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Open Source Computer Vision Library
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318 lines
12 KiB
318 lines
12 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#include "cuda_shared.hpp" |
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#define ROWSperTHREAD 21 // the number of rows a thread will process |
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#define BLOCK_W 128 // the thread block width (464) |
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#define N_DISPARITIES 8 |
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#define STEREO_MIND 0 // The minimum d range to check |
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#define STEREO_DISP_STEP N_DISPARITIES // the d step, must be <= 1 to avoid aliasing |
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#define RADIUS 9 // Kernel Radius 5V & 5H = 11x11 kernel |
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#define WINSZ (2 * RADIUS + 1) |
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#define N_DIRTY_PIXELS (2 * RADIUS) |
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#define COL_SSD_SIZE (BLOCK_W + N_DIRTY_PIXELS) |
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#define SHARED_MEM_SIZE (COL_SSD_SIZE) // amount of shared memory used |
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__constant__ unsigned int* cminSSDImage; |
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__constant__ size_t cminSSD_step; |
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__constant__ int cwidth; |
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__constant__ int cheight; |
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namespace device_code |
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{ |
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__device__ int SQ(int a) |
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{ |
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return a * a; |
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} |
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__device__ unsigned int CalcSSD(unsigned int *col_ssd_cache, unsigned int *col_ssd) |
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{ |
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unsigned int cache = 0; |
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unsigned int cache2 = 0; |
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for(int i = 1; i <= RADIUS; i++) |
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cache += col_ssd[i]; |
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col_ssd_cache[0] = cache; |
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__syncthreads(); |
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if (threadIdx.x < BLOCK_W - RADIUS) |
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cache2 = col_ssd_cache[RADIUS]; |
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else |
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for(int i = RADIUS + 1; i < WINSZ; i++) |
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cache2 += col_ssd[i]; |
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return col_ssd[0] + cache + cache2; |
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} |
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__device__ uint2 MinSSD(unsigned int *col_ssd_cache, unsigned int *col_ssd) |
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{ |
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unsigned int ssd[N_DISPARITIES]; |
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ssd[0] = CalcSSD(col_ssd_cache, col_ssd + 0 * SHARED_MEM_SIZE); |
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ssd[1] = CalcSSD(col_ssd_cache, col_ssd + 1 * SHARED_MEM_SIZE); |
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ssd[2] = CalcSSD(col_ssd_cache, col_ssd + 2 * SHARED_MEM_SIZE); |
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ssd[3] = CalcSSD(col_ssd_cache, col_ssd + 3 * SHARED_MEM_SIZE); |
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ssd[4] = CalcSSD(col_ssd_cache, col_ssd + 4 * SHARED_MEM_SIZE); |
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ssd[5] = CalcSSD(col_ssd_cache, col_ssd + 5 * SHARED_MEM_SIZE); |
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ssd[6] = CalcSSD(col_ssd_cache, col_ssd + 6 * SHARED_MEM_SIZE); |
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ssd[7] = CalcSSD(col_ssd_cache, col_ssd + 7 * SHARED_MEM_SIZE); |
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int mssd = min(min(min(ssd[0], ssd[1]), min(ssd[4], ssd[5])), min(min(ssd[2], ssd[3]), min(ssd[6], ssd[7]))); |
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int bestIdx = 0; |
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for (int i = 0; i < N_DISPARITIES; i++) |
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{ |
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if (mssd == ssd[i]) |
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bestIdx = i; |
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} |
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return make_uint2(mssd, bestIdx); |
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} |
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__device__ void StepDown(int idx1, int idx2, unsigned char* imageL, unsigned char* imageR, int d, unsigned int *col_ssd) |
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{ |
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unsigned char leftPixel1; |
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unsigned char leftPixel2; |
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unsigned char rightPixel1[8]; |
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unsigned char rightPixel2[8]; |
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unsigned int diff1, diff2; |
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leftPixel1 = imageL[idx1]; |
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leftPixel2 = imageL[idx2]; |
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idx1 = idx1 - d; |
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idx2 = idx2 - d; |
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rightPixel1[7] = imageR[idx1 - 7]; |
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rightPixel1[0] = imageR[idx1 - 0]; |
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rightPixel1[1] = imageR[idx1 - 1]; |
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rightPixel1[2] = imageR[idx1 - 2]; |
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rightPixel1[3] = imageR[idx1 - 3]; |
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rightPixel1[4] = imageR[idx1 - 4]; |
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rightPixel1[5] = imageR[idx1 - 5]; |
