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Commit 1a1097ab authored by Vadim Pisarevsky's avatar Vadim Pisarevsky
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Merge pull request #2983 from wnoise:shrink-global-cuda-usage

parents 2ab7fb60 4644689d
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Showing with 71 additions and 91 deletions
modules/cudastereo/src/cuda/disparity_bilateral_filter.cu
View file @ 1a1097ab
......@@ -45,34 +45,12 @@
#include "opencv2/core/cuda/common.hpp"
#include "opencv2/core/cuda/limits.hpp"
#include "cuda/disparity_bilateral_filter.hpp"
namespace cv { namespace cuda { namespace device
{
namespace disp_bilateral_filter
{
__constant__ float* ctable_color;
__constant__ float* ctable_space;
__constant__ size_t ctable_space_step;
__constant__ int cndisp;
__constant__ int cradius;
__constant__ short cedge_disc;
__constant__ short cmax_disc;
void disp_load_constants(float* table_color, PtrStepSzf table_space, int ndisp, int radius, short edge_disc, short max_disc)
{
cudaSafeCall( cudaMemcpyToSymbol(ctable_color, &table_color, sizeof(table_color)) );
cudaSafeCall( cudaMemcpyToSymbol(ctable_space, &table_space.data, sizeof(table_space.data)) );
size_t table_space_step = table_space.step / sizeof(float);
cudaSafeCall( cudaMemcpyToSymbol(ctable_space_step, &table_space_step, sizeof(size_t)) );
cudaSafeCall( cudaMemcpyToSymbol(cndisp, &ndisp, sizeof(int)) );
cudaSafeCall( cudaMemcpyToSymbol(cradius, &radius, sizeof(int)) );
cudaSafeCall( cudaMemcpyToSymbol(cedge_disc, &edge_disc, sizeof(short)) );
cudaSafeCall( cudaMemcpyToSymbol(cmax_disc, &max_disc, sizeof(short)) );
}
template <int channels>
struct DistRgbMax
{
......@@ -95,7 +73,11 @@ namespace cv { namespace cuda { namespace device
};
template <int channels, typename T>
__global__ void disp_bilateral_filter(int t, T* disp, size_t disp_step, const uchar* img, size_t img_step, int h, int w)
__global__ void disp_bilateral_filter(int t, T* disp, size_t disp_step,
const uchar* img, size_t img_step, int h, int w,
const float* ctable_color, const float * ctable_space, size_t ctable_space_step,
int cradius,
short cedge_disc, short cmax_disc)
{
const int y = blockIdx.y * blockDim.y + threadIdx.y;
const int x = ((blockIdx.x * blockDim.x + threadIdx.x) << 1) + ((y + t) & 1);
......@@ -178,7 +160,7 @@ namespace cv { namespace cuda { namespace device
}
template <typename T>
void disp_bilateral_filter(PtrStepSz<T> disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream)
void disp_bilateral_filter(PtrStepSz<T> disp, PtrStepSzb img, int channels, int iters, const float *table_color, const float* table_space, size_t table_step, int radius, short edge_disc, short max_disc, cudaStream_t stream)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
......@@ -190,20 +172,20 @@ namespace cv { namespace cuda { namespace device
case 1:
for (int i = 0; i < iters; ++i)
{
disp_bilateral_filter<1><<<grid, threads, 0, stream>>>(0, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols);
disp_bilateral_filter<1><<<grid, threads, 0, stream>>>(0, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols, table_color, table_space, table_step, radius, edge_disc, max_disc);
cudaSafeCall( cudaGetLastError() );
disp_bilateral_filter<1><<<grid, threads, 0, stream>>>(1, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols);
disp_bilateral_filter<1><<<grid, threads, 0, stream>>>(1, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols, table_color, table_space, table_step, radius, edge_disc, max_disc);
cudaSafeCall( cudaGetLastError() );
}
break;
case 3:
for (int i = 0; i < iters; ++i)
{
disp_bilateral_filter<3><<<grid, threads, 0, stream>>>(0, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols);
disp_bilateral_filter<3><<<grid, threads, 0, stream>>>(0, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols, table_color, table_space, table_step, radius, edge_disc, max_disc);
cudaSafeCall( cudaGetLastError() );
disp_bilateral_filter<3><<<grid, threads, 0, stream>>>(1, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols);
disp_bilateral_filter<3><<<grid, threads, 0, stream>>>(1, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols, table_color, table_space, table_step, radius, edge_disc, max_disc);
cudaSafeCall( cudaGetLastError() );
}
break;
......@@ -215,8 +197,8 @@ namespace cv { namespace cuda { namespace device
cudaSafeCall( cudaDeviceSynchronize() );
}
template void disp_bilateral_filter<uchar>(PtrStepSz<uchar> disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream);
template void disp_bilateral_filter<short>(PtrStepSz<short> disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream);
template void disp_bilateral_filter<uchar>(PtrStepSz<uchar> disp, PtrStepSzb img, int channels, int iters, const float *table_color, const float *table_space, size_t table_step, int radius, short, short, cudaStream_t stream);
template void disp_bilateral_filter<short>(PtrStepSz<short> disp, PtrStepSzb img, int channels, int iters, const float *table_color, const float *table_space, size_t table_step, int radius, short, short, cudaStream_t stream);
} // namespace bilateral_filter
}}} // namespace cv { namespace cuda { namespace cudev
......
