From 00a1e9f2c35a7db983f837b9b08a027db6d4e990 Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Wed, 7 Aug 2019 14:06:47 +0300
Subject: [PATCH] allocate buffers once; move libsgm initialization to
constructor
---
.../src/algorithms/fixstars_sgm.cpp | 39 +++++-----
.../src/algorithms/fixstars_sgm.hpp | 75 ++++++++++---------
2 files changed, 56 insertions(+), 58 deletions(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index c7547c76c..b6a860db2 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -15,10 +15,10 @@ FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
int width = value("width", 1280);
int height = value("height", 720);
-
+
size_ = cv::Size(width, height);
CHECK((width >= 480) && (height >= 360));
-
+
uniqueness_ = value("uniqueness", 0.95f);
P1_ = value("P1", 10);
P2_ = value("P2", 120);
@@ -36,11 +36,16 @@ FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
filter_ = cv::cuda::createDisparityBilateralFilter(max_disp_ << 4, radius, iter);
}
+
+ init(size_);
}
void FixstarsSGM::init(const cv::Size size) {
if (ssgm_) { delete ssgm_; }
+ lbw_ = GpuMat(size, CV_8UC1);
+ rbw_ = GpuMat(size, CV_8UC1);
dispt_ = GpuMat(size, CV_16SC1);
+
ssgm_ = new sgm::StereoSGM(size.width, size.height, max_disp_, 8, 16,
lbw_.step, dispt_.step / sizeof(short),
sgm::EXECUTE_INOUT_CUDA2CUDA,
@@ -48,18 +53,15 @@ void FixstarsSGM::init(const cv::Size size) {
);
}
-void FixstarsSGM::compute( const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r,
- cv::cuda::GpuMat &disp, cv::cuda::Stream &stream)
+void FixstarsSGM::compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r,
+ cv::cuda::GpuMat &disp, cv::cuda::Stream &stream)
{
- GpuMat downscale_l;
-
if (l.size() != size_) {
// re-use same buffer for l/r
- cv::cuda::resize(r, downscale_l, size_, 0.0, 0.0, cv::INTER_CUBIC, stream);
- cv::cuda::cvtColor(downscale_l, rbw_, cv::COLOR_BGR2GRAY, 0, stream);
-
- cv::cuda::resize(l, downscale_l, size_, 0.0, 0.0, cv::INTER_CUBIC, stream);
- cv::cuda::cvtColor(downscale_l, lbw_, cv::COLOR_BGR2GRAY, 0, stream);
+ cv::cuda::resize(r, l_downscaled_, size_, 0.0, 0.0, cv::INTER_CUBIC, stream);
+ cv::cuda::cvtColor(l_downscaled_, rbw_, cv::COLOR_BGR2GRAY, 0, stream);
+ cv::cuda::resize(l, l_downscaled_, size_, 0.0, 0.0, cv::INTER_CUBIC, stream);
+ cv::cuda::cvtColor(l_downscaled_, lbw_, cv::COLOR_BGR2GRAY, 0, stream);
}
else {
cv::cuda::cvtColor(l, lbw_, cv::COLOR_BGR2GRAY, 0, stream);
@@ -68,38 +70,31 @@ void FixstarsSGM::compute( const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r,
stream.waitForCompletion();
- if (!ssgm_) {
- // issue #145 has to be fixed before can be moved into constructor
- init(size_);
- }
-
ssgm_->execute(lbw_.data, rbw_.data, dispt_.data);
GpuMat left_pixels(dispt_, cv::Rect(0, 0, max_disp_, dispt_.rows));
left_pixels.setTo(0);
-
cv::cuda::threshold(dispt_, dispt_, 4096.0f, 0.0f, cv::THRESH_TOZERO_INV, stream);
// TODO: filter could be applied after upscaling (to the upscaled disparity image)
if (use_filter_) {
filter_->apply(dispt_,
- l.size() != dispt_.size() ? downscale_l : l,
+ l.size() != dispt_.size() ? l_downscaled_ : l,
dispt_,
stream
);
}
- GpuMat dispt;
if (l.size() != size_) {
cv::cuda::multiply(dispt_, (double)l.cols / (double)size_.width, dispt_);
// invalid areas (bad values) have to be taken into account in interpolation
- cv::cuda::resize(dispt_, dispt, l.size(), 0.0, 0.0, cv::INTER_NEAREST, stream);
+ cv::cuda::resize(dispt_, dispt_full_res_, l.size(), 0.0, 0.0, cv::INTER_NEAREST, stream);
}
else {
- dispt = dispt_;
+ dispt_full_res_ = dispt_;
}
- dispt.convertTo(disp, CV_32F, 1.0f / 16.0f, stream);
+ dispt_full_res_.convertTo(disp, CV_32F, 1.0f / 16.0f, stream);
}
void FixstarsSGM::setMask(Mat &mask) {
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp
index 67221fe8a..08d01a535 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.hpp
@@ -15,42 +15,45 @@
#include "ftl/cb_segmentation.hpp"
namespace ftl {
-namespace algorithms {
-
-/**
- * Fixstars libSGM stereo matcher.
- * @see https://github.com/fixstars/libSGM
- *
- * NOTE: We are using a modified version that supports disparity of 256.
- * @see https://github.com/knicos/libSGM
- */
-class FixstarsSGM : public ftl::rgbd::detail::Disparity {
- public:
- explicit FixstarsSGM(nlohmann::json &config);
-
- void compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r, cv::cuda::GpuMat &disp, cv::cuda::Stream &stream) override;
- void setMask(cv::Mat &mask) override;
-
- /* Factory creator */
- static inline Disparity *create(ftl::Configurable *p, const std::string &name) {
- return ftl::create<FixstarsSGM>(p, name);
- }
-
- private:
- void init(const cv::Size size);
-
- float uniqueness_;
- int P1_;
- int P2_;
- cv::Size size_;
- bool use_filter_;
- cv::Ptr<cv::cuda::DisparityBilateralFilter> filter_;
- sgm::StereoSGM *ssgm_;
- cv::cuda::GpuMat lbw_;
- cv::cuda::GpuMat rbw_;
- cv::cuda::GpuMat dispt_;
-};
-};
+ namespace algorithms {
+
+ /**
+ * Fixstars libSGM stereo matcher.
+ * @see https://github.com/fixstars/libSGM
+ *
+ * NOTE: We are using a modified version that supports disparity of 256.
+ * @see https://github.com/knicos/libSGM
+ */
+ class FixstarsSGM : public ftl::rgbd::detail::Disparity {
+ public:
+ explicit FixstarsSGM(nlohmann::json &config);
+
+ void compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r, cv::cuda::GpuMat &disp, cv::cuda::Stream &stream) override;
+ void setMask(cv::Mat &mask) override;
+
+ /* Factory creator */
+ static inline Disparity *create(ftl::Configurable *p, const std::string &name) {
+ return ftl::create<FixstarsSGM>(p, name);
+ }
+
+ private:
+ void init(const cv::Size size);
+
+ float uniqueness_;
+ int P1_;
+ int P2_;
+ cv::Size size_;
+ bool use_filter_;
+ cv::Ptr<cv::cuda::DisparityBilateralFilter> filter_;
+ sgm::StereoSGM *ssgm_;
+ cv::cuda::GpuMat lbw_;
+ cv::cuda::GpuMat rbw_;
+ cv::cuda::GpuMat dispt_;
+
+ cv::cuda::GpuMat l_downscaled_;
+ cv::cuda::GpuMat dispt_full_res_;
+ };
+ };
};
#endif // _FTL_ALGORITHMS_FIXSTARS_SGM_HPP_
--
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