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Merge pull request #5325 from jet47:gpu-stereobp-fix

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pull/5290/head
Alexander Alekhin 9 years ago
parent cba401fe53 3ef067cc65
commit b29cde552a
2 changed files with 26 additions and 26 deletions
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  1. 18
      modules/gpu/src/cuda/stereobp.cu
  2. 34
      modules/gpu/src/stereobp.cpp

18
modules/gpu/src/cuda/stereobp.cu
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@ -255,7 +255,7 @@ namespace cv { namespace gpu { namespace device
///////////////////////////////////////////////////////////////
template <typename T>
__global__ void data_step_down(int dst_cols, int dst_rows, int src_rows, const PtrStep<T> src, PtrStep<T> dst)
__global__ void data_step_down(int dst_cols, int dst_rows, int src_cols, int src_rows, const PtrStep<T> src, PtrStep<T> dst)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
@ -264,10 +264,10 @@ namespace cv { namespace gpu { namespace device
{
for (int d = 0; d < cndisp; ++d)
{
float dst_reg = src.ptr(d * src_rows + (2*y+0))[(2*x+0)];
dst_reg += src.ptr(d * src_rows + (2*y+1))[(2*x+0)];
dst_reg += src.ptr(d * src_rows + (2*y+0))[(2*x+1)];
dst_reg += src.ptr(d * src_rows + (2*y+1))[(2*x+1)];
float dst_reg = src.ptr(d * src_rows + ::min(2*y+0, src_rows-1))[::min(2*x+0, src_cols-1)];
dst_reg += src.ptr(d * src_rows + ::min(2*y+1, src_rows-1))[::min(2*x+0, src_cols-1)];
dst_reg += src.ptr(d * src_rows + ::min(2*y+0, src_rows-1))[::min(2*x+1, src_cols-1)];
dst_reg += src.ptr(d * src_rows + ::min(2*y+1, src_rows-1))[::min(2*x+1, src_cols-1)];
dst.ptr(d * dst_rows + y)[x] = saturate_cast<T>(dst_reg);
}
@ -275,7 +275,7 @@ namespace cv { namespace gpu { namespace device
}
template<typename T>
void data_step_down_gpu(int dst_cols, int dst_rows, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream)
void data_step_down_gpu(int dst_cols, int dst_rows, int src_cols, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
@ -283,15 +283,15 @@ namespace cv { namespace gpu { namespace device
grid.x = divUp(dst_cols, threads.x);
grid.y = divUp(dst_rows, threads.y);
data_step_down<T><<<grid, threads, 0, stream>>>(dst_cols, dst_rows, src_rows, (PtrStepSz<T>)src, (PtrStepSz<T>)dst);
data_step_down<T><<<grid, threads, 0, stream>>>(dst_cols, dst_rows, src_cols, src_rows, (PtrStepSz<T>)src, (PtrStepSz<T>)dst);
cudaSafeCall( cudaGetLastError() );
if (stream == 0)
cudaSafeCall( cudaDeviceSynchronize() );
}
template void data_step_down_gpu<short>(int dst_cols, int dst_rows, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
template void data_step_down_gpu<float>(int dst_cols, int dst_rows, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
template void data_step_down_gpu<short>(int dst_cols, int dst_rows, int src_cols, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
template void data_step_down_gpu<float>(int dst_cols, int dst_rows, int src_cols, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
///////////////////////////////////////////////////////////////
/////////////////// level up messages ////////////////////////

34
modules/gpu/src/stereobp.cpp
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@ -67,7 +67,7 @@ namespace cv { namespace gpu { namespace device
template<typename T, typename D>
void comp_data_gpu(const PtrStepSzb& left, const PtrStepSzb& right, const PtrStepSzb& data, cudaStream_t stream);
template<typename T>
void data_step_down_gpu(int dst_cols, int dst_rows, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
void data_step_down_gpu(int dst_cols, int dst_rows, int src_cols, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
template <typename T>
void level_up_messages_gpu(int dst_idx, int dst_cols, int dst_rows, int src_rows, PtrStepSzb* mus, PtrStepSzb* mds, PtrStepSzb* mls, PtrStepSzb* mrs, cudaStream_t stream);
template <typename T>
@ -158,7 +158,7 @@ namespace
init(stream);
datas[0].create(rows * rthis.ndisp, cols, rthis.msg_type);
createContinuous(rows * rthis.ndisp, cols, rthis.msg_type, datas[0]);
comp_data_callers[rthis.msg_type == CV_32F][left.channels()](left, right, datas[0], StreamAccessor::getStream(stream));
@ -187,10 +187,10 @@ namespace
private:
void init(Stream& stream)
{
u.create(rows * rthis.ndisp, cols, rthis.msg_type);
d.create(rows * rthis.ndisp, cols, rthis.msg_type);
l.create(rows * rthis.ndisp, cols, rthis.msg_type);
r.create(rows * rthis.ndisp, cols, rthis.msg_type);
createContinuous(rows * rthis.ndisp, cols, rthis.msg_type, u);
createContinuous(rows * rthis.ndisp, cols, rthis.msg_type, d);
createContinuous(rows * rthis.ndisp, cols, rthis.msg_type, l);
createContinuous(rows * rthis.ndisp, cols, rthis.msg_type, r);
if (rthis.levels & 1)
{
@ -213,13 +213,13 @@ namespace
if (rthis.levels > 1)
{
int less_rows = rows / 2;
int less_cols = cols / 2;
int less_rows = (rows + 1) / 2;
int less_cols = (cols + 1) / 2;
u2.create(less_rows * rthis.ndisp, less_cols, rthis.msg_type);
d2.create(less_rows * rthis.ndisp, less_cols, rthis.msg_type);
l2.create(less_rows * rthis.ndisp, less_cols, rthis.msg_type);
r2.create(less_rows * rthis.ndisp, less_cols, rthis.msg_type);
createContinuous(less_rows * rthis.ndisp, less_cols, rthis.msg_type, u2);
createContinuous(less_rows * rthis.ndisp, less_cols, rthis.msg_type, d2);
createContinuous(less_rows * rthis.ndisp, less_cols, rthis.msg_type, l2);
createContinuous(less_rows * rthis.ndisp, less_cols, rthis.msg_type, r2);
if ((rthis.levels & 1) == 0)
{
@ -253,7 +253,7 @@ namespace
void calcBP(GpuMat& disp, Stream& stream)
{
typedef void (*data_step_down_t)(int dst_cols, int dst_rows, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
typedef void (*data_step_down_t)(int dst_cols, int dst_rows, int src_cols, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
static const data_step_down_t data_step_down_callers[2] =
{
data_step_down_gpu<short>, data_step_down_gpu<float>
@ -283,12 +283,12 @@ namespace
for (int i = 1; i < rthis.levels; ++i)
{
cols_all[i] = cols_all[i-1] / 2;
rows_all[i] = rows_all[i-1] / 2;
cols_all[i] = (cols_all[i-1] + 1) / 2;
rows_all[i] = (rows_all[i-1] + 1) / 2;
datas[i].create(rows_all[i] * rthis.ndisp, cols_all[i], rthis.msg_type);
createContinuous(rows_all[i] * rthis.ndisp, cols_all[i], rthis.msg_type, datas[i]);
data_step_down_callers[funcIdx](cols_all[i], rows_all[i], rows_all[i-1], datas[i-1], datas[i], cudaStream);
data_step_down_callers[funcIdx](cols_all[i], rows_all[i], cols_all[i-1], rows_all[i-1], datas[i-1], datas[i], cudaStream);
}
PtrStepSzb mus[] = {u, u2};

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