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a lot of refactoring

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This commit is contained in:
Anatoly Baksheev
2010-08-13 16:50:07 +00:00
parent 35ebeb21bd
commit ef9a9d43a4
4 changed files with 286 additions and 323 deletions
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modules/gpu/src/constantspacebp_gpu.cpp
+95 -83
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@@ -59,29 +59,42 @@ void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat&, const GpuMat&, Gp
namespace cv { namespace gpu { namespace csbp
{
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 DevMem2D& left, const DevMem2D& right, const DevMem2D& temp);
const DevMem2D& left, const DevMem2D& right, const DevMem2D& temp);
void init_data_cost(int rows, int cols, const DevMem2D& disp_selected_pyr, const DevMem2D& data_cost_selected,
size_t msg_step, int msg_type, int h, int w, int level, int nr_plane, int ndisp, int channels,
const cudaStream_t& stream);
void compute_data_cost(const DevMem2D& disp_selected_pyr, const DevMem2D& data_cost, size_t msg_step1, size_t msg_step2, int msg_type,
int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, const cudaStream_t& stream);
void init_data_cost(int rows, int cols, short* disp_selected_pyr, short* data_cost_selected,
size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, cudaStream_t stream);
void init_message(const DevMem2D& u_new, const DevMem2D& d_new, const DevMem2D& l_new, const DevMem2D& r_new,
const DevMem2D& u_cur, const DevMem2D& d_cur, const DevMem2D& l_cur, const DevMem2D& r_cur,
const DevMem2D& selected_disp_pyr_new, const DevMem2D& selected_disp_pyr_cur,
const DevMem2D& data_cost_selected, const DevMem2D& data_cost, size_t msg_step1, size_t msg_step2, int msg_type,
int h, int w, int nr_plane, int h2, int w2, int nr_plane2, const cudaStream_t& stream);
void init_data_cost(int rows, int cols, float* disp_selected_pyr, float* data_cost_selected,
size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, cudaStream_t stream);
void calc_all_iterations(const DevMem2D& u, const DevMem2D& d, const DevMem2D& l, const DevMem2D& r, const DevMem2D& data_cost_selected,
const DevMem2D& selected_disp_pyr_cur, size_t msg_step, int msg_type, int h, int w, int nr_plane, int iters,
const cudaStream_t& stream);
void compute_data_cost(const short* disp_selected_pyr, short* data_cost, size_t msg_step1, size_t msg_step2,
int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
void compute_data_cost(const float* disp_selected_pyr, float* data_cost, size_t msg_step1, size_t msg_step2,
int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
void compute_disp(const DevMem2D& u, const DevMem2D& d, const DevMem2D& l, const DevMem2D& r, const DevMem2D& data_cost_selected,
const DevMem2D& disp_selected, size_t msg_step, int msg_type, const DevMem2D& disp, int nr_plane,
const cudaStream_t& stream);
void init_message(short* u_new, short* d_new, short* l_new, short* r_new,
const short* u_cur, const short* d_cur, const short* l_cur, const short* r_cur,
short* selected_disp_pyr_new, const short* selected_disp_pyr_cur,
short* data_cost_selected, const short* data_cost, size_t msg_step1, size_t msg_step2,
int h, int w, int nr_plane, int h2, int w2, int nr_plane2, cudaStream_t stream);
void init_message(float* u_new, float* d_new, float* l_new, float* r_new,
const float* u_cur, const float* d_cur, const float* l_cur, const float* r_cur,
float* selected_disp_pyr_new, const float* selected_disp_pyr_cur,
float* data_cost_selected, const float* data_cost, size_t msg_step1, size_t msg_step2,
int h, int w, int nr_plane, int h2, int w2, int nr_plane2, cudaStream_t stream);
void calc_all_iterations(short* u, short* d, short* l, short* r, short* data_cost_selected,
const short* selected_disp_pyr_cur, size_t msg_step, int h, int w, int nr_plane, int iters, cudaStream_t stream);
void calc_all_iterations(float*u, float* d, float* l, float* r, float* data_cost_selected,
const float* selected_disp_pyr_cur, size_t msg_step, int h, int w, int nr_plane, int iters, cudaStream_t stream);
void compute_disp(const short* u, const short* d, const short* l, const short* r, const short* data_cost_selected, const short* disp_selected, size_t msg_step,
DevMem2D_<short> disp, int nr_plane, cudaStream_t stream);
void compute_disp(const float* u, const float* d, const float* l, const float* r, const float* data_cost_selected, const float* disp_selected, size_t msg_step,
DevMem2D_<short> disp, int nr_plane, cudaStream_t stream);
