third_party/opencv
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #1014 from jet47:gpustereo-refactoring

Browse Source
This commit is contained in:
Roman Donchenko
2013-06-21 17:38:36 +04:00
committed by OpenCV Buildbot
parent b20c9ad2d1 4e29f0ee6d
commit eff6dccb3b
13 changed files with 1090 additions and 1033 deletions
Download Patch File Download Diff File Expand all files Collapse all files
samples/gpu/driver_api_stereo_multi.cpp
+6 -7
View File
@@ -85,7 +85,7 @@ void inline contextOff()
// GPUs data
GpuMat d_left[2];
GpuMat d_right[2];
StereoBM_GPU* bm[2];
Ptr<gpu::StereoBM> bm[2];
GpuMat d_result[2];
static void printHelp()
@@ -162,14 +162,14 @@ int main(int argc, char** argv)
contextOn(0);
d_left[0].upload(left.rowRange(0, left.rows / 2));
d_right[0].upload(right.rowRange(0, right.rows / 2));
bm[0] = new StereoBM_GPU();
bm[0] = gpu::createStereoBM();
contextOff();
// Split source images for processing on the GPU #1
contextOn(1);
d_left[1].upload(left.rowRange(left.rows / 2, left.rows));
d_right[1].upload(right.rowRange(right.rows / 2, right.rows));
bm[1] = new StereoBM_GPU();
bm[1] = gpu::createStereoBM();
contextOff();
// Execute calculation in two threads using two GPUs
@@ -182,7 +182,7 @@ int main(int argc, char** argv)
d_left[0].release();
d_right[0].release();
d_result[0].release();
delete bm[0];
bm[0].release();
contextOff();
// Release the second GPU resources
@@ -191,7 +191,7 @@ int main(int argc, char** argv)
d_left[1].release();
d_right[1].release();
d_result[1].release();
delete bm[1];
bm[1].release();
contextOff();
waitKey();
@@ -204,8 +204,7 @@ void Worker::operator()(int device_id) const
{
contextOn(device_id);
bm[device_id]->operator()(d_left[device_id], d_right[device_id],
d_result[device_id]);
bm[device_id]->compute(d_left[device_id], d_right[device_id], d_result[device_id]);
std::cout << "GPU #" << device_id << " (" << DeviceInfo().name()
<< "): finished\n";
samples/gpu/stereo_match.cpp
+47 -47
View File
@@ -65,9 +65,9 @@ private:
Mat left, right;
gpu::GpuMat d_left, d_right;
gpu::StereoBM_GPU bm;
gpu::StereoBeliefPropagation bp;
gpu::StereoConstantSpaceBP csbp;
Ptr<gpu::StereoBM> bm;
Ptr<gpu::StereoBeliefPropagation> bp;
Ptr<gpu::StereoConstantSpaceBP> csbp;
int64 work_begin;
double work_fps;
@@ -172,9 +172,9 @@ void App::run()
imshow("right", right);
// Set common parameters
bm.ndisp = p.ndisp;
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
bm = gpu::createStereoBM(p.ndisp);
bp = gpu::createStereoBeliefPropagation(p.ndisp);
csbp = cv::gpu::createStereoConstantSpaceBP(p.ndisp);
// Prepare disparity map of specified type
Mat disp(left.size(), CV_8U);
@@ -201,10 +201,10 @@ void App::run()
imshow("left", left);
imshow("right", right);
}
bm(d_left, d_right, d_disp);
bm->compute(d_left, d_right, d_disp);
break;
case Params::BP: bp(d_left, d_right, d_disp); break;
case Params::CSBP: csbp(d_left, d_right, d_disp); break;
case Params::BP: bp->compute(d_left, d_right, d_disp); break;
case Params::CSBP: csbp->compute(d_left, d_right, d_disp); break;
}
workEnd();
@@ -228,16 +228,16 @@ void App::printParams() const
switch (p.method)
{
case Params::BM:
cout << "win_size: " << bm.winSize << endl;
cout << "prefilter_sobel: " << bm.preset << endl;
cout << "win_size: " << bm->getBlockSize() << endl;
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
break;
case Params::BP:
cout << "iter_count: " << bp.iters << endl;
cout << "level_count: " << bp.levels << endl;
cout << "iter_count: " << bp->getNumIters() << endl;
cout << "level_count: " << bp->getNumLevels() << endl;
break;
case Params::CSBP:
cout << "iter_count: " << csbp.iters << endl;
cout << "level_count: " << csbp.levels << endl;
cout << "iter_count: " << csbp->getNumIters() << endl;
cout << "level_count: " << csbp->getNumLevels() << endl;
break;
}
cout << endl;
@@ -289,92 +289,92 @@ void App::handleKey(char key)
case 's': case 'S':
if (p.method == Params::BM)
{
switch (bm.preset)
switch (bm->getPreFilterType())
{
case gpu::StereoBM_GPU::BASIC_PRESET:
bm.preset = gpu::StereoBM_GPU::PREFILTER_XSOBEL;
case 0:
bm->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
break;
case gpu::StereoBM_GPU::PREFILTER_XSOBEL:
bm.preset = gpu::StereoBM_GPU::BASIC_PRESET;
case cv::StereoBM::PREFILTER_XSOBEL:
bm->setPreFilterType(0);
break;
}
cout << "prefilter_sobel: " << bm.preset << endl;