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rightPixel1[6] = imageR[idx1 - 6]; |
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rightPixel2[7] = imageR[idx2 - 7]; |
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rightPixel2[0] = imageR[idx2 - 0]; |
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rightPixel2[1] = imageR[idx2 - 1]; |
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rightPixel2[2] = imageR[idx2 - 2]; |
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rightPixel2[3] = imageR[idx2 - 3]; |
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rightPixel2[4] = imageR[idx2 - 4]; |
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rightPixel2[5] = imageR[idx2 - 5]; |
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rightPixel2[6] = imageR[idx2 - 6]; |
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diff1 = leftPixel1 - rightPixel1[0]; |
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diff2 = leftPixel2 - rightPixel2[0]; |
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col_ssd[0 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1); |
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diff1 = leftPixel1 - rightPixel1[1]; |
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diff2 = leftPixel2 - rightPixel2[1]; |
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col_ssd[1 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1); |
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diff1 = leftPixel1 - rightPixel1[2]; |
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diff2 = leftPixel2 - rightPixel2[2]; |
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col_ssd[2 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1); |
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diff1 = leftPixel1 - rightPixel1[3]; |
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diff2 = leftPixel2 - rightPixel2[3]; |
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col_ssd[3 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1); |
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diff1 = leftPixel1 - rightPixel1[4]; |
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diff2 = leftPixel2 - rightPixel2[4]; |
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col_ssd[4 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1); |
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diff1 = leftPixel1 - rightPixel1[5]; |
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diff2 = leftPixel2 - rightPixel2[5]; |
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col_ssd[5 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1); |
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diff1 = leftPixel1 - rightPixel1[6]; |
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diff2 = leftPixel2 - rightPixel2[6]; |
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col_ssd[6 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1); |
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diff1 = leftPixel1 - rightPixel1[7]; |
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diff2 = leftPixel2 - rightPixel2[7]; |
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col_ssd[7 * SHARED_MEM_SIZE] += SQ(diff2) - SQ(diff1); |
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} |
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__device__ void InitColSSD(int x_tex, int y_tex, int im_pitch, unsigned char* imageL, unsigned char* imageR, int d, unsigned int *col_ssd) |
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{ |
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unsigned char leftPixel1; |
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int idx; |
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unsigned int diffa[] = {0, 0, 0, 0, 0, 0, 0, 0}; |
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for(int i = 0; i < WINSZ; i++) |
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{ |
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idx = y_tex * im_pitch + x_tex; |
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leftPixel1 = imageL[idx]; |
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idx = idx - d; |
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diffa[0] += SQ(leftPixel1 - imageR[idx - 0]); |
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diffa[1] += SQ(leftPixel1 - imageR[idx - 1]); |
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diffa[2] += SQ(leftPixel1 - imageR[idx - 2]); |
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diffa[3] += SQ(leftPixel1 - imageR[idx - 3]); |
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diffa[4] += SQ(leftPixel1 - imageR[idx - 4]); |
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diffa[5] += SQ(leftPixel1 - imageR[idx - 5]); |
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diffa[6] += SQ(leftPixel1 - imageR[idx - 6]); |
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diffa[7] += SQ(leftPixel1 - imageR[idx - 7]); |
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y_tex += 1; |
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} |
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col_ssd[0 * SHARED_MEM_SIZE] = diffa[0]; |
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col_ssd[1 * SHARED_MEM_SIZE] = diffa[1]; |
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col_ssd[2 * SHARED_MEM_SIZE] = diffa[2]; |
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col_ssd[3 * SHARED_MEM_SIZE] = diffa[3]; |
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col_ssd[4 * SHARED_MEM_SIZE] = diffa[4]; |
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col_ssd[5 * SHARED_MEM_SIZE] = diffa[5]; |
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col_ssd[6 * SHARED_MEM_SIZE] = diffa[6]; |
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col_ssd[7 * SHARED_MEM_SIZE] = diffa[7]; |
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} |
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extern "C" __global__ void stereoKernel(unsigned char *left, unsigned char *right, size_t img_step, unsigned char* disp, size_t disp_pitch, int maxdisp) |
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{ |
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extern __shared__ unsigned int col_ssd_cache[]; |
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unsigned int *col_ssd = col_ssd_cache + BLOCK_W + threadIdx.x; |
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unsigned int *col_ssd_extra = threadIdx.x < N_DIRTY_PIXELS ? col_ssd + BLOCK_W : 0; |
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//#define X (blockIdx.x * BLOCK_W + threadIdx.x + STEREO_MAXD) |
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int X = (blockIdx.x * BLOCK_W + threadIdx.x + maxdisp); |
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//#define Y (__mul24(blockIdx.y, ROWSperTHREAD) + RADIUS) |
