHAR_MAX;}
template<> inline __host__ __device__ Ncv16s _pixMaxVal<Ncv16s>() {return SHRT_MAX;}
template<> inline __host__ __device__ Ncv32s _pixMaxVal<Ncv32s>() {return INT_MAX;}
template<> inline __host__ __device__ Ncv32f _pixMaxVal<Ncv32f>() {return FLT_MAX;}
template<> inline __host__ __device__ Ncv64f _pixMaxVal<Ncv64f>() {return DBL_MAX;}
template<typename TBase> inline __host__ __device__ TBase _pixMinVal();
template<> static inline __host__ __device__ Ncv8u _pixMinVal<Ncv8u>() {return 0;}
template<> static inline __host__ __device__ Ncv16u _pixMinVal<Ncv16u>() {return 0;}
template<> static inline __host__ __device__ Ncv32u _pixMinVal<Ncv32u>() {return 0;}
template<> static inline __host__ __device__ Ncv8s _pixMinVal<Ncv8s>() {return SCHAR_MIN;}
template<> static inline __host__ __device__ Ncv16s _pixMinVal<Ncv16s>() {return SHRT_MIN;}
template<> static inline __host__ __device__ Ncv32s _pixMinVal<Ncv32s>() {return INT_MIN;}
template<> static inline __host__ __device__ Ncv32f _pixMinVal<Ncv32f>() {return FLT_MIN;}
template<> static inline __host__ __device__ Ncv64f _pixMinVal<Ncv64f>() {return DBL_MIN;}
template<> inline __host__ __device__ Ncv8u _pixMinVal<Ncv8u>() {return 0;}
template<> inline __host__ __device__ Ncv16u _pixMinVal<Ncv16u>() {return 0;}
template<> inline __host__ __device__ Ncv32u _pixMinVal<Ncv32u>() {return 0;}
template<> inline __host__ __device__ Ncv8s _pixMinVal<Ncv8s>() {return SCHAR_MIN;}
template<> inline __host__ __device__ Ncv16s _pixMinVal<Ncv16s>() {return SHRT_MIN;}
template<> inline __host__ __device__ Ncv32s _pixMinVal<Ncv32s>() {return INT_MIN;}
template<> inline __host__ __device__ Ncv32f _pixMinVal<Ncv32f>() {return FLT_MIN;}
template<> inline __host__ __device__ Ncv64f _pixMinVal<Ncv64f>() {return DBL_MIN;}
template<typename Tvec> struct TConvVec2Base;
template<> struct TConvVec2Base<uchar1> {typedef Ncv8u TBase;};
@ -104,33 +104,33 @@ template<> struct TConvBase2Vec<Ncv64f, 3> {typedef double3 TVec;};
template<> struct TConvBase2Vec<Ncv64f, 4> {typedef double4 TVec;};
//TODO: consider using CUDA intrinsics to avoid branching
template<typename Tin> static inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv8u &out) {out = (Ncv8u)CLAMP_0_255(a);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv16u &out) {out = (Ncv16u)CLAMP(a, 0, USHRT_MAX);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv32u &out) {out = (Ncv32u)CLAMP(a, 0, UINT_MAX);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv32f &out) {out = (Ncv32f)a;}
template<typename Tin> inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv8u &out) {out = (Ncv8u)CLAMP_0_255(a);}
template<typename Tin> inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv16u &out) {out = (Ncv16u)CLAMP(a, 0, USHRT_MAX);}
template<typename Tin> inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv32u &out) {out = (Ncv32u)CLAMP(a, 0, UINT_MAX);}
template<typename Tin> inline __host__ __device__ void _TDemoteClampZ(Tin &a, Ncv32f &out) {out = (Ncv32f)a;}
//TODO: consider using CUDA intrinsics to avoid branching
template<typename Tin> static inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv8u &out) {out = (Ncv8u)CLAMP_0_255(a+0.5f);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv16u &out) {out = (Ncv16u)CLAMP(a+0.5f, 0, USHRT_MAX);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv32u &out) {out = (Ncv32u)CLAMP(a+0.5f, 0, UINT_MAX);}
template<typename Tin> static inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv32f &out) {out = (Ncv32f)a;}
template<typename Tin> inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv8u &out) {out = (Ncv8u)CLAMP_0_255(a+0.5f);}
template<typename Tin> inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv16u &out) {out = (Ncv16u)CLAMP(a+0.5f, 0, USHRT_MAX);}
template<typename Tin> inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv32u &out) {out = (Ncv32u)CLAMP(a+0.5f, 0, UINT_MAX);}
template<typename Tin> inline __host__ __device__ void _TDemoteClampNN(Tin &a, Ncv32f &out) {out = (Ncv32f)a;}
template<typename Tout> inline Tout _pixMakeZero();
template<> static inline __host__ __device__ uchar1 _pixMakeZero<uchar1>() {return make_uchar1(0);}
template<> static inline __host__ __device__ uchar3 _pixMakeZero<uchar3>() {return make_uchar3(0,0,0);}
template<> static inline __host__ __device__ uchar4 _pixMakeZero<uchar4>() {return make_uchar4(0,0,0,0);}
template<> static inline __host__ __device__ ushort1 _pixMakeZero<ushort1>() {return make_ushort1(0);}
template<> static inline __host__ __device__ ushort3 _pixMakeZero<ushort3>() {return make_ushort3(0,0,0);}
template<> static inline __host__ __device__ ushort4 _pixMakeZero<ushort4>() {return make_ushort4(0,0,0,0);}
template<> static inline __host__ __device__ uint1 _pixMakeZero<uint1>() {return make_uint1(0);}
