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//#include "internal_shared.hpp"
#include "opencv2/gpu/devmem2d.hpp"
#include "safe_call.hpp"
static inline int divUp(int total, int grain) { return (total + grain - 1) / grain; }
using namespace cv::gpu;
//////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////// Streeo BM ////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////
#define ROWSperTHREAD 21 // the number of rows a thread will process
namespace cv { namespace gpu { namespace bm
{
#define BLOCK_W 128 // the thread block width (464)
#define N_DISPARITIES 8
#define STEREO_MIND 0 // The minimum d range to check
#define STEREO_DISP_STEP N_DISPARITIES // the d step, must be <= 1 to avoid aliasing
__constant__ unsigned int* cminSSDImage;
__constant__ size_t cminSSD_step;
__constant__ int cwidth;
__constant__ int cheight;
__device__ int SQ(int a)
{
return a * a;
}
template<int RADIUS>
__device__ unsigned int CalcSSD(volatile unsigned int *col_ssd_cache, volatile unsigned int *col_ssd)
{
unsigned int cache = 0;
unsigned int cache2 = 0;
for(int i = 1; i <= RADIUS; i++)
cache += col_ssd[i];
col_ssd_cache[0] = cache;
__syncthreads();
if (threadIdx.x < BLOCK_W - RADIUS)
cache2 = col_ssd_cache[RADIUS];
else
for(int i = RADIUS + 1; i < (2 * RADIUS + 1); i++)
cache2 += col_ssd[i];
return col_ssd[0] + cache + cache2;
}
template<int RADIUS>
__device__ uint2 MinSSD(volatile unsigned int *col_ssd_cache, volatile unsigned int *col_ssd)
{
unsigned int ssd[N_DISPARITIES];
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
ssd[0] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 0 * (BLOCK_W + 2 * RADIUS));
__syncthreads();
ssd[1] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 1 * (BLOCK_W + 2 * RADIUS));
__syncthreads();
ssd[2] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 2 * (BLOCK_W + 2 * RADIUS));
__syncthreads();
ssd[3] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 3 * (BLOCK_W + 2 * RADIUS));
__syncthreads();
ssd[4] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 4 * (BLOCK_W + 2 * RADIUS));
__syncthreads();
ssd[5] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 5 * (BLOCK_W + 2 * RADIUS));
__syncthreads();
ssd[6] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 6 * (BLOCK_W + 2 * RADIUS));
__syncthreads();
ssd[7] = CalcSSD<RADIUS>(col_ssd_cache, col_ssd + 7 * (BLOCK_W + 2 * RADIUS));
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])));
int bestIdx = 0;
for (int i = 0; i < N_DISPARITIES; i++)
{
if (mssd == ssd[i])
bestIdx = i;
}
return make_uint2(mssd, bestIdx);
}
template<int RADIUS>
__device__ void StepDown(int idx1, int idx2, unsigned char* imageL, unsigned char* imageR, int d, volatile unsigned int *col_ssd)
{
unsigned char leftPixel1;
unsigned char leftPixel2;
unsigned char rightPixel1[8];
unsigned char rightPixel2[8];
unsigned int diff1, diff2;
leftPixel1 = imageL[idx1];
leftPixel2 = imageL[idx2];
idx1 = idx1 - d;
idx2 = idx2 - d;
rightPixel1[7] = imageR[idx1 - 7];
rightPixel1[0] = imageR[idx1 - 0];
rightPixel1[1] = imageR[idx1 - 1];
rightPixel1[2] = imageR[idx1 - 2];
rightPixel1[3] = imageR[idx1 - 3];
rightPixel1[4] = imageR[idx1 - 4];
rightPixel1[5] = imageR[idx1 - 5];
rightPixel1[6] = imageR[idx1 - 6];
rightPixel2[7] = imageR[idx2 - 7];
rightPixel2[0] = imageR[idx2 - 0];
rightPixel2[1] = imageR[idx2 - 1];
rightPixel2[2] = imageR[idx2 - 2];
rightPixel2[3] = imageR[idx2 - 3];
rightPixel2[4] = imageR[idx2 - 4];
rightPixel2[5] = imageR[idx2 - 5];
rightPixel2[6] = imageR[idx2 - 6];
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
diff1 = leftPixel1 - rightPixel1[0];
diff2 = leftPixel2 - rightPixel2[0];
col_ssd[0 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[1];
diff2 = leftPixel2 - rightPixel2[1];
