From 9b8002cd43c8735e6e2eb1ecab1930bad6325681 Mon Sep 17 00:00:00 2001 From: Aaron Denney Date: Mon, 7 Jul 2014 08:23:40 -0700 Subject: [PATCH] remove use of constant memory in calc_all_iterations/compute_message/message_per_pixel --- modules/cudastereo/src/cuda/stereocsbp.cu | 41 +++++++++++------------ 1 file changed, 20 insertions(+), 21 deletions(-) diff --git a/modules/cudastereo/src/cuda/stereocsbp.cu b/modules/cudastereo/src/cuda/stereocsbp.cu index 79456a01fa..8c38d91ae9 100644 --- a/modules/cudastereo/src/cuda/stereocsbp.cu +++ b/modules/cudastereo/src/cuda/stereocsbp.cu @@ -662,13 +662,14 @@ namespace cv { namespace cuda { namespace device template __device__ void message_per_pixel(const T* data, T* msg_dst, const T* msg1, const T* msg2, const T* msg3, - const T* dst_disp, const T* src_disp, int nr_plane, int max_disc_term, float disc_single_jump, volatile T* temp) + const T* dst_disp, const T* src_disp, int nr_plane, int max_disc_term, float disc_single_jump, volatile T* temp, + size_t disp_step) { T minimum = numeric_limits::max(); for(int d = 0; d < nr_plane; d++) { - int idx = d * cdisp_step1; + int idx = d * disp_step; T val = data[idx] + msg1[idx] + msg2[idx] + msg3[idx]; if(val < minimum) @@ -681,43 +682,43 @@ namespace cv { namespace cuda { namespace device for(int d = 0; d < nr_plane; d++) { float cost_min = minimum + max_disc_term; - T src_disp_reg = src_disp[d * cdisp_step1]; + T src_disp_reg = src_disp[d * disp_step]; for(int d2 = 0; d2 < nr_plane; d2++) - cost_min = fmin(cost_min, msg_dst[d2 * cdisp_step1] + disc_single_jump * ::abs(dst_disp[d2 * cdisp_step1] - src_disp_reg)); + cost_min = fmin(cost_min, msg_dst[d2 * disp_step] + disc_single_jump * ::abs(dst_disp[d2 * disp_step] - src_disp_reg)); - temp[d * cdisp_step1] = saturate_cast(cost_min); + temp[d * disp_step] = saturate_cast(cost_min); sum += cost_min; } sum /= nr_plane; for(int d = 0; d < nr_plane; d++) - msg_dst[d * cdisp_step1] = saturate_cast(temp[d * cdisp_step1] - sum); + msg_dst[d * disp_step] = saturate_cast(temp[d * disp_step] - sum); } template - __global__ void compute_message(uchar *ctemp, T* u_, T* d_, T* l_, T* r_, const T* data_cost_selected, const T* selected_disp_pyr_cur, int h, int w, int nr_plane, int i, int max_disc_term, float disc_single_jump) + __global__ void compute_message(uchar *ctemp, T* u_, T* d_, T* l_, T* r_, const T* data_cost_selected, const T* selected_disp_pyr_cur, int h, int w, int nr_plane, int i, int max_disc_term, float disc_single_jump, size_t msg_step, size_t disp_step) { int y = blockIdx.y * blockDim.y + threadIdx.y; int x = ((blockIdx.x * blockDim.x + threadIdx.x) << 1) + ((y + i) & 1); if (y > 0 && y < h - 1 && x > 0 && x < w - 1) { - const T* data = data_cost_selected + y * cmsg_step + x; + const T* data = data_cost_selected + y * msg_step + x; - T* u = u_ + y * cmsg_step + x; - T* d = d_ + y * cmsg_step + x; - T* l = l_ + y * cmsg_step + x; - T* r = r_ + y * cmsg_step + x; + T* u = u_ + y * msg_step + x; + T* d = d_ + y * msg_step + x; + T* l = l_ + y * msg_step + x; + T* r = r_ + y * msg_step + x; - const T* disp = selected_disp_pyr_cur + y * cmsg_step + x; + const T* disp = selected_disp_pyr_cur + y * msg_step + x; - T* temp = (T*)ctemp + y * cmsg_step + x; + T* temp = (T*)ctemp + y * msg_step + x; - message_per_pixel(data, u, r - 1, u + cmsg_step, l + 1, disp, disp - cmsg_step, nr_plane, max_disc_term, disc_single_jump, temp); - message_per_pixel(data, d, d - cmsg_step, r - 1, l + 1, disp, disp + cmsg_step, nr_plane, max_disc_term, disc_single_jump, temp); - message_per_pixel(data, l, u + cmsg_step, d - cmsg_step, l + 1, disp, disp - 1, nr_plane, max_disc_term, disc_single_jump, temp); - message_per_pixel(data, r, u + cmsg_step, d - cmsg_step, r - 1, disp, disp + 1, nr_plane, max_disc_term, disc_single_jump, temp); + message_per_pixel(data, u, r - 1, u + msg_step, l + 1, disp, disp - msg_step, nr_plane, max_disc_term, disc_single_jump, temp, disp_step); + message_per_pixel(data, d, d - msg_step, r - 1, l + 1, disp, disp + msg_step, nr_plane, max_disc_term, disc_single_jump, temp, disp_step); + message_per_pixel(data, l, u + msg_step, d - msg_step, l + 1, disp, disp - 1, nr_plane, max_disc_term, disc_single_jump, temp, disp_step); + message_per_pixel(data, r, u + msg_step, d - msg_step, r - 1, disp, disp + 1, nr_plane, max_disc_term, disc_single_jump, temp, disp_step); } } @@ -727,8 +728,6 @@ namespace cv { namespace cuda { namespace device 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) { size_t disp_step = msg_step * h; - cudaSafeCall( cudaMemcpyToSymbol(cdisp_step1, &disp_step, sizeof(size_t)) ); - cudaSafeCall( cudaMemcpyToSymbol(cmsg_step, &msg_step, sizeof(size_t)) ); dim3 threads(32, 8, 1); dim3 grid(1, 1, 1); @@ -738,7 +737,7 @@ namespace cv { namespace cuda { namespace device for(int t = 0; t < iters; ++t) { - compute_message<<>>(ctemp, u, d, l, r, data_cost_selected, selected_disp_pyr_cur, h, w, nr_plane, t & 1, max_disc_term, disc_single_jump); + compute_message<<>>(ctemp, u, d, l, r, data_cost_selected, selected_disp_pyr_cur, h, w, nr_plane, t & 1, max_disc_term, disc_single_jump, msg_step, disp_step); cudaSafeCall( cudaGetLastError() ); } if (stream == 0)