template<> static inline __host__ __device__ uint3 _pixMakeZero<uint3>() {return make_uint3(0,0,0);}
template<> static inline __host__ __device__ uint4 _pixMakeZero<uint4>() {return make_uint4(0,0,0,0);}
template<> static inline __host__ __device__ float1 _pixMakeZero<float1>() {return make_float1(0.f);}
template<> static inline __host__ __device__ float3 _pixMakeZero<float3>() {return make_float3(0.f,0.f,0.f);}
template<> static inline __host__ __device__ float4 _pixMakeZero<float4>() {return make_float4(0.f,0.f,0.f,0.f);}
template<> static inline __host__ __device__ double1 _pixMakeZero<double1>() {return make_double1(0.);}
template<> static inline __host__ __device__ double3 _pixMakeZero<double3>() {return make_double3(0.,0.,0.);}
template<> static inline __host__ __device__ double4 _pixMakeZero<double4>() {return make_double4(0.,0.,0.,0.);}
template<> inline __host__ __device__ uchar1 _pixMakeZero<uchar1>() {return make_uchar1(0);}
template<> inline __host__ __device__ uchar3 _pixMakeZero<uchar3>() {return make_uchar3(0,0,0);}
template<> inline __host__ __device__ uchar4 _pixMakeZero<uchar4>() {return make_uchar4(0,0,0,0);}
template<> inline __host__ __device__ ushort1 _pixMakeZero<ushort1>() {return make_ushort1(0);}
template<> inline __host__ __device__ ushort3 _pixMakeZero<ushort3>() {return make_ushort3(0,0,0);}
template<> inline __host__ __device__ ushort4 _pixMakeZero<ushort4>() {return make_ushort4(0,0,0,0);}
template<> inline __host__ __device__ uint1 _pixMakeZero<uint1>() {return make_uint1(0);}
template<> inline __host__ __device__ uint3 _pixMakeZero<uint3>() {return make_uint3(0,0,0);}
template<> inline __host__ __device__ uint4 _pixMakeZero<uint4>() {return make_uint4(0,0,0,0);}
template<> inline __host__ __device__ float1 _pixMakeZero<float1>() {return make_float1(0.f);}
template<> inline __host__ __device__ float3 _pixMakeZero<float3>() {return make_float3(0.f,0.f,0.f);}
template<> inline __host__ __device__ float4 _pixMakeZero<float4>() {return make_float4(0.f,0.f,0.f,0.f);}
template<> inline __host__ __device__ double1 _pixMakeZero<double1>() {return make_double1(0.);}
template<> inline __host__ __device__ double3 _pixMakeZero<double3>() {return make_double3(0.,0.,0.);}
template<> inline __host__ __device__ double4 _pixMakeZero<double4>() {return make_double4(0.,0.,0.,0.);}
static inline __host__ __device__ uchar1 _pixMake(Ncv8u x) {return make_uchar1(x);}
static inline __host__ __device__ uchar3 _pixMake(Ncv8u x, Ncv8u y, Ncv8u z) {return make_uchar3(x,y,z);}
@ -180,7 +180,7 @@ static __host__ __device__ Tout _pixDemoteClampZ_CN(Tin &pix)
return out;
}};
template<typename Tin, typename Tout> static inline __host__ __device__ Tout _pixDemoteClampZ(Tin &pix)
template<typename Tin, typename Tout> inline __host__ __device__ Tout _pixDemoteClampZ(Tin &pix)
{
return __pixDemoteClampZ_CN<Tin, Tout, NC(Tin)>::_pixDemoteClampZ_CN(pix);
}
@ -217,7 +217,7 @@ static __host__ __device__ Tout _pixDemoteClampNN_CN(Tin &pix)
return out;
}};
template<typename Tin, typename Tout> static inline __host__ __device__ Tout _pixDemoteClampNN(Tin &pix)
template<typename Tin, typename Tout> inline __host__ __device__ Tout _pixDemoteClampNN(Tin &pix)
{
return __pixDemoteClampNN_CN<Tin, Tout, NC(Tin)>::_pixDemoteClampNN_CN(pix);
}

6
modules/cudastereo/src/cuda/stereocsbp.cu
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@ -59,11 +59,11 @@ namespace cv { namespace cuda { namespace device
///////////////////////////////////////////////////////////////
template <int channels> static float __device__ pixeldiff(const uchar* left, const uchar* right, float max_data_term);
template<> __device__ __forceinline__ static float pixeldiff<1>(const uchar* left, const uchar* right, float max_data_term)
template<> __device__ __forceinline__ float pixeldiff<1>(const uchar* left, const uchar* right, float max_data_term)
{
return fminf( ::abs((int)*left - *right), max_data_term);
}
template<> __device__ __forceinline__ static float pixeldiff<3>(const uchar* left, const uchar* right, float max_data_term)
template<> __device__ __forceinline__ float pixeldiff<3>(const uchar* left, const uchar* right, float max_data_term)
{
float tb = 0.114f * ::abs((int)left[0] - right[0]);
float tg = 0.587f * ::abs((int)left[1] - right[1]);
@ -71,7 +71,7 @@ namespace cv { namespace cuda { namespace device
return fminf(tr + tg + tb, max_data_term);
}
template<> __device__ __forceinline__ static float pixeldiff<4>(const uchar* left, const uchar* right, float max_data_term)
template<> __device__ __forceinline__ float pixeldiff<4>(const uchar* left, const uchar* right, float max_data_term)
{
uchar4 l = *((const uchar4*)left);
uchar4 r = *((const uchar4*)right);

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