col_ssd[1 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[2];
diff2 = leftPixel2 - rightPixel2[2];
col_ssd[2 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[3];
diff2 = leftPixel2 - rightPixel2[3];
col_ssd[3 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[4];
diff2 = leftPixel2 - rightPixel2[4];
col_ssd[4 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[5];
diff2 = leftPixel2 - rightPixel2[5];
col_ssd[5 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[6];
diff2 = leftPixel2 - rightPixel2[6];
col_ssd[6 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[7];
diff2 = leftPixel2 - rightPixel2[7];
col_ssd[7 * (BLOCK_W + 2 * RADIUS)] += SQ(diff2) - SQ(diff1);
}
template<int RADIUS>
__device__ void InitColSSD(int x_tex, int y_tex, int im_pitch, unsigned char* imageL, unsigned char* imageR, int d, volatile unsigned int *col_ssd)
{
unsigned char leftPixel1;
int idx;
unsigned int diffa[] = {0, 0, 0, 0, 0, 0, 0, 0};
for(int i = 0; i < (2 * RADIUS + 1); i++)
{
idx = y_tex * im_pitch + x_tex;
leftPixel1 = imageL[idx];
idx = idx - d;
diffa[0] += SQ(leftPixel1 - imageR[idx - 0]);
diffa[1] += SQ(leftPixel1 - imageR[idx - 1]);
diffa[2] += SQ(leftPixel1 - imageR[idx - 2]);
diffa[3] += SQ(leftPixel1 - imageR[idx - 3]);
diffa[4] += SQ(leftPixel1 - imageR[idx - 4]);
diffa[5] += SQ(leftPixel1 - imageR[idx - 5]);
diffa[6] += SQ(leftPixel1 - imageR[idx - 6]);
diffa[7] += SQ(leftPixel1 - imageR[idx - 7]);
y_tex += 1;
}
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
col_ssd[0 * (BLOCK_W + 2 * RADIUS)] = diffa[0];
col_ssd[1 * (BLOCK_W + 2 * RADIUS)] = diffa[1];
col_ssd[2 * (BLOCK_W + 2 * RADIUS)] = diffa[2];
col_ssd[3 * (BLOCK_W + 2 * RADIUS)] = diffa[3];
col_ssd[4 * (BLOCK_W + 2 * RADIUS)] = diffa[4];
col_ssd[5 * (BLOCK_W + 2 * RADIUS)] = diffa[5];
col_ssd[6 * (BLOCK_W + 2 * RADIUS)] = diffa[6];
col_ssd[7 * (BLOCK_W + 2 * RADIUS)] = diffa[7];
}
template<int RADIUS>
__global__ void stereoKernel(unsigned char *left, unsigned char *right, size_t img_step, PtrStep disp, int maxdisp)
{
extern __shared__ unsigned int col_ssd_cache[];
volatile unsigned int *col_ssd = col_ssd_cache + BLOCK_W + threadIdx.x;
volatile unsigned int *col_ssd_extra = threadIdx.x < (2 * RADIUS) ? col_ssd + BLOCK_W : 0; //#define N_DIRTY_PIXELS (2 * RADIUS)
//#define X (blockIdx.x * BLOCK_W + threadIdx.x + STEREO_MAXD)
int X = (blockIdx.x * BLOCK_W + threadIdx.x + maxdisp + RADIUS);
//#define Y (__mul24(blockIdx.y, ROWSperTHREAD) + RADIUS)
#define Y (blockIdx.y * ROWSperTHREAD + RADIUS)
//int Y = blockIdx.y * ROWSperTHREAD + RADIUS;
unsigned int* minSSDImage = cminSSDImage + X + Y * cminSSD_step;
unsigned char* disparImage = disp.data + X + Y * disp.step;
/* if (X < cwidth)
{
unsigned int *minSSDImage_end = minSSDImage + min(ROWSperTHREAD, cheight - Y) * minssd_step;
for(uint *ptr = minSSDImage; ptr != minSSDImage_end; ptr += minssd_step )
*ptr = 0xFFFFFFFF;
}*/
int end_row = min(ROWSperTHREAD, cheight - Y);
int y_tex;
int x_tex = X - RADIUS;
if (x_tex >= cwidth)
return;
for(int d = STEREO_MIND; d < maxdisp; d += STEREO_DISP_STEP)
{
y_tex = Y - RADIUS;
InitColSSD<RADIUS>(x_tex, y_tex, img_step, left, right, d, col_ssd);
if (col_ssd_extra > 0)
if (x_tex + BLOCK_W < cwidth)
InitColSSD<RADIUS>(x_tex + BLOCK_W, y_tex, img_step, left, right, d, col_ssd_extra);
__syncthreads(); //before MinSSD function
if (X < cwidth - RADIUS && Y < cheight - RADIUS)
{
uint2 minSSD = MinSSD<RADIUS>(col_ssd_cache + threadIdx.x, col_ssd);
if (minSSD.x < minSSDImage[0])
{
disparImage[0] = (unsigned char)(d + minSSD.y);
minSSDImage[0] = minSSD.x;
}
}
for(int row = 1; row < end_row; row++)
{
int idx1 = y_tex * img_step + x_tex;
int idx2 = (y_tex + (2 * RADIUS + 1)) * img_step + x_tex;
__syncthreads();
StepDown<RADIUS>(idx1, idx2, left, right, d, col_ssd);