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
}
break;
case '1':
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp;
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
bm->setNumDisparities(p.ndisp);
bp->setNumDisparities(p.ndisp);
csbp->setNumDisparities(p.ndisp);
break;
case 'q': case 'Q':
p.ndisp = max(p.ndisp - 8, 1);
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp;
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
bm->setNumDisparities(p.ndisp);
bp->setNumDisparities(p.ndisp);
csbp->setNumDisparities(p.ndisp);
break;
case '2':
if (p.method == Params::BM)
{
bm.winSize = min(bm.winSize + 1, 51);
cout << "win_size: " << bm.winSize << endl;
bm->setBlockSize(min(bm->getBlockSize() + 1, 51));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case 'w': case 'W':
if (p.method == Params::BM)
{
bm.winSize = max(bm.winSize - 1, 2);
cout << "win_size: " << bm.winSize << endl;
bm->setBlockSize(max(bm->getBlockSize() - 1, 2));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case '3':
if (p.method == Params::BP)
{
bp.iters += 1;
cout << "iter_count: " << bp.iters << endl;
bp->setNumIters(bp->getNumIters() + 1);
cout << "iter_count: " << bp->getNumIters() << endl;
}
else if (p.method == Params::CSBP)
{
csbp.iters += 1;
cout << "iter_count: " << csbp.iters << endl;
csbp->setNumIters(csbp->getNumIters() + 1);
cout << "iter_count: " << csbp->getNumIters() << endl;
}
break;
case 'e': case 'E':
if (p.method == Params::BP)
{
bp.iters = max(bp.iters - 1, 1);
cout << "iter_count: " << bp.iters << endl;
bp->setNumIters(max(bp->getNumIters() - 1, 1));
cout << "iter_count: " << bp->getNumIters() << endl;
}
else if (p.method == Params::CSBP)
{
csbp.iters = max(csbp.iters - 1, 1);
cout << "iter_count: " << csbp.iters << endl;
csbp->setNumIters(max(csbp->getNumIters() - 1, 1));
cout << "iter_count: " << csbp->getNumIters() << endl;
}
break;
case '4':
if (p.method == Params::BP)
{
bp.levels += 1;
cout << "level_count: " << bp.levels << endl;
bp->setNumLevels(bp->getNumLevels() + 1);
cout << "level_count: " << bp->getNumLevels() << endl;
}
else if (p.method == Params::CSBP)
{
csbp.levels += 1;
cout << "level_count: " << csbp.levels << endl;
csbp->setNumLevels(csbp->getNumLevels() + 1);
cout << "level_count: " << csbp->getNumLevels() << endl;
}
break;
case 'r': case 'R':
if (p.method == Params::BP)
{
bp.levels = max(bp.levels - 1, 1);
cout << "level_count: " << bp.levels << endl;
bp->setNumLevels(max(bp->getNumLevels() - 1, 1));
cout << "level_count: " << bp->getNumLevels() << endl;
}
else if (p.method == Params::CSBP)
{
csbp.levels = max(csbp.levels - 1, 1);
cout << "level_count: " << csbp.levels << endl;
csbp->setNumLevels(max(csbp->getNumLevels() - 1, 1));
cout << "level_count: " << csbp->getNumLevels() << endl;
}
break;
}
samples/gpu/stereo_multi.cpp
+6 -7
View File
@@ -51,7 +51,7 @@ struct Worker { void operator()(int device_id) const; };
// GPUs data
GpuMat d_left[2];
GpuMat d_right[2];
StereoBM_GPU* bm[2];
Ptr<gpu::StereoBM> bm[2];
GpuMat d_result[2];
static void printHelp()
@@ -112,13 +112,13 @@ int main(int argc, char** argv)
setDevice(0);
d_left[0].upload(left.rowRange(0, left.rows / 2));
d_right[0].upload(right.rowRange(0, right.rows / 2));
bm[0] = new StereoBM_GPU();
bm[0] = gpu::createStereoBM();
// Split source images for processing on the GPU #1
setDevice(1);
d_left[1].upload(left.rowRange(left.rows / 2, left.rows));
d_right[1].upload(right.rowRange(right.rows / 2, right.rows));
bm[1] = new StereoBM_GPU();
bm[1] = gpu::createStereoBM();
// Execute calculation in two threads using two GPUs
int devices[] = {0, 1};
@@ -130,7 +130,7 @@ int main(int argc, char** argv)
d_left[0].release();
d_right[0].release();
d_result[0].release();
delete bm[0];
bm[0].release();
// Release the second GPU resources
setDevice(1);
@@ -138,7 +138,7 @@ int main(int argc, char** argv)
d_left[1].release();
d_right[1].release();
d_result[1].release();
delete bm[1];
bm[1].release();
waitKey();
return 0;
@@ -149,8 +149,7 @@ void Worker::operator()(int device_id) const
{
setDevice(device_id);
bm[device_id]->operator()(d_left[device_id], d_right[device_id],
d_result[device_id]);
bm[device_id]->compute(d_left[device_id], d_right[device_id], d_result[device_id]);
std::cout << "GPU #" << device_id << " (" << DeviceInfo().name()
<< "): finished\n";