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Commit 1febf345 authored by Vladislav Vinogradov's avatar Vladislav Vinogradov
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renamed colorizeDisp to drawColorDisp, added acync version of drawColorDisp and… 

renamed colorizeDisp to drawColorDisp, added acync version of drawColorDisp and reprojectImageTo3D_GPU.
parent 24427d59
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Showing with 86 additions and 49 deletions
modules/gpu/include/opencv2/gpu/gpu.hpp
View file @ 1febf345
......@@ -349,9 +349,21 @@ namespace cv
// Does mean shift filtering on GPU.
CV_EXPORTS void meanShiftFiltering_GPU(const GpuMat& src, GpuMat& dst, int sp, int sr, TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, 1));
CV_EXPORTS void colorizeDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp);
// Does coloring of disparity image: [0..ndisp) -> [0..240, 1, 1] in HSV.
// Supported types of input disparity: CV_8U, CV_16S.
// Output disparity has CV_8UC4 type in BGRA format (alpha = 255).
CV_EXPORTS void drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp);
// Acync version
CV_EXPORTS void drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp, const Stream& stream);
// Reprojects disparity image to 3D space.
// Supports CV_8U and CV_16S types of input disparity.
// The output is a 4-channel floating-point (CV_32FC4) matrix.
// Each element of this matrix will contain the 3D coordinates of the point (x,y,z,1), computed from the disparity map.
// Q is the 4x4 perspective transformation matrix that can be obtained with cvStereoRectify.
CV_EXPORTS void reprojectImageTo3D_GPU(const GpuMat& disp, GpuMat& xyzw, const Mat& Q);
// Acync version
CV_EXPORTS void reprojectImageTo3D_GPU(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const Stream& stream);
//////////////////////////////// StereoBM_GPU ////////////////////////////////
......
modules/gpu/src/cuda/imgproc.cu
View file @ 1febf345
......@@ -182,7 +182,7 @@ namespace cv { namespace gpu { namespace impl
}
}}}
/////////////////////////////////// colorizeDisp ///////////////////////////////////////////////
/////////////////////////////////// drawColorDisp ///////////////////////////////////////////////
namespace imgproc
{
......@@ -240,14 +240,15 @@ namespace imgproc
res.y = p;
res.z = V;
}
unsigned int b = (unsigned int)(max(0.f, min (res.x, 1.f)) * 255.f);
unsigned int g = (unsigned int)(max(0.f, min (res.y, 1.f)) * 255.f);
unsigned int r = (unsigned int)(max(0.f, min (res.z, 1.f)) * 255.f);
const unsigned int b = (unsigned int)(max(0.f, min (res.x, 1.f)) * 255.f);
const unsigned int g = (unsigned int)(max(0.f, min (res.y, 1.f)) * 255.f);
const unsigned int r = (unsigned int)(max(0.f, min (res.z, 1.f)) * 255.f);
const unsigned int a = 255U;
return (r << 16) + (g << 8) + b;
return (a << 24) + (r << 16) + (g << 8) + b;
}
__global__ void colorizeDisp(uchar* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
__global__ void drawColorDisp(uchar* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
{
const int x = (blockIdx.x * blockDim.x + threadIdx.x) << 2;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
......@@ -267,7 +268,7 @@ namespace imgproc
}
}
__global__ void colorizeDisp(short* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
__global__ void drawColorDisp(short* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
{
const int x = (blockIdx.x * blockDim.x + threadIdx.x) << 1;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
......@@ -288,30 +289,34 @@ namespace imgproc
namespace cv { namespace gpu { namespace impl
{
void colorizeDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp)
void drawColorDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream)
{
dim3 threads(16, 16, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(src.cols, threads.x << 2);