modules/cudastereo/src/cuda/disparity_bilateral_filter.hpp 0 → 100644
View file @ 1a1097ab
namespace cv { namespace cuda { namespace device
{
namespace disp_bilateral_filter
{
template<typename T>
void disp_bilateral_filter(PtrStepSz<T> disp, PtrStepSzb img, int channels, int iters, const float *, const float *, size_t, int radius, short edge_disc, short max_disc, cudaStream_t stream);
}
}}}
modules/cudastereo/src/cuda/stereocsbp.cu
View file @ 1a1097ab
This diff is collapsed.
modules/cudastereo/src/cuda/stereocsbp.hpp 0 → 100644
View file @ 1a1097ab
namespace cv { namespace cuda { namespace device
{
namespace stereocsbp
{
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,
int h, int w, int level, int nr_plane, int ndisp, int channels, float data_weight, float max_data_term, int min_disp, bool use_local_init_data_cost, cudaStream_t stream);
template<class T>
void compute_data_cost(const uchar *left, const uchar *right, size_t cimg_step, const T* disp_selected_pyr, T* data_cost, size_t msg_step,
int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, float data_weight, float max_data_term,
int min_disp, cudaStream_t stream);
template<class T>
void init_message(uchar *ctemp, T* u_new, T* d_new, T* l_new, T* r_new,
const T* u_cur, const T* d_cur, const T* l_cur, const T* r_cur,
T* selected_disp_pyr_new, const T* selected_disp_pyr_cur,
T* data_cost_selected, const T* data_cost, size_t msg_step,
int h, int w, int nr_plane, int h2, int w2, int nr_plane2, cudaStream_t stream);
template<class T>
void calc_all_iterations(uchar *ctemp, T* u, T* d, T* l, T* r, const T* data_cost_selected,
const T* selected_disp_pyr_cur, size_t msg_step, int h, int w, int nr_plane, int iters, int max_disc_term, float disc_single_jump, cudaStream_t stream);
template<class T>
void compute_disp(const T* u, const T* d, const T* l, const T* r, const T* data_cost_selected, const T* disp_selected, size_t msg_step,
const PtrStepSz<short>& disp, int nr_plane, cudaStream_t stream);
}
}}}
modules/cudastereo/src/disparity_bilateral_filter.cpp
View file @ 1a1097ab
......@@ -51,16 +51,7 @@ Ptr<cuda::DisparityBilateralFilter> cv::cuda::createDisparityBilateralFilter(int
#else /* !defined (HAVE_CUDA) */
namespace cv { namespace cuda { namespace device
{
namespace disp_bilateral_filter
{
void disp_load_constants(float* table_color, PtrStepSzf table_space, int ndisp, int radius, short edge_disc, short max_disc);
template<typename T>
void disp_bilateral_filter(PtrStepSz<T> disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream);
}
}}}
#include "cuda/disparity_bilateral_filter.hpp"
namespace
{
......@@ -165,7 +156,7 @@ namespace
const short edge_disc = std::max<short>(short(1), short(ndisp * edge_threshold + 0.5));
const short max_disc = short(ndisp * max_disc_threshold + 0.5);
disp_load_constants(table_color.ptr<float>(), table_space, ndisp, radius, edge_disc, max_disc);
size_t table_space_step = table_space.step / sizeof(float);
_dst.create(disp.size(), disp.type());
GpuMat dst = _dst.getGpuMat();
......@@ -173,7 +164,7 @@ namespace
if (dst.data != disp.data)
disp.copyTo(dst, stream);
disp_bilateral_filter<T>(dst, img, img.channels(), iters, StreamAccessor::getStream(stream));
disp_bilateral_filter<T>(dst, img, img.channels(), iters, table_color.ptr<float>(), (float *)table_space.data, table_space_step, radius, edge_disc, max_disc, StreamAccessor::getStream(stream));
}
void DispBilateralFilterImpl::apply(InputArray _disp, InputArray _image, OutputArray dst, Stream& stream)
......
