void copy_image(PPM_IMG img_in)
{
StopWatchInterface *timer=NULL;
PPM_IMG host_img;
PPM_IMG device_img;
int size = img_in.w * img_in.h * sizeof(unsigned char);
host_img.w = img_in.w;
host_img.h = img_in.h;
host_img.img_r = (unsigned char *)malloc(size);
host_img.img_g = (unsigned char *)malloc(size);
host_img.img_b = (unsigned char *)malloc(size);
device_img.w = img_in.w;
device_img.h = img_in.h;
cudaMalloc((void **)&(device_img.img_r), size);
cudaMalloc((void **)&(device_img.img_g), size);
cudaMalloc((void **)&(device_img.img_b), size);
launchEmptyKernel(); // lauch an empty kernel
printf("Starting copy image...\n");
// CPU to GPU
sdkCreateTimer(&timer);
sdkStartTimer(&timer);
cudaMemcpy(device_img.img_r, img_in.img_r, size, cudaMemcpyHostToDevice);
cudaMemcpy(device_img.img_g, img_in.img_g, size, cudaMemcpyHostToDevice);
cudaMemcpy(device_img.img_b, img_in.img_b, size, cudaMemcpyHostToDevice);
sdkStopTimer(&timer);
printf("Time of copy image from CPU to GPU: %f (ms)\n", sdkGetTimerValue(&timer));
sdkDeleteTimer(&timer);
// GPU to CPU
sdkCreateTimer(&timer);
sdkStartTimer(&timer);
cudaMemcpy(host_img.img_r, device_img.img_r, size, cudaMemcpyDeviceToHost);
cudaMemcpy(host_img.img_g, device_img.img_g, size, cudaMemcpyDeviceToHost);
cudaMemcpy(host_img.img_b, device_img.img_b, size, cudaMemcpyDeviceToHost);
sdkStopTimer(&timer);
printf("Time of copy image from GPU to CPU: %f (ms)\n", sdkGetTimerValue(&timer));
sdkDeleteTimer(&timer);
cudaFree(device_img.img_r);
cudaFree(device_img.img_g);
cudaFree(device_img.img_b);
free(host_img.img_r);
free(host_img.img_g);
free(host_img.img_b);
}
void _runBenchmark(int iterations)
{
// once without timing to prime the device
if (!useCpu)
{
m_nbody->update(activeParams.m_timestep);
}
if (useCpu)
{
sdkCreateTimer(&timer);
sdkStartTimer(&timer);
}
else
{
checkCudaErrors(cudaEventRecord(startEvent, 0));
}
for (int i = 0; i < iterations; ++i)
{
m_nbody->update(activeParams.m_timestep);
}
float milliseconds = 0;
if (useCpu)
{
sdkStopTimer(&timer);
milliseconds = sdkGetTimerValue(&timer);
sdkStartTimer(&timer);
}
else
{
checkCudaErrors(cudaEventRecord(stopEvent, 0));
checkCudaErrors(cudaEventSynchronize(stopEvent));
checkCudaErrors(cudaEventElapsedTime(&milliseconds, startEvent, stopEvent));
}
double interactionsPerSecond = 0;
double gflops = 0;
computePerfStats(interactionsPerSecond, gflops, milliseconds, iterations);
printf("%d bodies, total time for %d iterations: %.3f ms, mean %f\n",
numBodies, iterations, milliseconds, milliseconds/iterations);
printf("= %.3f billion interactions per second\n", interactionsPerSecond);
printf("= %.3f %s-precision GFLOP/s at %d flops per interaction\n", gflops,
(sizeof(T) > 4) ? "double" : "single", flopsPerInteraction);
}
void runBenchmark(int iterations)
{
printf("[%s] (Benchmark Mode)\n", sSDKsample);
sdkCreateTimer(&timer);
uchar4 *d_output;
checkCudaErrors(cudaGraphicsMapResources(1, &cuda_pbo_resource, 0));
size_t num_bytes;