}}}
namespace
@@ -94,53 +107,48 @@ namespace
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
int msg_type_)
: ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
max_disc_term(DEFAULT_MAX_DISC_TERM), disc_single_jump(DEFAULT_DISC_SINGLE_JUMP), min_disp_th(0),
msg_type(msg_type_)
{
CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
}
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
float max_data_term_, float data_weight_, float max_disc_term_, float disc_single_jump_,
int min_disp_th_,
int msg_type_)
int min_disp_th_, int msg_type_)
: ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
max_data_term(max_data_term_), data_weight(data_weight_),
max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_), min_disp_th(min_disp_th_),
msg_type(msg_type_)
{
}
CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
}
static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& nr_plane,
float& max_data_term, float& data_weight, float& max_disc_term, float& disc_single_jump,
int& min_disp_th,
int& msg_type,
GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
template<class T>
static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
GpuMat disp_selected_pyr[2], GpuMat& data_cost, GpuMat& data_cost_selected,
GpuMat& temp, GpuMat& out,
const GpuMat& left, const GpuMat& right, GpuMat& disp,
const cudaStream_t& stream)
GpuMat& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp,
cudaStream_t stream)
{
CV_DbgAssert(0 < ndisp && 0 < iters && 0 < levels && 0 < nr_plane
&& (msg_type == CV_32F || msg_type == CV_16S)
CV_DbgAssert(0 < rthis.ndisp && 0 < rthis.iters && 0 < rthis.levels && 0 < rthis.nr_plane
&& left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
CV_Assert(levels <= 8 && (left.type() == CV_8UC1 || left.type() == CV_8UC3));
CV_Assert(rthis.levels <= 8 && (left.type() == CV_8UC1 || left.type() == CV_8UC3));
const Scalar zero = Scalar::all(0);
const float scale = ((msg_type == CV_32F) ? 1.0f : 10.0f);
const size_t type_size = ((msg_type == CV_32F) ? sizeof(float) : sizeof(short));
const float scale = (rthis.msg_type == CV_32F) ? 1.0f : 10.0f;
////////////////////////////////////////////////////////////////////////////////////////////
// Init
int rows = left.rows;
int cols = left.cols;
levels = min(levels, int(log((double)ndisp) / log(2.0)));
rthis.levels = min(rthis.levels, int(log((double)rthis.ndisp) / log(2.0)));
int levels = rthis.levels;
AutoBuffer<int> buf(levels * 4);
@@ -151,10 +159,10 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
cols_pyr[0] = cols;
rows_pyr[0] = rows;
nr_plane_pyr[0] = nr_plane;
nr_plane_pyr[0] = rthis.nr_plane;
const int n = 64;
step_pyr[0] = alignSize(cols * type_size, n) / type_size;
step_pyr[0] = alignSize(cols * sizeof(T), n) / sizeof(T);
for (int i = 1; i < levels; i++)
{
cols_pyr[i] = (cols_pyr[i-1] + 1) / 2;
@@ -162,43 +170,41 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
nr_plane_pyr[i] = nr_plane_pyr[i-1] * 2;
step_pyr[i] = alignSize(cols_pyr[i] * type_size, n) / type_size;
step_pyr[i] = alignSize(cols_pyr[i] * sizeof(T), n) / sizeof(T);
}
Size msg_size(step_pyr[0], rows * nr_plane_pyr[0]);
Size data_cost_size(step_pyr[0], rows * nr_plane_pyr[0] * 2);
u[0].create(msg_size, msg_type);
d[0].create(msg_size, msg_type);
l[0].create(msg_size, msg_type);
r[0].create(msg_size, msg_type);
u[0].create(msg_size, DataType<T>::type);
d[0].create(msg_size, DataType<T>::type);
l[0].create(msg_size, DataType<T>::type);
r[0].create(msg_size, DataType<T>::type);
u[1].create(msg_size, msg_type);
d[1].create(msg_size, msg_type);
l[1].create(msg_size, msg_type);
r[1].create(msg_size, msg_type);
u[1].create(msg_size, DataType<T>::type);
d[1].create(msg_size, DataType<T>::type);
l[1].create(msg_size, DataType<T>::type);
r[1].create(msg_size, DataType<T>::type);
disp_selected_pyr[0].create(msg_size, msg_type);
disp_selected_pyr[1].create(msg_size, msg_type);
disp_selected_pyr[0].create(msg_size, DataType<T>::type);
disp_selected_pyr[1].create(msg_size, DataType<T>::type);
data_cost.create(data_cost_size, msg_type);
data_cost_selected.create(msg_size, msg_type);
data_cost.create(data_cost_size, DataType<T>::type);
data_cost_selected.create(msg_size, DataType<T>::type);
step_pyr[0] = data_cost.step / type_size;
step_pyr[0] = data_cost.step / sizeof(T);
Size temp_size = data_cost_size;
if (data_cost_size.width * data_cost_size.height < static_cast<size_t>(step_pyr[levels - 1]) * rows_pyr[levels - 1] * ndisp)
{
temp_size = Size(step_pyr[levels - 1], rows_pyr[levels - 1] * ndisp);
}
