diff --git a/cv-node/src/algorithms/rtcensus.cu b/cv-node/src/algorithms/rtcensus.cu
index e2196ee12b7a329fc4767c767e2b7742096814dd..2ec8078e97914e46acdd051d9c4fe9cca7dd6aba 100644
--- a/cv-node/src/algorithms/rtcensus.cu
+++ b/cv-node/src/algorithms/rtcensus.cu
@@ -28,6 +28,46 @@ namespace gpu {
// --- SUPPORT -----------------------------------------------------------------
+template <typename T>
+cudaTextureObject_t makeTexture2D(const PtrStepSzb &d) {
+ cudaResourceDesc resDesc;
+ memset(&resDesc, 0, sizeof(resDesc));
+ resDesc.resType = cudaResourceTypePitch2D;
+ resDesc.res.pitch2D.devPtr = d.data;
+ resDesc.res.pitch2D.pitchInBytes = d.step;
+ resDesc.res.pitch2D.desc = cudaCreateChannelDesc<T>();
+ resDesc.res.pitch2D.width = d.cols;
+ resDesc.res.pitch2D.height = d.rows;
+
+ cudaTextureDesc texDesc;
+ memset(&texDesc, 0, sizeof(texDesc));
+ texDesc.readMode = cudaReadModeElementType;
+
+ cudaTextureObject_t tex = 0;
+ cudaCreateTextureObject(&tex, &resDesc, &texDesc, NULL);
+ return tex;
+}
+
+template <typename T>
+cudaTextureObject_t makeTexture2D(void *ptr, int pitch, int width, int height) {
+ cudaResourceDesc resDesc;
+ memset(&resDesc, 0, sizeof(resDesc));
+ resDesc.resType = cudaResourceTypePitch2D;
+ resDesc.res.pitch2D.devPtr = ptr;
+ resDesc.res.pitch2D.pitchInBytes = pitch;
+ resDesc.res.pitch2D.desc = cudaCreateChannelDesc<T>();
+ resDesc.res.pitch2D.width = width;
+ resDesc.res.pitch2D.height = height;
+
+ cudaTextureDesc texDesc;
+ memset(&texDesc, 0, sizeof(texDesc));
+ texDesc.readMode = cudaReadModeElementType;
+
+ cudaTextureObject_t tex = 0;
+ cudaCreateTextureObject(&tex, &resDesc, &texDesc, NULL);
+ return tex;
+}
+
/*
* Sparse 16x16 census (so 8x8) creating a 64bit mask
* (14) & (15), based upon (9)
@@ -215,16 +255,15 @@ __global__ void disp_kernel(float *disp_l, float *disp_r,
}
}
-__global__ void consistency_kernel(cudaTextureObject_t d_sub_l, cudaTextureObject_t d_sub_r, PtrStepSz<float> disp) {
- size_t w = disp.cols;
- size_t h = disp.rows;
+__global__ void consistency_kernel(cudaTextureObject_t d_sub_l,
+ cudaTextureObject_t d_sub_r, float *disp, int w, int h, int pitch) {
//Mat result = Mat::zeros(Size(w,h), CV_32FC1);
int u = (blockIdx.x * BLOCK_W) + threadIdx.x + RADIUS;
int v_start = (blockIdx.y * ROWSperTHREAD) + RADIUS;
int v_end = v_start + ROWSperTHREAD;
- if (v_end >= disp.rows) v_end = disp.rows;
+ if (v_end >= h) v_end = h;
if (u >= w) return;
for (int v=v_start; v<v_end; v++) {
@@ -236,8 +275,8 @@ __global__ void consistency_kernel(cudaTextureObject_t d_sub_l, cudaTextureObjec
//disp(v,u) = a; //abs((a+b)/2);
- if (abs(a-b) <= 1.0) disp(v,u) = abs((a+b)/2); // was 1.0
- else disp(v,u) = NAN;
+ if (abs(a-b) <= 1.0) disp[v*pitch+u] = abs((a+b)/2); // was 1.0