modules/cudastereo/src/stereocsbp.cpp
View file @ 1a1097ab
......@@ -53,37 +53,7 @@ Ptr<cuda::StereoConstantSpaceBP> cv::cuda::createStereoConstantSpaceBP(int, int,
#else /* !defined (HAVE_CUDA) */
namespace cv { namespace cuda { namespace device
{
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,
const PtrStepSzb& left, const PtrStepSzb& right, const PtrStepSzb& temp);
template<class T>
void init_data_cost(int rows, int cols, T* disp_selected_pyr, T* data_cost_selected, size_t msg_step,
int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream);
template<class T>
void compute_data_cost(const T* disp_selected_pyr, T* data_cost, size_t msg_step,
int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
template<class T>
void init_message(T* u_new, T* d_new, T* l_new, T* r_new,
const T* u_cur, const T* d_cur, const T* l_cur, const T* r_cur,
T* selected_disp_pyr_new, const T* selected_disp_pyr_cur,
T* data_cost_selected, const T* data_cost, size_t msg_step,
int h, int w, int nr_plane, int h2, int w2, int nr_plane2, cudaStream_t stream);
template<class T>
void calc_all_iterations(T* u, T* d, T* l, T* r, const T* data_cost_selected,
const T* selected_disp_pyr_cur, size_t msg_step, int h, int w, int nr_plane, int iters, cudaStream_t stream);
template<class T>
void compute_disp(const T* u, const T* d, const T* l, const T* r, const T* data_cost_selected, const T* disp_selected, size_t msg_step,
const PtrStepSz<short>& disp, int nr_plane, cudaStream_t stream);
}
}}}
#include "cuda/stereocsbp.hpp"
namespace
{
......@@ -252,8 +222,6 @@ namespace
////////////////////////////////////////////////////////////////////////////
// Compute
load_constants(ndisp_, max_data_term_, data_weight_, max_disc_term_, disc_single_jump_, min_disp_th_, left, right, temp_);
l[0].setTo(0, _stream);
d[0].setTo(0, _stream);
r[0].setTo(0, _stream);
......@@ -275,17 +243,18 @@ namespace
{
if (i == levels_ - 1)
{
init_data_cost(left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<float>(), data_cost_selected.ptr<float>(),
elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), use_local_init_data_cost_, stream);
init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.step, left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<float>(), data_cost_selected.ptr<float>(),
elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), data_weight_, max_data_term_, min_disp_th_, use_local_init_data_cost_, stream);
}
else
{
compute_data_cost(disp_selected_pyr[cur_idx].ptr<float>(), data_cost.ptr<float>(), elem_step,
left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<float>(), data_cost.ptr<float>(), elem_step,
left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), data_weight_, max_data_term_, min_disp_th_, stream);
int new_idx = (cur_idx + 1) & 1;
init_message(u[new_idx].ptr<float>(), d[new_idx].ptr<float>(), l[new_idx].ptr<float>(), r[new_idx].ptr<float>(),
init_message(temp_.ptr<uchar>(),
u[new_idx].ptr<float>(), d[new_idx].ptr<float>(), l[new_idx].ptr<float>(), r[new_idx].ptr<float>(),
u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(),
disp_selected_pyr[new_idx].ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(),
data_cost_selected.ptr<float>(), data_cost.ptr<float>(), elem_step, rows_pyr[i],
......@@ -294,9 +263,9 @@ namespace
cur_idx = new_idx;
}
calc_all_iterations(u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(),
calc_all_iterations(temp_.ptr<uchar>(), u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(),
data_cost_selected.ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(), elem_step,
rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, stream);
rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, max_disc_term_, disc_single_jump_, stream);
}
}
else
......@@ -305,17 +274,18 @@ namespace
{
if (i == levels_ - 1)
{
init_data_cost(left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<short>(), data_cost_selected.ptr<short>(),
elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), use_local_init_data_cost_, stream);
init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.step, left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<short>(), data_cost_selected.ptr<short>(),
elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), data_weight_, max_data_term_, min_disp_th_, use_local_init_data_cost_, stream);
}
else
{
compute_data_cost(disp_selected_pyr[cur_idx].ptr<short>(), data_cost.ptr<short>(), elem_step,
left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<short>(), data_cost.ptr<short>(), elem_step,
left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), data_weight_, max_data_term_, min_disp_th_, stream);
int new_idx = (cur_idx + 1) & 1;
init_message(u[new_idx].ptr<short>(), d[new_idx].ptr<short>(), l[new_idx].ptr<short>(), r[new_idx].ptr<short>(),
init_message(temp_.ptr<uchar>(),
u[new_idx].ptr<short>(), d[new_idx].ptr<short>(), l[new_idx].ptr<short>(), r[new_idx].ptr<short>(),
u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(),
disp_selected_pyr[new_idx].ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(),
data_cost_selected.ptr<short>(), data_cost.ptr<short>(), elem_step, rows_pyr[i],
......@@ -324,9 +294,9 @@ namespace
cur_idx = new_idx;
}
calc_all_iterations(u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(),
calc_all_iterations(temp_.ptr<uchar>(), u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(),
data_cost_selected.ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(), elem_step,
rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, stream);
rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, max_disc_term_, disc_single_jump_, stream);
}
}
......
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