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libs/MVS/PatchMatchCUDA.inl

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+/*
+* PatchMatchCUDA.inl
+*
+* Copyright (c) 2014-2021 SEACAVE
+*
+* Author(s):
+*
+*	  cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*	  You are required to preserve legal notices and author attributions in
+*	  that material or in the Appropriate Legal Notices displayed by works
+*	  containing it.
+*/
+
+#ifndef _MVS_PATCHMATCHCUDA_INL_
+#define _MVS_PATCHMATCHCUDA_INL_
+
+
+// I N C L U D E S /////////////////////////////////////////////////
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+#include <cstdint>
+#include <float.h>
+#include <string>
+#include <vector>
+
+// Eigen
+#define EIGEN_DEFAULT_DENSE_INDEX_TYPE int
+#include <Eigen/Dense>
+
+// CUDA toolkit
+#include <cuda_runtime.h>
+#include <cuda_runtime_api.h>
+#include <cuda_texture_types.h>
+#include <curand_kernel.h>
+#include <vector_types.h>
+
+// OpenCV
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+namespace MVS {
+
+#if __CUDA_ARCH__ > 0
+#define __CDC__CUDA__ARCH__ 1
+#else
+#undef __CDC__CUDA__ARCH__
+#endif
+
+struct DepthData;
+
+class PatchMatchCUDA {
+public:
+	typedef Eigen::Matrix<float,3,1> Point3;
+	typedef Eigen::Matrix<float,4,1> Point4;
+	typedef Eigen::Matrix<float,3,3> Matrix3;
+
+	struct Params {
+		int nNumViews = 5;
+		int nEstimationIters = 3;
+		float fDepthMin = 0.f;
+		float fDepthMax = 100.f;
+		int nInitTopK = 3;
+		bool bGeomConsistency = false;
+		bool bLowResProcessed = false;
+		float fThresholdKeepCost = 0;
+	};
+
+	struct Camera {
+		Matrix3 K;
+		Matrix3 R;
+		Point3 C;
+		int height;
+		int width;
+	};
+
+public:
+	PatchMatchCUDA(int device=0);
+	~PatchMatchCUDA();
+
+	void Init(bool bGeomConsistency);
+	void Release();
+
+	void EstimateDepthMap(DepthData&);
+
+	float4 GetPlaneHypothesis(const int index);
+	float GetCost(const int index);
+
+private:
+	void ReleaseCUDA();
+	void AllocatePatchMatchCUDA(const cv::Mat1f& image);
+	void AllocateImageCUDA(size_t i, const cv::Mat1f& image, bool bInitImage, bool bInitDepthMap);
+	void RunCUDA(float* ptrCostMap=NULL, uint32_t* ptrViewsMap=NULL);
+
+public:
+	Params params;
+
+	std::vector<cv::Mat1f> images;
+	std::vector<Camera> cameras;
+	std::vector<cudaTextureObject_t> textureImages;
+	std::vector<cudaTextureObject_t> textureDepths;
+	Point4* depthNormalEstimates;
+
+	Camera *cudaCameras;
+	std::vector<cudaArray_t> cudaImageArrays;
+	std::vector<cudaArray_t> cudaDepthArrays;
+	cudaTextureObject_t* cudaTextureImages;
+	cudaTextureObject_t* cudaTextureDepths;
+	Point4* cudaDepthNormalEstimates;
+	float* cudaLowDepths;
+	float* cudaDepthNormalCosts;
+	curandState* cudaRandStates;
+	uint32_t* cudaSelectedViews;
+};
+/*----------------------------------------------------------------*/
+
+} // namespace MVS
+
+#endif // _MVS_PATCHMATCHCUDA_INL_