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#define Y (blockIdx.y * ROWSperTHREAD + RADIUS) |
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//int Y = blockIdx.y * ROWSperTHREAD + RADIUS; |
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unsigned int* minSSDImage = cminSSDImage + X + Y * cminSSD_step; |
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unsigned char* disparImage = disp + X + Y * disp_pitch; |
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/* if (X < cwidth) |
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{ |
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unsigned int *minSSDImage_end = minSSDImage + min(ROWSperTHREAD, cheight - Y) * minssd_step; |
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for(uint *ptr = minSSDImage; ptr != minSSDImage_end; ptr += minssd_step ) |
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*ptr = 0xFFFFFFFF; |
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}*/ |
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int end_row = min(ROWSperTHREAD, cheight - Y); |
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int y_tex; |
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int x_tex = X - RADIUS; |
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for(int d = STEREO_MIND; d < maxdisp; d += STEREO_DISP_STEP) |
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{ |
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y_tex = Y - RADIUS; |
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InitColSSD(x_tex, y_tex, img_step, left, right, d, col_ssd); |
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if (col_ssd_extra > 0) |
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InitColSSD(x_tex + BLOCK_W, y_tex, img_step, left, right, d, col_ssd_extra); |
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__syncthreads(); //before MinSSD function |
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if (X < cwidth - RADIUS && Y < cheight - RADIUS) |
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{ |
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uint2 minSSD = MinSSD(col_ssd_cache + threadIdx.x, col_ssd); |
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if (minSSD.x < minSSDImage[0]) |
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{ |
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disparImage[0] = (unsigned char)(d + minSSD.y); |
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minSSDImage[0] = minSSD.x; |
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} |
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} |
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for(int row = 1; row < end_row; row++) |
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{ |
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int idx1 = y_tex * img_step + x_tex; |
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int idx2 = (y_tex + WINSZ) * img_step + x_tex; |
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__syncthreads(); |
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StepDown(idx1, idx2, left, right, d, col_ssd); |
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if (col_ssd_extra) |
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StepDown(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra); |
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y_tex += 1; |
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__syncthreads(); //before MinSSD function |
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if (X < cwidth - RADIUS && row < cheight - RADIUS - Y) |
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{ |
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int idx = row * cminSSD_step; |
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uint2 minSSD = MinSSD(col_ssd_cache + threadIdx.x, col_ssd); |
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if (minSSD.x < minSSDImage[idx]) |
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{ |
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disparImage[disp_pitch * row] = (unsigned char)(d + minSSD.y); |
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minSSDImage[idx] = minSSD.x; |
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} |
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} |
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} // for row loop |
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} // for d loop |
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} |
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} |
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extern "C" void cv::gpu::impl::stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, DevMem2D& disp, int maxdisp, DevMem2D_<unsigned int>& minSSD_buf) |
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{ |
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//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferL1) ); |
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//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferShared) ); |
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size_t smem_size = (BLOCK_W + N_DISPARITIES * SHARED_MEM_SIZE) * sizeof(unsigned int); |
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cudaSafeCall( cudaMemset2D(disp.ptr, disp.step, 0, disp.cols, disp. rows) ); |
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cudaSafeCall( cudaMemset2D(minSSD_buf.ptr, minSSD_buf.step, 0xFF, minSSD_buf.cols * minSSD_buf.elemSize(), disp. rows) ); |
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dim3 grid(1,1,1); |
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dim3 threads(BLOCK_W, 1, 1); |
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grid.x = divUp(left.cols - maxdisp - 2 * RADIUS, BLOCK_W); |
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grid.y = divUp(left.rows - 2 * RADIUS, ROWSperTHREAD); |
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cudaSafeCall( cudaMemcpyToSymbol( cwidth, &left.cols, sizeof (left.cols) ) ); |
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cudaSafeCall( cudaMemcpyToSymbol( cheight, &left.rows, sizeof (left.rows) ) ); |
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cudaSafeCall( cudaMemcpyToSymbol( cminSSDImage, &minSSD_buf.ptr, sizeof (minSSD_buf.ptr) ) ); |
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size_t minssd_step = minSSD_buf.step/minSSD_buf.elemSize(); |
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cudaSafeCall( cudaMemcpyToSymbol( cminSSD_step, &minssd_step, sizeof (minssd_step) ) ); |
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device_code::stereoKernel<<<grid, threads, smem_size>>>(left.ptr, right.ptr, left.step, disp.ptr, disp.step, maxdisp); |
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cudaSafeCall( cudaThreadSynchronize() ); |
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} |