checkCudaErrors(cudaGraphicsResourceGetMappedPointer((void **)&d_output, &num_bytes,
cuda_pbo_resource));
sdkStartTimer(&timer);
for (int i = 0; i < iterations; ++i)
{
render(imageWidth, imageHeight, tx, ty, scale, cx, cy,
blockSize, gridSize, g_FilterMode, d_output);
}
cudaDeviceSynchronize();
sdkStopTimer(&timer);
float time = sdkGetTimerValue(&timer) / (float) iterations;
checkCudaErrors(cudaGraphicsUnmapResources(1, &cuda_pbo_resource, 0));
printf("time: %0.3f ms, %f Mpixels/sec\n", time, (width*height / (time * 0.001f)) / 1e6);
}
void
benchmark(int iterations)
{
// allocate memory for result
unsigned int *d_result;
unsigned int size = width * height * sizeof(unsigned int);
checkCudaErrors(cudaMalloc((void **) &d_result, size));
// warm-up
gaussianFilterRGBA(d_img, d_result, d_temp, width, height, sigma, order, nthreads);
checkCudaErrors(cudaDeviceSynchronize());
sdkStartTimer(&timer);
// execute the kernel
for (int i = 0; i < iterations; i++)
{
gaussianFilterRGBA(d_img, d_result, d_temp, width, height, sigma, order, nthreads);
}
checkCudaErrors(cudaDeviceSynchronize());
sdkStopTimer(&timer);
// check if kernel execution generated an error
getLastCudaError("Kernel execution failed");
printf("Processing time: %f (ms)\n", sdkGetTimerValue(&timer));
printf("%.2f Mpixels/sec\n", (width*height*iterations / (sdkGetTimerValue(&timer) / 1000.0f)) / 1e6);
checkCudaErrors(cudaFree(d_result));
}
void runBenchmark(int iterations, char *exec_path)
{
printf("Run %u particles simulation for %d iterations...\n\n", numParticles, iterations);
cudaDeviceSynchronize();
sdkStartTimer(&timer);
for (int i = 0; i < iterations; ++i)
{
psystem->update(timestep);
}
cudaDeviceSynchronize();
sdkStopTimer(&timer);
float fAvgSeconds = ((float)1.0e-3 * (float)sdkGetTimerValue(&timer)/(float)iterations);
printf("particles, Throughput = %.4f KParticles/s, Time = %.5f s, Size = %u particles, NumDevsUsed = %u, Workgroup = %u\n",
(1.0e-3 * numParticles)/fAvgSeconds, fAvgSeconds, numParticles, 1, 0);
if (g_refFile)
{
printf("\nChecking result...\n\n");
float *hPos = (float *)malloc(sizeof(float)*4*psystem->getNumParticles());
copyArrayFromDevice(hPos, psystem->getCudaPosVBO(),
0, sizeof(float)*4*psystem->getNumParticles());
sdkDumpBin((void *)hPos, sizeof(float)*4*psystem->getNumParticles(), "particles.bin");
if (!sdkCompareBin2BinFloat("particles.bin", g_refFile, sizeof(float)*4*psystem->getNumParticles(),
MAX_EPSILON_ERROR, THRESHOLD, exec_path))
{
g_TotalErrors++;
}
}
}
void siTest(T *d_ptclA, T *d_ptclA_new, T *d_wghtA, unsigned int size, int stateDim)
{
int blocks, threads;
float elapsedTimeInMs = 0.0f;
threads = BLOCK_SIZE;
blocks = (size + threads - 1) / threads;
#ifdef NVS
while (blocks > GRID_LIMIT){
blocks >>= 1;
threads <<= 1;
}
#endif
StopWatchInterface *timer = NULL;
sdkCreateTimer(&timer);
for (int i = 0 ; i < TEST_ITERATIONS ; i ++){
cudaDeviceSynchronize();
sdkStartTimer(&timer);
SI<T>(blocks, threads, d_ptclA, d_ptclA_new, d_wghtA, size, stateDim);