if (col_ssd_extra)
if (x_tex + BLOCK_W < cwidth)
StepDown<RADIUS>(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra);
y_tex += 1;
__syncthreads(); //before MinSSD function
if (X < cwidth - RADIUS && row < cheight - RADIUS - Y)
{
int idx = row * cminSSD_step;
uint2 minSSD = MinSSD<RADIUS>(col_ssd_cache + threadIdx.x, col_ssd);
if (minSSD.x < minSSDImage[idx])
{
disparImage[disp.step * row] = (unsigned char)(d + minSSD.y);
minSSDImage[idx] = minSSD.x;
}
}
} // for row loop
} // for d loop
}
template<int RADIUS> void kernel_caller(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, cudaStream_t & stream)
{
dim3 grid(1,1,1);
dim3 threads(BLOCK_W, 1, 1);
grid.x = divUp(left.cols - maxdisp - 2 * RADIUS, BLOCK_W);
grid.y = divUp(left.rows - 2 * RADIUS, ROWSperTHREAD);
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * RADIUS)
size_t smem_size = (BLOCK_W + N_DISPARITIES * (BLOCK_W + 2 * RADIUS)) * sizeof(unsigned int);
stereoKernel<RADIUS><<<grid, threads, smem_size, stream>>>(left.data, right.data, left.step, disp, maxdisp);
if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() );
};
typedef void (*kernel_caller_t)(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, cudaStream_t & stream);
const static kernel_caller_t callers[] =
{
0,
kernel_caller< 1>, kernel_caller< 2>, kernel_caller< 3>, kernel_caller< 4>, kernel_caller< 5>,
kernel_caller< 6>, kernel_caller< 7>, kernel_caller< 8>, kernel_caller< 9>, kernel_caller<10>,
kernel_caller<11>, kernel_caller<12>, kernel_caller<13>, kernel_caller<15>, kernel_caller<15>,
kernel_caller<16>, kernel_caller<17>, kernel_caller<18>, kernel_caller<19>, kernel_caller<20>,
kernel_caller<21>, kernel_caller<22>, kernel_caller<23>, kernel_caller<24>, kernel_caller<25>
//0,0,0, 0,0,0, 0,0,kernel_caller<9>
};
const int calles_num = sizeof(callers)/sizeof(callers[0]);
extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, int winsz, const DevMem2D_<unsigned int>& minSSD_buf, cudaStream_t& stream)
{
int winsz2 = winsz >> 1;
if (winsz2 == 0 || winsz2 >= calles_num)
cv::gpu::error("Unsupported window size", __FILE__, __LINE__);
//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferL1) );
//cudaSafeCall( cudaFuncSetCacheConfig(&stereoKernel, cudaFuncCachePreferShared) );
cudaSafeCall( cudaMemset2D(disp.data, disp.step, 0, disp.cols, disp.rows) );
cudaSafeCall( cudaMemset2D(minSSD_buf.data, minSSD_buf.step, 0xFF, minSSD_buf.cols * minSSD_buf.elemSize(), disp.rows) );
cudaSafeCall( cudaMemcpyToSymbol( cwidth, &left.cols, sizeof(left.cols) ) );
cudaSafeCall( cudaMemcpyToSymbol( cheight, &left.rows, sizeof(left.rows) ) );
cudaSafeCall( cudaMemcpyToSymbol( cminSSDImage, &minSSD_buf.data, sizeof(minSSD_buf.data) ) );
size_t minssd_step = minSSD_buf.step/minSSD_buf.elemSize();
cudaSafeCall( cudaMemcpyToSymbol( cminSSD_step, &minssd_step, sizeof(minssd_step) ) );
callers[winsz2](left, right, disp, maxdisp, stream);
}
//////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////// Sobel Prefiler ///////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////
texture<unsigned char, 2, cudaReadModeElementType> texForSobel;
extern "C" __global__ void prefilter_kernel(DevMem2D output, int prefilterCap)
{
int x = blockDim.x * blockIdx.x + threadIdx.x;
int y = blockDim.y * blockIdx.y + threadIdx.y;
if (x < output.cols && y < output.rows)
{
int conv = (int)tex2D(texForSobel, x - 1, y - 1) * (-1) + (int)tex2D(texForSobel, x + 1, y - 1) * (1) +
(int)tex2D(texForSobel, x - 1, y ) * (-2) + (int)tex2D(texForSobel, x + 1, y ) * (2) +
(int)tex2D(texForSobel, x - 1, y + 1) * (-1) + (int)tex2D(texForSobel, x + 1, y + 1) * (1);
conv = min(min(max(-prefilterCap, conv), prefilterCap) + prefilterCap, 255);
output.ptr(y)[x] = conv & 0xFF;
}
}
extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap, cudaStream_t & stream)
{
cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
cudaSafeCall( cudaBindTexture2D( 0, texForSobel, input.data, desc, input.cols, input.rows, input.step ) );
dim3 threads(16, 16, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(input.cols, threads.x);
grid.y = divUp(input.rows, threads.y);
prefilter_kernel<<<grid, threads, 0, stream>>>(output, prefilterCap);
if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() );
cudaSafeCall( cudaUnbindTexture (texForSobel ) );
}
//////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////// Textureness filtering ////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////
texture<unsigned char, 2, cudaReadModeNormalizedFloat> texForTF;
__device__ float sobel(int x, int y)
{
float conv = tex2D(texForTF, x - 1, y - 1) * (-1) + tex2D(texForTF, x + 1, y - 1) * (1) +
tex2D(texForTF, x - 1, y ) * (-2) + tex2D(texForTF, x + 1, y ) * (2) +
tex2D(texForTF, x - 1, y + 1) * (-1) + tex2D(texForTF, x + 1, y + 1) * (1);
return fabs(conv);
}
__device__ float CalcSums(float *cols, float *cols_cache, int winsz)
{
float cache = 0;
float cache2 = 0;
int winsz2 = winsz/2;
for(int i = 1; i <= winsz2; i++)
cache += cols[i];
cols_cache[0] = cache;
__syncthreads();
if (threadIdx.x < blockDim.x - winsz2)
cache2 = cols_cache[winsz2];
else
for(int i = winsz2 + 1; i < winsz; i++)
cache2 += cols[i];
return cols[0] + cache + cache2;
}
#define RpT (2 * ROWSperTHREAD) // got experimentally
extern "C" __global__ void textureness_kernel(DevMem2D disp, int winsz, float threshold)
{
int winsz2 = winsz/2;
int n_dirty_pixels = (winsz2) * 2;
extern __shared__ float cols_cache[];
float *cols = cols_cache + blockDim.x + threadIdx.x;
float *cols_extra = threadIdx.x < n_dirty_pixels ? cols + blockDim.x : 0;
int x = blockIdx.x * blockDim.x + threadIdx.x;
int beg_row = blockIdx.y * RpT;
int end_row = min(beg_row + RpT, disp.rows);
if (x < disp.cols)
{
int y = beg_row;
float sum = 0;
float sum_extra = 0;
for(int i = y - winsz2; i <= y + winsz2; ++i)
{
sum += sobel(x - winsz2, i);
if (cols_extra)
sum_extra += sobel(x + blockDim.x - winsz2, i);
}
*cols = sum;
if (cols_extra)
*cols_extra = sum_extra;
__syncthreads();
float sum_win = CalcSums(cols, cols_cache + threadIdx.x, winsz) * 255;
if (sum_win < threshold)
disp.data[y * disp.step + x] = 0;
__syncthreads();
for(int y = beg_row + 1; y < end_row; ++y)
{
sum = sum - sobel(x - winsz2, y - winsz2 - 1) + sobel(x - winsz2, y + winsz2);
*cols = sum;
if (cols_extra)
{
sum_extra = sum_extra - sobel(x + blockDim.x - winsz2, y - winsz2 - 1) + sobel(x + blockDim.x - winsz2, y + winsz2);
*cols_extra = sum_extra;
}
__syncthreads();
float sum_win = CalcSums(cols, cols_cache + threadIdx.x, winsz) * 255;
if (sum_win < threshold)
disp.data[y * disp.step + x] = 0;
__syncthreads();
}
}
}
extern "C" void postfilter_textureness(const DevMem2D& input, int winsz, float avgTexturenessThreshold, const DevMem2D& disp, cudaStream_t & stream)
{
avgTexturenessThreshold *= winsz * winsz;
texForTF.filterMode = cudaFilterModeLinear;
texForTF.addressMode[0] = cudaAddressModeWrap;
texForTF.addressMode[1] = cudaAddressModeWrap;
cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
cudaSafeCall( cudaBindTexture2D( 0, texForTF, input.data, desc, input.cols, input.rows, input.step ) );
dim3 threads(128, 1, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(input.cols, threads.x);
grid.y = divUp(input.rows, RpT);
size_t smem_size = (threads.x + threads.x + (winsz/2) * 2 ) * sizeof(float);
textureness_kernel<<<grid, threads, smem_size, stream>>>(disp, winsz, avgTexturenessThreshold);
if (stream == 0)
cudaSafeCall( cudaThreadSynchronize() );
cudaSafeCall( cudaUnbindTexture (texForTF) );
}
}}}