if (data_cost_size.width * data_cost_size.height < step_pyr[levels - 1] * rows_pyr[levels - 1] * rthis.ndisp)
temp_size = Size(step_pyr[levels - 1], rows_pyr[levels - 1] * rthis.ndisp);
temp.create(temp_size, msg_type);
temp.create(temp_size, DataType<T>::type);
////////////////////////////////////////////////////////////////////////////
// Compute
csbp::load_constants(ndisp, max_data_term, scale * data_weight, scale * max_disc_term, scale * disc_single_jump, min_disp_th,
left, right, temp);
csbp::load_constants(rthis.ndisp, rthis.max_data_term, scale * rthis.data_weight,
scale * rthis.max_disc_term, scale * rthis.disc_single_jump, rthis.min_disp_th, left, right, temp);
l[0] = zero;
d[0] = zero;
@@ -219,29 +225,28 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
{
if (i == levels - 1)
{
csbp::init_data_cost(left.rows, left.cols, disp_selected_pyr[cur_idx], data_cost_selected,
step_pyr[i], msg_type, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp, left.channels(), stream);
csbp::init_data_cost(left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<T>(), data_cost_selected.ptr<T>(),
step_pyr[i], rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], rthis.ndisp, left.channels(), stream);
}
else
{
csbp::compute_data_cost(disp_selected_pyr[cur_idx], data_cost, step_pyr[i], step_pyr[i+1], msg_type,
csbp::compute_data_cost(disp_selected_pyr[cur_idx].ptr<T>(), data_cost.ptr<T>(), step_pyr[i], step_pyr[i+1],
left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
int new_idx = (cur_idx + 1) & 1;
csbp::init_message(u[new_idx], d[new_idx], l[new_idx], r[new_idx],
u[cur_idx], d[cur_idx], l[cur_idx], r[cur_idx],
disp_selected_pyr[new_idx], disp_selected_pyr[cur_idx],
data_cost_selected, data_cost, step_pyr[i], step_pyr[i+1], msg_type,
rows_pyr[i], cols_pyr[i], nr_plane_pyr[i],
rows_pyr[i+1], cols_pyr[i+1], nr_plane_pyr[i+1], stream);
csbp::init_message(u[new_idx].ptr<T>(), d[new_idx].ptr<T>(), l[new_idx].ptr<T>(), r[new_idx].ptr<T>(),
u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
disp_selected_pyr[new_idx].ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(),
data_cost_selected.ptr<T>(), data_cost.ptr<T>(), step_pyr[i], step_pyr[i+1], rows_pyr[i],
cols_pyr[i], nr_plane_pyr[i], rows_pyr[i+1], cols_pyr[i+1], nr_plane_pyr[i+1], stream);
cur_idx = new_idx;
}
csbp::calc_all_iterations(u[cur_idx], d[cur_idx], l[cur_idx], r[cur_idx],
data_cost_selected, disp_selected_pyr[cur_idx], step_pyr[i], msg_type,
rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters, stream);
csbp::calc_all_iterations(u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
data_cost_selected.ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(), step_pyr[i],
rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], rthis.iters, stream);
}
if (disp.empty())
@@ -250,24 +255,31 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
out = ((disp.type() == CV_16S) ? disp : GpuMat(rows, cols, CV_16S));
out = zero;
csbp::compute_disp(u[cur_idx], d[cur_idx], l[cur_idx], r[cur_idx],
data_cost_selected, disp_selected_pyr[cur_idx], step_pyr[0], msg_type, out, nr_plane_pyr[0], stream);
csbp::compute_disp(u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
data_cost_selected.ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(), step_pyr[0], out, nr_plane_pyr[0], stream);
if (disp.type() != CV_16S)
out.convertTo(disp, disp.type());
}
typedef void (*csbp_operator_t)(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
GpuMat disp_selected_pyr[2], GpuMat& data_cost, GpuMat& data_cost_selected,
GpuMat& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp,
cudaStream_t stream);
const static csbp_operator_t operators[] = {0, 0, 0, csbp_operator<short>, 0, csbp_operator<float>, 0, 0};
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
{
::stereo_csbp_gpu_operator(ndisp, iters, levels, nr_plane, max_data_term, data_weight, max_disc_term, disc_single_jump, min_disp_th, msg_type,
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, 0);
{
CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, 0);
}
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, const Stream& stream)
{
::stereo_csbp_gpu_operator(ndisp, iters, levels, nr_plane, max_data_term, data_weight, max_disc_term, disc_single_jump, min_disp_th, msg_type,
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp,
StreamAccessor::getStream(stream));
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, Stream& stream)
{
CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, StreamAccessor::getStream(stream));
}
#endif /* !defined (HAVE_CUDA) */