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