checkCudaErrors(cudaDeviceSynchronize());
sdkStopTimer(&timer);
}
elapsedTimeInMs = sdkGetAverageTimerValue(&timer);
printf("%f\t", elapsedTimeInMs);
printf("size=%u, stateDim=%d, blocks=%d, threads=%d\n",size, stateDim, blocks, threads);
sdkDeleteTimer(&timer);
}
void displayFunc(void)
{
sdkStartTimer(&timer);
TColor *d_dst = NULL;
size_t num_bytes;
if (frameCounter++ == 0)
{
sdkResetTimer(&timer);
}
// DEPRECATED: checkCudaErrors(cudaGLMapBufferObject((void**)&d_dst, gl_PBO));
checkCudaErrors(cudaGraphicsMapResources(1, &cuda_pbo_resource, 0));
getLastCudaError("cudaGraphicsMapResources failed");
checkCudaErrors(cudaGraphicsResourceGetMappedPointer((void **)&d_dst, &num_bytes, cuda_pbo_resource));
getLastCudaError("cudaGraphicsResourceGetMappedPointer failed");
checkCudaErrors(CUDA_Bind2TextureArray());
runImageFilters(d_dst);
checkCudaErrors(CUDA_UnbindTexture());
// DEPRECATED: checkCudaErrors(cudaGLUnmapBufferObject(gl_PBO));
checkCudaErrors(cudaGraphicsUnmapResources(1, &cuda_pbo_resource, 0));
// Common display code path
{
glClear(GL_COLOR_BUFFER_BIT);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, imageW, imageH, GL_RGBA, GL_UNSIGNED_BYTE, BUFFER_DATA(0));
glBegin(GL_TRIANGLES);
glTexCoord2f(0, 0);
glVertex2f(-1, -1);
glTexCoord2f(2, 0);
glVertex2f(+3, -1);
glTexCoord2f(0, 2);
glVertex2f(-1, +3);
glEnd();
glFinish();
}
if (frameCounter == frameN)
{
frameCounter = 0;
if (g_FPS)
{
printf("FPS: %3.1f\n", frameN / (sdkGetTimerValue(&timer) * 0.001));
g_FPS = false;
}
}
glutSwapBuffers();
glutReportErrors();
sdkStopTimer(&timer);
computeFPS();
}
void display(void)
{
pthread_mutex_lock(&display_mutex);
if (!ref_file)
{
sdkStartTimer(&timer);
simulateFluids();
}
// render points from vertex buffer
glClear(GL_COLOR_BUFFER_BIT);
glClearColor(1.f/256*172, 1.f/256*101, 1.f/256*4, 0.f);
glColor4f(1.f, 1.f, 1.f, 0.5f);
glPointSize(1);
glEnable(GL_POINT_SMOOTH);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnableClientState(GL_VERTEX_ARRAY);
glDisable(GL_DEPTH_TEST);
glDisable(GL_CULL_FACE);
glBindBufferARB(GL_ARRAY_BUFFER_ARB, vbo);
#ifdef OPTIMUS
glBufferDataARB(GL_ARRAY_BUFFER_ARB, sizeof(cData) * DS,
particles, GL_DYNAMIC_DRAW_ARB);
#endif
glVertexPointer(2, GL_FLOAT, 0, NULL);
glDrawArrays(GL_POINTS, 0, DS);
glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0);
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
glDisable(GL_TEXTURE_2D);
if (ref_file)
{
return;
}
// Finish timing before swap buffers to avoid refresh sync
sdkStopTimer(&timer);
glutSwapBuffers();
fpsCount++;
if (fpsCount == fpsLimit)
{
char fps[256];
float ifps = 1.f / (sdkGetAverageTimerValue(&timer) / 1000.f);
sprintf(fps, "Caffe Macchiato / Stable Fluids (%d x %d): %3.1f fps", DIM, DIM, ifps);
glutSetWindowTitle(fps);
fpsCount = 0;
fpsLimit = (int)MAX(ifps, 1.f);
sdkResetTimer(&timer);
}
glutPostRedisplay();
pthread_mutex_unlock(&display_mutex);
}
void _init(int numBodies, int numDevices, int p, int q,