grid.y = divUp(src.rows, threads.y);
imgproc::colorizeDisp<<<grid, threads>>>(src.ptr, src.step, dst.ptr, dst.step, src.cols, src.rows, ndisp);
cudaSafeCall( cudaThreadSynchronize() );
imgproc::drawColorDisp<<<grid, threads, 0, stream>>>(src.ptr, src.step, dst.ptr, dst.step, src.cols, src.rows, ndisp);
if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() );
}
void colorizeDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp)
void drawColorDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(src.cols, threads.x << 1);
grid.y = divUp(src.rows, threads.y);
imgproc::colorizeDisp<<<grid, threads>>>(src.ptr, src.step / sizeof(short), dst.ptr, dst.step, src.cols, src.rows, ndisp);
cudaSafeCall( cudaThreadSynchronize() );
imgproc::drawColorDisp<<<grid, threads, 0, stream>>>(src.ptr, src.step / sizeof(short), dst.ptr, dst.step, src.cols, src.rows, ndisp);
if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() );
}
}}}
/////////////////////////////////// colorizeDisp ///////////////////////////////////////////////
/////////////////////////////////// reprojectImageTo3D ///////////////////////////////////////////////
namespace imgproc
{
......@@ -351,7 +356,7 @@ namespace imgproc
namespace cv { namespace gpu { namespace impl
{
template <typename T>
inline void reprojectImageTo3D_caller(const DevMem2D_<T>& disp, const DevMem2Df& xyzw, const float* q)
inline void reprojectImageTo3D_caller(const DevMem2D_<T>& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
......@@ -360,18 +365,19 @@ namespace cv { namespace gpu { namespace impl
cudaSafeCall( cudaMemcpyToSymbol(imgproc::cq, q, 16 * sizeof(float)) );
imgproc::reprojectImageTo3D<<<grid, threads>>>(disp.ptr, disp.step / sizeof(T), xyzw.ptr, xyzw.step / sizeof(float), disp.rows, disp.cols);
imgproc::reprojectImageTo3D<<<grid, threads, 0, stream>>>(disp.ptr, disp.step / sizeof(T), xyzw.ptr, xyzw.step / sizeof(float), disp.rows, disp.cols);
cudaSafeCall( cudaThreadSynchronize() );
if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() );
}
void reprojectImageTo3D_gpu(const DevMem2D& disp, const DevMem2Df& xyzw, const float* q)
void reprojectImageTo3D_gpu(const DevMem2D& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream)
{
reprojectImageTo3D_caller(disp, xyzw, q);
reprojectImageTo3D_caller(disp, xyzw, q, stream);
}
void reprojectImageTo3D_gpu(const DevMem2D_<short>& disp, const DevMem2Df& xyzw, const float* q)
void reprojectImageTo3D_gpu(const DevMem2D_<short>& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream)
{
reprojectImageTo3D_caller(disp, xyzw, q);
reprojectImageTo3D_caller(disp, xyzw, q, stream);
}
}}}
modules/gpu/src/imgproc_gpu.cpp
View file @ 1febf345
......@@ -49,8 +49,10 @@ using namespace cv::gpu;
void cv::gpu::remap(const GpuMat&, const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::meanShiftFiltering_GPU(const GpuMat&, GpuMat&, int, int, TermCriteria ) { throw_nogpu(); }
void cv::gpu::colorizeDisp(const GpuMat&, GpuMat&, int) { throw_nogpu(); }
void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int) { throw_nogpu(); }
void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int, const Stream&) { throw_nogpu(); }
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat&, GpuMat&, const Mat&) { throw_nogpu(); }
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat&, GpuMat&, const Mat&, const Stream&) { throw_nogpu(); }
#else /* !defined (HAVE_CUDA) */
......@@ -62,11 +64,11 @@ namespace cv { namespace gpu
extern "C" void meanShiftFiltering_gpu(const DevMem2D& src, DevMem2D dst, int sp, int sr, int maxIter, float eps);
void colorizeDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp);
void colorizeDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp);
void drawColorDisp_gpu(const DevMem2D& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream);
