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Commit 1b571bde authored by Vladislav Vinogradov's avatar Vladislav Vinogradov
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StereoConstantSpaceBP

parent 0e339dd1
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Inline Side-by-side
Showing with 8 additions and 37 deletions
modules/gpu/src/cuda/stereocsbp.cu
View file @ 1b571bde
...@@ -42,9 +42,11 @@ ...@@ -42,9 +42,11 @@
#if !defined CUDA_DISABLER #if !defined CUDA_DISABLER
#include "internal_shared.hpp" #include "opencv2/gpu/device/common.hpp"
#include "opencv2/gpu/device/saturate_cast.hpp" #include "opencv2/gpu/device/saturate_cast.hpp"
#include "opencv2/gpu/device/limits.hpp" #include "opencv2/gpu/device/limits.hpp"
#include "opencv2/gpu/device/reduce.hpp"
#include "opencv2/gpu/device/functional.hpp"
namespace cv { namespace gpu { namespace device namespace cv { namespace gpu { namespace device
{ {
...@@ -297,28 +299,13 @@ namespace cv { namespace gpu { namespace device ...@@ -297,28 +299,13 @@ namespace cv { namespace gpu { namespace device
} }
extern __shared__ float smem[]; extern __shared__ float smem[];
float* dline = smem + winsz * threadIdx.z;
dline[tid] = val; reduce<winsz>(smem + winsz * threadIdx.z, val, tid, plus<float>());
__syncthreads();
if (winsz >= 256) { if (tid < 128) { dline[tid] += dline[tid + 128]; } __syncthreads(); }
if (winsz >= 128) { if (tid < 64) { dline[tid] += dline[tid + 64]; } __syncthreads(); }
volatile float* vdline = smem + winsz * threadIdx.z;
if (winsz >= 64) if (tid < 32) vdline[tid] += vdline[tid + 32];
if (winsz >= 32) if (tid < 16) vdline[tid] += vdline[tid + 16];
if (winsz >= 16) if (tid < 8) vdline[tid] += vdline[tid + 8];
if (winsz >= 8) if (tid < 4) vdline[tid] += vdline[tid + 4];
if (winsz >= 4) if (tid < 2) vdline[tid] += vdline[tid + 2];
if (winsz >= 2) if (tid < 1) vdline[tid] += vdline[tid + 1];
T* data_cost = (T*)ctemp + y_out * cmsg_step + x_out; T* data_cost = (T*)ctemp + y_out * cmsg_step + x_out;
if (tid == 0) if (tid == 0)
data_cost[cdisp_step1 * d] = saturate_cast<T>(dline[0]); data_cost[cdisp_step1 * d] = saturate_cast<T>(val);
} }
} }
...@@ -496,26 +483,11 @@ namespace cv { namespace gpu { namespace device ...@@ -496,26 +483,11 @@ namespace cv { namespace gpu { namespace device
} }
extern __shared__ float smem[]; extern __shared__ float smem[];
float* dline = smem + winsz * threadIdx.z;
dline[tid] = val; reduce<winsz>(smem + winsz * threadIdx.z, val, tid, plus<float>());
__syncthreads();
if (winsz >= 256) { if (tid < 128) { dline[tid] += dline[tid + 128]; } __syncthreads(); }
if (winsz >= 128) { if (tid < 64) { dline[tid] += dline[tid + 64]; } __syncthreads(); }
volatile float* vdline = smem + winsz * threadIdx.z;
if (winsz >= 64) if (tid < 32) vdline[tid] += vdline[tid + 32];
if (winsz >= 32) if (tid < 16) vdline[tid] += vdline[tid + 16];
if (winsz >= 16) if (tid < 8) vdline[tid] += vdline[tid + 8];
if (winsz >= 8) if (tid < 4) vdline[tid] += vdline[tid + 4];
if (winsz >= 4) if (tid < 2) vdline[tid] += vdline[tid + 2];
if (winsz >= 2) if (tid < 1) vdline[tid] += vdline[tid + 1];
if (tid == 0) if (tid == 0)
data_cost[cdisp_step1 * d] = saturate_cast<T>(dline[0]); data_cost[cdisp_step1 * d] = saturate_cast<T>(val);
} }
} }
...@@ -889,4 +861,4 @@ namespace cv { namespace gpu { namespace device ...@@ -889,4 +861,4 @@ namespace cv { namespace gpu { namespace device
} // namespace stereocsbp } // namespace stereocsbp
}}} // namespace cv { namespace gpu { namespace device { }}} // namespace cv { namespace gpu { namespace device {
#endif /* CUDA_DISABLER */ #endif /* CUDA_DISABLER */
\ No newline at end of file
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