bool bUsePBO, bool useHostMem, bool useCpu)
{
if (useCpu)
{
m_nbodyCpu = new BodySystemCPU<T>(numBodies);
m_nbody = m_nbodyCpu;
m_nbodyCuda = 0;
}
else
{
m_nbodyCuda = new BodySystemCUDA<T>(numBodies, numDevices, p, q, bUsePBO, useHostMem);
m_nbody = m_nbodyCuda;
m_nbodyCpu = 0;
}
// allocate host memory
m_hPos = new T[numBodies*4];
m_hVel = new T[numBodies*4];
m_hColor = new float[numBodies*4];
m_nbody->setSoftening(activeParams.m_softening);
m_nbody->setDamping(activeParams.m_damping);
if (useCpu)
{
sdkCreateTimer(&timer);
sdkStartTimer(&timer);
}
else
{
checkCudaErrors(cudaEventCreate(&startEvent));
checkCudaErrors(cudaEventCreate(&stopEvent));
checkCudaErrors(cudaEventCreate(&hostMemSyncEvent));
}
if (!benchmark && !compareToCPU)
{
m_renderer = new ParticleRenderer;
_resetRenderer();
}
sdkCreateTimer(&demoTimer);
sdkStartTimer(&demoTimer);
}
void EyeDescriptor::mainHough(cv::Mat& dst) {
StopWatchInterface *timer = NULL;
sdkCreateTimer(&timer);
sdkStartTimer(&timer);
//pixels which should be considered
std::vector<std::pair<int, int>> edgesIdx;
for (int y = 0; y < height; y++)
for (int x = 0; x < width; x++)
if (dst.at<uchar>(y, x) == 255)
{
edgesIdx.push_back( std::pair<int, int>(x, y) );
}
int NPixelsEdges = (int) edgesIdx.size();
for (int ipixel = 0; ipixel < NPixelsEdges; ++ipixel)
{
int x = edgesIdx[ipixel].first;
int y = edgesIdx[ipixel].second;
//gradient angle?
int q_angle = localGradient_angles[x + y * width];
//we check for each radius
// from rmin to rmax
for (double r = rmin; r < rmax; r += rdelta)
{
int eps = 40;
if (std::abs(r) < eps)
continue;
int ri = int(((r - rmin) / (rmax - rmin))*rstepnumb);
if (ri == rstepnumb)
ri = rstepnumb - 1; //small chance for drawing rmax and getting out of bounds
int x0 = int(x - r*ci[q_angle] + 0.5);
int y0 = int(y - r*si[q_angle] + 0.5);
if (!(x0>=0 && x0 < width && y0>=0 && y0 < height))
continue;
int tmp = ++accummulator[x0 + y0*width + ri*height*width];
if (tmp > houghmaxval){
houghmaxval = tmp;
x_maxval = x0;
y_maxval = y0;
r_maxval = int(std::abs(r)+0.5);
}
}
}
sdkStopTimer(&timer);
float execution_time = sdkGetTimerValue(&timer);
std::cout << "Main loop, TIME: " << execution_time << "[ms]" << std::endl;
}
// display results using OpenGL
void display()
{
sdkStartTimer(&timer);
// execute filter, writing results to pbo
unsigned int *dResult;
//DEPRECATED: checkCudaErrors( cudaGLMapBufferObject((void**)&d_result, pbo) );
checkCudaErrors(cudaGraphicsMapResources(1, &cuda_pbo_resource, 0));
size_t num_bytes;
checkCudaErrors(cudaGraphicsResourceGetMappedPointer((void **)&dResult, &num_bytes, cuda_pbo_resource));
bilateralFilterRGBA(dResult, width, height, euclidean_delta, filter_radius, iterations, kernel_timer);
// DEPRECATED: checkCudaErrors(cudaGLUnmapBufferObject(pbo));
checkCudaErrors(cudaGraphicsUnmapResources(1, &cuda_pbo_resource, 0));
// Common display code path
{
glClear(GL_COLOR_BUFFER_BIT);
// load texture from pbo
glBindBufferARB(GL_PIXEL_UNPACK_BUFFER_ARB, pbo);
