\r
namespace cv { namespace gpu { namespace device \r
{\r
- namespace bilateral_filter\r
+ namespace disp_bilateral_filter\r
{\r
- void load_constants(float* table_color, PtrStepSzf table_space, int ndisp, int radius, short edge_disc, short max_disc);\r
+ void disp_load_constants(float* table_color, PtrStepSzf table_space, int ndisp, int radius, short edge_disc, short max_disc);\r
\r
- void bilateral_filter_gpu(PtrStepSzb disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream);\r
- void bilateral_filter_gpu(PtrStepSz<short> disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream);\r
+ template<typename T>\r
+ void disp_bilateral_filter(PtrStepSz<T> disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream);\r
}\r
}}}\r
\r
-using namespace ::cv::gpu::device::bilateral_filter;\r
+using namespace ::cv::gpu::device::disp_bilateral_filter;\r
\r
namespace\r
{\r
}\r
\r
template <typename T>\r
- void bilateral_filter_operator(int ndisp, int radius, int iters, float edge_threshold,float max_disc_threshold, \r
+ void disp_bilateral_filter_operator(int ndisp, int radius, int iters, float edge_threshold,float max_disc_threshold, \r
GpuMat& table_color, GpuMat& table_space, \r
const GpuMat& disp, const GpuMat& img, GpuMat& dst, Stream& stream)\r
{\r
short edge_disc = max<short>(short(1), short(ndisp * edge_threshold + 0.5));\r
short max_disc = short(ndisp * max_disc_threshold + 0.5);\r
\r
- load_constants(table_color.ptr<float>(), table_space, ndisp, radius, edge_disc, max_disc);\r
+ disp_load_constants(table_color.ptr<float>(), table_space, ndisp, radius, edge_disc, max_disc);\r
\r
if (&dst != &disp)\r
{\r
disp.copyTo(dst);\r
}\r
\r
- bilateral_filter_gpu((PtrStepSz<T>)dst, img, img.channels(), iters, StreamAccessor::getStream(stream));\r
+ disp_bilateral_filter<T>(dst, img, img.channels(), iters, StreamAccessor::getStream(stream));\r
}\r
\r
typedef void (*bilateral_filter_operator_t)(int ndisp, int radius, int iters, float edge_threshold, float max_disc_threshold, \r
const GpuMat& disp, const GpuMat& img, GpuMat& dst, Stream& stream);\r
\r
const bilateral_filter_operator_t operators[] = \r
- {bilateral_filter_operator<unsigned char>, 0, 0, bilateral_filter_operator<short>, 0, 0, 0, 0};\r
+ {disp_bilateral_filter_operator<unsigned char>, 0, 0, disp_bilateral_filter_operator<short>, 0, 0, 0, 0};\r
}\r
\r
cv::gpu::DisparityBilateralFilter::DisparityBilateralFilter(int ndisp_, int radius_, int iters_)\r
--- /dev/null
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * The name of the copyright holders may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "internal_shared.hpp"
+#include "opencv2/gpu/device/limits.hpp"
+
+namespace cv { namespace gpu { namespace device
+{
+ namespace disp_bilateral_filter
+ {
+ __constant__ float* ctable_color;
+ __constant__ float* ctable_space;
+ __constant__ size_t ctable_space_step;
+
+ __constant__ int cndisp;
+ __constant__ int cradius;
+
+ __constant__ short cedge_disc;
+ __constant__ short cmax_disc;
+
+ void disp_load_constants(float* table_color, PtrStepSzf table_space, int ndisp, int radius, short edge_disc, short max_disc)
+ {
+ cudaSafeCall( cudaMemcpyToSymbol(ctable_color, &table_color, sizeof(table_color)) );
+ cudaSafeCall( cudaMemcpyToSymbol(ctable_space, &table_space.data, sizeof(table_space.data)) );
+ size_t table_space_step = table_space.step / sizeof(float);
+ cudaSafeCall( cudaMemcpyToSymbol(ctable_space_step, &table_space_step, sizeof(size_t)) );
+
+ cudaSafeCall( cudaMemcpyToSymbol(cndisp, &ndisp, sizeof(int)) );
+ cudaSafeCall( cudaMemcpyToSymbol(cradius, &radius, sizeof(int)) );
+
+ cudaSafeCall( cudaMemcpyToSymbol(cedge_disc, &edge_disc, sizeof(short)) );
+ cudaSafeCall( cudaMemcpyToSymbol(cmax_disc, &max_disc, sizeof(short)) );
+ }
+
+ template <int channels>
+ struct DistRgbMax
+ {
+ static __device__ __forceinline__ uchar calc(const uchar* a, const uchar* b)
+ {
+ uchar x = ::abs(a[0] - b[0]);
+ uchar y = ::abs(a[1] - b[1]);
+ uchar z = ::abs(a[2] - b[2]);
+ return (::max(::max(x, y), z));
+ }
+ };