+ else disp[v*pitch+u] = NAN;
//}
}
@@ -246,67 +285,33 @@ __global__ void consistency_kernel(cudaTextureObject_t d_sub_l, cudaTextureObjec
#define FILTER_WINDOW_R 7
#define FILTER_SIM_THRESH 10
-__global__ void filter_kernel(cudaTextureObject_t t, cudaTextureObject_t d, float *f, int pitch) {
+__global__ void filter_kernel(cudaTextureObject_t t, cudaTextureObject_t d, PtrStepSz<float> f) {
size_t u = (blockIdx.x * BLOCK_W) + threadIdx.x + RADIUS;
size_t v = blockIdx.y;
float disp = tex2D<float>(d,u,v);
- if (isnan(disp)) {
- f[u+v*pitch] = disp;
+ if (!isnan(disp)) {
+ f(v,u) = disp;
return;
}
int pixel = tex2D<unsigned char>(t, u, v);
float est = 0.0f;
+ int nn = 0;
for (int m=-FILTER_WINDOW_R; m<=FILTER_WINDOW_R; m++) {
for (int n=-FILTER_WINDOW_R; n<=FILTER_WINDOW_R; n++) {
int neigh = tex2D<unsigned char>(t, u+n, v+m);
- est += (abs(neigh-pixel) <= FILTER_SIM_THRESH) ? tex2D<float>(d,u+n,v+m) : 0.0f;
+ float ndisp = tex2D<float>(d,u+n,v+m);
+
+ if (!isnan(ndisp) && (abs(neigh-pixel) <= FILTER_SIM_THRESH)) {
+ est += ndisp;
+ nn++;
+ }
}
}
- f[u+v*pitch] = est;
-}
-
-template <typename T>
-cudaTextureObject_t makeTexture2D(const PtrStepSzb &d) {
- cudaResourceDesc resDesc;
- memset(&resDesc, 0, sizeof(resDesc));
- resDesc.resType = cudaResourceTypePitch2D;
- resDesc.res.pitch2D.devPtr = d.data;
- resDesc.res.pitch2D.pitchInBytes = d.step;
- resDesc.res.pitch2D.desc = cudaCreateChannelDesc<T>();
- resDesc.res.pitch2D.width = d.cols;
- resDesc.res.pitch2D.height = d.rows;
-
- cudaTextureDesc texDesc;
- memset(&texDesc, 0, sizeof(texDesc));
- texDesc.readMode = cudaReadModeElementType;
-
- cudaTextureObject_t tex = 0;
- cudaCreateTextureObject(&tex, &resDesc, &texDesc, NULL);
- return tex;
-}
-
-template <typename T>
-cudaTextureObject_t makeTexture2D(void *ptr, int pitch, int width, int height) {
- cudaResourceDesc resDesc;
- memset(&resDesc, 0, sizeof(resDesc));
- resDesc.resType = cudaResourceTypePitch2D;
- resDesc.res.pitch2D.devPtr = ptr;
- resDesc.res.pitch2D.pitchInBytes = pitch;
- resDesc.res.pitch2D.desc = cudaCreateChannelDesc<T>();
- resDesc.res.pitch2D.width = width;
- resDesc.res.pitch2D.height = height;
-
- cudaTextureDesc texDesc;
- memset(&texDesc, 0, sizeof(texDesc));
- texDesc.readMode = cudaReadModeElementType;
-
- cudaTextureObject_t tex = 0;
- cudaCreateTextureObject(&tex, &resDesc, &texDesc, NULL);
- return tex;
+ f(v,u) = (nn==0) ? NAN : est / nn;
}
void rtcensus_call(const PtrStepSzb &l, const PtrStepSzb &r, const PtrStepSz<float> &disp, size_t num_disp, const int &stream) {
@@ -326,6 +331,9 @@ void rtcensus_call(const PtrStepSzb &l, const PtrStepSzb &r, const PtrStepSz<flo
float *disp_r;
size_t pitchDL;
size_t pitchDR;
+
+ float *disp_raw;
+ size_t pitchD;