glBindTexture(GL_TEXTURE_2D, texid);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, 0);
glBindBufferARB(GL_PIXEL_UNPACK_BUFFER_ARB, 0);
// fragment program is required to display floating point texture
glBindProgramARB(GL_FRAGMENT_PROGRAM_ARB, shader);
glEnable(GL_FRAGMENT_PROGRAM_ARB);
glDisable(GL_DEPTH_TEST);
glBegin(GL_QUADS);
{
glTexCoord2f(0, 0);
glVertex2f(0, 0);
glTexCoord2f(1, 0);
glVertex2f(1, 0);
glTexCoord2f(1, 1);
glVertex2f(1, 1);
glTexCoord2f(0, 1);
glVertex2f(0, 1);
}
glEnd();
glBindTexture(GL_TEXTURE_TYPE, 0);
glDisable(GL_FRAGMENT_PROGRAM_ARB);
}
glutSwapBuffers();
glutReportErrors();
sdkStopTimer(&timer);
computeFPS();
}
void run_cpu_color_test(PPM_IMG img_in)
{
StopWatchInterface *timer=NULL;
printf("Starting CPU processing...\n");
sdkCreateTimer(&timer);
sdkStartTimer(&timer);
img_obuf_yuv_cpu = rgb2yuv(img_in); //Start RGB 2 YUV
sdkStopTimer(&timer);
printf("RGB to YUV conversion time: %f (ms)\n", sdkGetTimerValue(&timer));
sdkDeleteTimer(&timer);
sdkCreateTimer(&timer);
sdkStartTimer(&timer);
img_obuf_rgb_cpu = yuv2rgb(img_obuf_yuv_cpu); //Start YUV 2 RGB
sdkStopTimer(&timer);
printf("YUV to RGB conversion time: %f (ms)\n", sdkGetTimerValue(&timer));
sdkDeleteTimer(&timer);
write_yuv(img_obuf_yuv_cpu, "out_yuv.yuv");
write_ppm(img_obuf_rgb_cpu, "out_rgb.ppm");
}
void display(void)
{
if (!ref_file)
{
sdkStartTimer(&timer);
simulateFluids();
}
// render points from vertex buffer
glClear(GL_COLOR_BUFFER_BIT);
glColor4f(0,1,0,0.5f);
glPointSize(1);
glEnable(GL_POINT_SMOOTH);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnableClientState(GL_VERTEX_ARRAY);
glDisable(GL_DEPTH_TEST);
glDisable(GL_CULL_FACE);
glBindBufferARB(GL_ARRAY_BUFFER_ARB, vbo);
glVertexPointer(2, GL_FLOAT, 0, NULL);
glDrawArrays(GL_POINTS, 0, DS);
glBindBufferARB(GL_ARRAY_BUFFER_ARB, 0);
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
glDisable(GL_TEXTURE_2D);
if (ref_file)
{
return;
}
// Finish timing before swap buffers to avoid refresh sync
sdkStopTimer(&timer);
glutSwapBuffers();
fpsCount++;
if (fpsCount == fpsLimit)
{
char fps[256];
float ifps = 1.f / (sdkGetAverageTimerValue(&timer) / 1000.f);
sprintf(fps, "Cuda/GL Stable Fluids (%d x %d): %3.1f fps", DIM, DIM, ifps);
glutSetWindowTitle(fps);
fpsCount = 0;
fpsLimit = (int)MAX(ifps, 1.f);
sdkResetTimer(&timer);
}
glutPostRedisplay();
}
void run_gpu_color_test(PPM_IMG img_in)
{
StopWatchInterface *timer=NULL;
launchEmptyKernel(); // lauch an empty kernel
printf("Starting GPU processing...\n");
sdkCreateTimer(&timer);
sdkStartTimer(&timer);
img_obuf_yuv_gpu = rgb2yuvGPU(img_in); //Start RGB 2 YUV
sdkStopTimer(&timer);
printf("RGB to YUV conversion time(GPU): %f (ms)\n", sdkGetTimerValue(&timer));
sdkDeleteTimer(&timer);
sdkCreateTimer(&timer);
sdkStartTimer(&timer);
img_obuf_rgb_gpu = yuv2rgbGPU(img_obuf_yuv_gpu); //Start YUV 2 RGB
sdkStopTimer(&timer);
printf("YUV to RGB conversion time(GPU): %f (ms)\n", sdkGetTimerValue(&timer));
