From ab4be0a42b0ed4a3c3d3cc9ed1c3bc55df6229a6 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 20 Jun 2019 21:51:38 +0300
Subject: [PATCH] Corrections to gpumat fixstars
---
.../src/algorithms/fixstars_sgm.cpp | 23 +++++++++++--------
1 file changed, 13 insertions(+), 10 deletions(-)
diff --git a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
index 483f44dfe..96f78669a 100644
--- a/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
+++ b/components/rgbd-sources/src/algorithms/fixstars_sgm.cpp
@@ -19,23 +19,25 @@ FixstarsSGM::FixstarsSGM(nlohmann::json &config) : Disparity(config) {
}
void FixstarsSGM::compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r, cv::cuda::GpuMat &disp, cv::cuda::Stream &stream) {
-
+ // TODO Move to member vars to prevent reallocations
GpuMat lbw, rbw;
cv::cuda::cvtColor(l, lbw, cv::COLOR_BGR2GRAY, 0, stream);
cv::cuda::cvtColor(r, rbw, cv::COLOR_BGR2GRAY, 0, stream);
- if (disp.type() != CV_16SC1 || disp.rows != l.rows || disp.cols != l.cols) {
- disp = GpuMat(l.rows, l.cols, CV_16SC1);
- }
+ //if (disp.type() != CV_16SC1 || disp.rows != l.rows || disp.cols != l.cols) {
+ //disp = GpuMat(l.rows, l.cols, CV_16SC1);
+ //}
+
+ GpuMat dispt(l.rows, l.cols, CV_16SC1);
stream.waitForCompletion();
if (!ssgm_) { // todo: move to constructor
- ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 16, lbw.step, disp.step / sizeof(short),
- sgm::EXECUTE_INOUT_HOST2HOST, sgm::StereoSGM::Parameters(10,120,0.95f,true));
+ ssgm_ = new sgm::StereoSGM(l.cols, l.rows, max_disp_, 8, 16, lbw.step, dispt.step / sizeof(short),
+ sgm::EXECUTE_INOUT_CUDA2CUDA, sgm::StereoSGM::Parameters(10,120,0.95f,true));
}
//auto start = std::chrono::high_resolution_clock::now();
- ssgm_->execute(lbw.data, rbw.data, disp.data);
+ ssgm_->execute(lbw.data, rbw.data, dispt.data);
//std::chrono::duration<double> elapsed =
// std::chrono::high_resolution_clock::now() - start;
//LOG(INFO) << "CUDA sgm in " << elapsed.count() << "s";
@@ -45,20 +47,21 @@ void FixstarsSGM::compute(const cv::cuda::GpuMat &l, const cv::cuda::GpuMat &r,
//Mat bad_pixels = (disp == (256 << 5));
//disp.setTo(0, bad_pixels, stream_);
- GpuMat left_pixels(disp, cv::Rect(0, 0, max_disp_, disp.rows));
+ GpuMat left_pixels(dispt, cv::Rect(0, 0, max_disp_, dispt.rows));
left_pixels.setTo(0);
if (use_filter_) {
// parameters need benchmarking, impact of image
// quick tests show with parameters (max_disp_, 25, 3)
// roughly 50% in disparity calculation and 50% in filter;
- filter_->apply(disp, l, disp, stream);
+ filter_->apply(dispt, l, dispt, stream);
}
- disp.convertTo(disp, CV_32F, 1.0f/16.0f);
+ dispt.convertTo(disp, CV_32F, 1.0f/16.0f, stream);
}
void FixstarsSGM::setMask(Mat &mask) {
+ return; // TODO(Nick) Not needed, but also code below does not work with new GPU pipeline
CHECK(mask.type() == CV_8UC1) << "mask type must be CV_8U";
if (!ssgm_) { // todo: move to constructor
--
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