cudaSafeCall( cudaMallocPitch(&censusL, &pitchL, l.cols*sizeof(uint64_t), l.rows) );
cudaSafeCall( cudaMallocPitch(&censusR, &pitchR, r.cols*sizeof(uint64_t), r.rows) );
@@ -333,6 +341,8 @@ void rtcensus_call(const PtrStepSzb &l, const PtrStepSzb &r, const PtrStepSz<flo
//cudaMemset(census, 0, sizeof(uint64_t)*l.cols*l.rows*2);
cudaSafeCall( cudaMallocPitch(&disp_l, &pitchDL, sizeof(float)*l.cols, l.rows) );
cudaSafeCall( cudaMallocPitch(&disp_r, &pitchDR, sizeof(float)*l.cols, l.rows) );
+
+ cudaSafeCall( cudaMallocPitch(&disp_raw, &pitchD, sizeof(float)*l.cols, l.rows) );
cudaTextureDesc texDesc;
memset(&texDesc, 0, sizeof(texDesc));
@@ -343,6 +353,7 @@ void rtcensus_call(const PtrStepSzb &l, const PtrStepSzb &r, const PtrStepSz<flo
//size_t smem_size = (2 * l.cols * l.rows) * sizeof(uint64_t);
+ // Calculate L and R census
census_kernel<<<grid, threads>>>(texLeft, texRight, l.cols, l.rows, censusL, censusR, pitchL/sizeof(uint64_t), pitchR/sizeof(uint64_t));
cudaSafeCall( cudaGetLastError() );
@@ -354,14 +365,20 @@ void rtcensus_call(const PtrStepSzb &l, const PtrStepSzb &r, const PtrStepSz<flo
grid.x = cv::cuda::device::divUp(l.cols - 2 * RADIUS2, BLOCK_W);
grid.y = cv::cuda::device::divUp(l.rows - 2 * RADIUS2, ROWSperTHREAD);
- //grid.x = cv::cuda::device::divUp(l.cols - 2 * RADIUS - num_disp, BLOCK_W) - 1;
+ // Calculate L and R disparities
disp_kernel<<<grid, threads>>>(disp_l, disp_r, pitchDL/sizeof(float), pitchDR/sizeof(float), l.cols, l.rows, censusTexLeft, censusTexRight, num_disp);
cudaSafeCall( cudaGetLastError() );
cudaTextureObject_t dispTexLeft = makeTexture2D<float>(disp_l, pitchDL, l.cols, l.rows);
cudaTextureObject_t dispTexRight = makeTexture2D<float>(disp_r, pitchDR, r.cols, r.rows);
- consistency_kernel<<<grid, threads>>>(dispTexLeft, dispTexRight, disp);
+ // Check consistency between L and R disparities.
+ consistency_kernel<<<grid, threads>>>(dispTexLeft, dispTexRight, disp_raw, l.cols, l.rows, pitchD/sizeof(float));
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaTextureObject_t dispTex = makeTexture2D<float>(disp_raw, pitchD, r.cols, r.rows);
+
+ filter_kernel<<<grid, threads>>>(texLeft, dispTex, disp);
cudaSafeCall( cudaGetLastError() );
//if (&stream == Stream::Null())
@@ -371,6 +388,9 @@ void rtcensus_call(const PtrStepSzb &l, const PtrStepSzb &r, const PtrStepSz<flo
cudaSafeCall( cudaDestroyTextureObject (texRight) );
cudaSafeCall( cudaDestroyTextureObject (censusTexLeft) );
cudaSafeCall( cudaDestroyTextureObject (censusTexRight) );
+ cudaSafeCall( cudaDestroyTextureObject (dispTexLeft) );
+ cudaSafeCall( cudaDestroyTextureObject (dispTexRight) );
+ cudaSafeCall( cudaDestroyTextureObject (dispTex) );
cudaFree(disp_r);
cudaFree(disp_l);
cudaFree(censusL);