void drawColorDisp_gpu(const DevMem2D_<short>& src, const DevMem2D& dst, int ndisp, const cudaStream_t& stream);
void reprojectImageTo3D_gpu(const DevMem2D& disp, const DevMem2Df& xyzw, const float* q);
void reprojectImageTo3D_gpu(const DevMem2D_<short>& disp, const DevMem2Df& xyzw, const float* q);
void reprojectImageTo3D_gpu(const DevMem2D& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream);
void reprojectImageTo3D_gpu(const DevMem2D_<short>& disp, const DevMem2Df& xyzw, const float* q, const cudaStream_t& stream);
}
}}
......@@ -109,47 +111,63 @@ void cv::gpu::meanShiftFiltering_GPU(const GpuMat& src, GpuMat& dst, int sp, int
namespace
{
template <typename T>
void colorizeDisp_caller(const GpuMat& src, GpuMat& dst, int ndisp)
{
impl::colorizeDisp_gpu((DevMem2D_<T>)src, dst, ndisp);
void drawColorDisp_caller(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream)
{
GpuMat out;
if (&dst != &src)
out = dst;
out.create(src.size(), CV_8UC4);
impl::drawColorDisp_gpu((DevMem2D_<T>)src, out, ndisp, stream);
dst = out;
}
typedef void (*drawColorDisp_caller_t)(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream);
const drawColorDisp_caller_t drawColorDisp_callers[] = {drawColorDisp_caller<unsigned char>, 0, 0, drawColorDisp_caller<short>, 0, 0, 0, 0};
}
void cv::gpu::colorizeDisp(const GpuMat& src, GpuMat& dst, int ndisp)
void cv::gpu::drawColorDisp(const GpuMat& src, GpuMat& dst, int ndisp)
{
typedef void (*colorizeDisp_caller_t)(const GpuMat& src, GpuMat& dst, int ndisp);
static const colorizeDisp_caller_t callers[] = {colorizeDisp_caller<uchar>, 0, 0, colorizeDisp_caller<short>, 0, 0, 0, 0};
CV_Assert(src.type() == CV_8U || src.type() == CV_16S);
drawColorDisp_callers[src.type()](src, dst, ndisp, 0);
}
GpuMat out;
if (&dst != &src)
out = dst;
out.create(src.size(), CV_8UC4);
void cv::gpu::drawColorDisp(const GpuMat& src, GpuMat& dst, int ndisp, const Stream& stream)
{
CV_Assert(src.type() == CV_8U || src.type() == CV_16S);
callers[src.type()](src, out, ndisp);
dst = out;
drawColorDisp_callers[src.type()](src, dst, ndisp, StreamAccessor::getStream(stream));
}
namespace
{
template <typename T>
void reprojectImageTo3D_caller(const GpuMat& disp, GpuMat& xyzw, const Mat& Q)
{
impl::reprojectImageTo3D_gpu((DevMem2D_<T>)disp, xyzw, Q.ptr<float>());
void reprojectImageTo3D_caller(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const cudaStream_t& stream)
{
xyzw.create(disp.rows, disp.cols, CV_32FC4);
impl::reprojectImageTo3D_gpu((DevMem2D_<T>)disp, xyzw, Q.ptr<float>(), stream);
}
typedef void (*reprojectImageTo3D_caller_t)(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const cudaStream_t& stream);
const reprojectImageTo3D_caller_t reprojectImageTo3D_callers[] = {reprojectImageTo3D_caller<unsigned char>, 0, 0, reprojectImageTo3D_caller<short>, 0, 0, 0, 0};
}
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat& disp, GpuMat& xyzw, const Mat& Q)
{
typedef void (*reprojectImageTo3D_caller_t)(const GpuMat& disp, GpuMat& xyzw, const Mat& Q);
static const reprojectImageTo3D_caller_t callers[] = {reprojectImageTo3D_caller<uchar>, 0, 0, reprojectImageTo3D_caller<short>, 0, 0, 0, 0};
CV_Assert((disp.type() == CV_8U || disp.type() == CV_16S) && Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4);
reprojectImageTo3D_callers[disp.type()](disp, xyzw, Q, 0);
}
xyzw.create(disp.rows, disp.cols, CV_32FC4);
void cv::gpu::reprojectImageTo3D_GPU(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, const Stream& stream)
{
CV_Assert((disp.type() == CV_8U || disp.type() == CV_16S) && Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4);
callers[disp.type()](disp, xyzw, Q);
reprojectImageTo3D_callers[disp.type()](disp, xyzw, Q, StreamAccessor::getStream(stream));
}
#endif /* !defined (HAVE_CUDA) */
\ No newline at end of file
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