+
+ template <>
+ struct DistRgbMax<1>
+ {
+ static __device__ __forceinline__ uchar calc(const uchar* a, const uchar* b)
+ {
+ return ::abs(a[0] - b[0]);
+ }
+ };
+
+ template <int channels, typename T>
+ __global__ void disp_bilateral_filter(int t, T* disp, size_t disp_step, const uchar* img, size_t img_step, int h, int w)
+ {
+ const int y = blockIdx.y * blockDim.y + threadIdx.y;
+ const int x = ((blockIdx.x * blockDim.x + threadIdx.x) << 1) + ((y + t) & 1);
+
+ T dp[5];
+
+ if (y > 0 && y < h - 1 && x > 0 && x < w - 1)
+ {
+ dp[0] = *(disp + (y ) * disp_step + x + 0);
+ dp[1] = *(disp + (y-1) * disp_step + x + 0);
+ dp[2] = *(disp + (y ) * disp_step + x - 1);
+ dp[3] = *(disp + (y+1) * disp_step + x + 0);
+ dp[4] = *(disp + (y ) * disp_step + x + 1);
+
+ if(::abs(dp[1] - dp[0]) >= cedge_disc || ::abs(dp[2] - dp[0]) >= cedge_disc || ::abs(dp[3] - dp[0]) >= cedge_disc || ::abs(dp[4] - dp[0]) >= cedge_disc)
+ {
+ const int ymin = ::max(0, y - cradius);
+ const int xmin = ::max(0, x - cradius);
+ const int ymax = ::min(h - 1, y + cradius);
+ const int xmax = ::min(w - 1, x + cradius);
+
+ float cost[] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
+
+ const uchar* ic = img + y * img_step + channels * x;
+
+ for(int yi = ymin; yi <= ymax; yi++)
+ {
+ const T* disp_y = disp + yi * disp_step;
+
+ for(int xi = xmin; xi <= xmax; xi++)
+ {
+ const uchar* in = img + yi * img_step + channels * xi;
+
+ uchar dist_rgb = DistRgbMax<channels>::calc(in, ic);
+
+ const float weight = ctable_color[dist_rgb] * (ctable_space + ::abs(y-yi)* ctable_space_step)[::abs(x-xi)];
+
+ const T disp_reg = disp_y[xi];
+
+ cost[0] += ::min(cmax_disc, ::abs(disp_reg - dp[0])) * weight;
+ cost[1] += ::min(cmax_disc, ::abs(disp_reg - dp[1])) * weight;
+ cost[2] += ::min(cmax_disc, ::abs(disp_reg - dp[2])) * weight;
+ cost[3] += ::min(cmax_disc, ::abs(disp_reg - dp[3])) * weight;
+ cost[4] += ::min(cmax_disc, ::abs(disp_reg - dp[4])) * weight;
+ }
+ }
+
+ float minimum = numeric_limits<float>::max();
+ int id = 0;
+
+ if (cost[0] < minimum)
+ {
+ minimum = cost[0];
+ id = 0;
+ }
+ if (cost[1] < minimum)
+ {
+ minimum = cost[1];
+ id = 1;
+ }
+ if (cost[2] < minimum)
+ {
+ minimum = cost[2];
+ id = 2;
+ }
+ if (cost[3] < minimum)
+ {
+ minimum = cost[3];
+ id = 3;
+ }
+ if (cost[4] < minimum)
+ {
+ minimum = cost[4];
+ id = 4;
+ }
+
+ *(disp + y * disp_step + x) = dp[id];
+ }
+ }
+ }
+
+ template <typename T>
+ void disp_bilateral_filter(PtrStepSz<T> disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream)
+ {
+ dim3 threads(32, 8, 1);
+ dim3 grid(1, 1, 1);
+ grid.x = divUp(disp.cols, threads.x << 1);
+ grid.y = divUp(disp.rows, threads.y);
+
+ switch (channels)
+ {
+ case 1:
+ for (int i = 0; i < iters; ++i)
+ {
+ disp_bilateral_filter<1><<<grid, threads, 0, stream>>>(0, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols);
+ cudaSafeCall( cudaGetLastError() );
+
+ disp_bilateral_filter<1><<<grid, threads, 0, stream>>>(1, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols);
+ cudaSafeCall( cudaGetLastError() );
+ }
+ break;
+ case 3:
+ for (int i = 0; i < iters; ++i)
+ {
+ disp_bilateral_filter<3><<<grid, threads, 0, stream>>>(0, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols);
+ cudaSafeCall( cudaGetLastError() );
+
+ disp_bilateral_filter<3><<<grid, threads, 0, stream>>>(1, disp.data, disp.step/sizeof(T), img.data, img.step, disp.rows, disp.cols);
+ cudaSafeCall( cudaGetLastError() );
+ }
+ break;
+ default:
+ cv::gpu::error("Unsupported channels count", __FILE__, __LINE__, "disp_bilateral_filter");
+ }
+
+ if (stream == 0)
+ cudaSafeCall( cudaDeviceSynchronize() );
+ }
+
+ template void disp_bilateral_filter<uchar>(PtrStepSz<uchar> disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream);
+ template void disp_bilateral_filter<short>(PtrStepSz<short> disp, PtrStepSzb img, int channels, int iters, cudaStream_t stream);
+ } // namespace bilateral_filter
+}}} // namespace cv { namespace gpu { namespace device
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