sdkDeleteTimer(&timer);
write_ppm(img_obuf_rgb_gpu, "out_rgb.ppm");
write_yuv(img_obuf_yuv_gpu, "out_yuv.yuv");
}
////////////////////////////////////////////////////////////////////////////////
//! Display callback
////////////////////////////////////////////////////////////////////////////////
void display()
{
sdkStartTimer(&timer);
// run CUDA kernel to generate vertex positions
runCuda(&cuda_vbo_resource);
//簡易ライトセット
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT0, GL_POSITION, gkLightPos);
glLightfv(GL_LIGHT0, GL_DIFFUSE, gkLightDiff);
// glLightfv(GL_LIGHT0, GL_AMBIENT, gkLightAmb);
glEnable(GL_LIGHT1);
glLightfv(GL_LIGHT1, GL_POSITION, gkLightPos2);
glLightfv(GL_LIGHT1, GL_DIFFUSE, gkLightDiff2);
//Zバッファ有効
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// set view matrix
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glTranslatef(0.0, 0.0, translate_z);
glRotatef(rotate_x, 1.0, 0.0, 0.0);
glRotatef(rotate_y, 0.0, 1.0, 0.0);
// Earth
// glMaterialfv(GL_FRONT, GL_DIFFUSE, gkMaterial);
glutSolidSphere(50.0 * h_axis_radius, 20, 20);
glDisable(GL_LIGHTING);
// render from the vbo
glBindBuffer(GL_ARRAY_BUFFER, vbo);
glVertexPointer(4, GL_FLOAT, 0, 0);
glEnableClientState(GL_VERTEX_ARRAY);
glColor3f(1.0, 1.0, 1.0);
glDrawArrays(GL_POINTS, 0, mesh_width * mesh_height);
glDisableClientState(GL_VERTEX_ARRAY);
glutSwapBuffers();
g_fAnim += 0.01f;
sdkStopTimer(&timer);
computeFPS();
}
// This is the normal display path
void display(void)
{
sdkStartTimer(&timer);
// Sobel operation
Pixel *data = NULL;
// map PBO to get CUDA device pointer
checkCudaErrors(cudaGraphicsMapResources(1, &cuda_pbo_resource, 0));
size_t num_bytes;
checkCudaErrors(cudaGraphicsResourceGetMappedPointer((void **)&data, &num_bytes,
cuda_pbo_resource));
//printf("CUDA mapped PBO: May access %ld bytes\n", num_bytes);
sobelFilter(data, imWidth, imHeight, g_SobelDisplayMode, imageScale);
checkCudaErrors(cudaGraphicsUnmapResources(1, &cuda_pbo_resource, 0));
glClear(GL_COLOR_BUFFER_BIT);
glBindTexture(GL_TEXTURE_2D, texid);
glBindBuffer(GL_PIXEL_UNPACK_BUFFER, pbo_buffer);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, imWidth, imHeight,
GL_LUMINANCE, GL_UNSIGNED_BYTE, OFFSET(0));
glBindBuffer(GL_PIXEL_UNPACK_BUFFER, 0);
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
glBegin(GL_QUADS);
glVertex2f(0, 0);
glTexCoord2f(0, 0);
glVertex2f(0, 1);
glTexCoord2f(1, 0);
glVertex2f(1, 1);
glTexCoord2f(1, 1);
glVertex2f(1, 0);
glTexCoord2f(0, 1);
glEnd();
glBindTexture(GL_TEXTURE_2D, 0);
glutSwapBuffers();
sdkStopTimer(&timer);
computeFPS();
}
bool InfiniTAMApp::ProcessFrame(void)
{
if (!mImageSource->hasMoreImages()) return false;
mImageSource->getImages(inputRGBImage, inputRawDepthImage);
if (mImuSource != NULL) {
if (!mImuSource->hasMoreMeasurements()) return false;
else mImuSource->getMeasurement(inputIMUMeasurement);
}
sdkResetTimer(&timer_instant);
sdkStartTimer(&timer_instant); sdkStartTimer(&timer_average);
//actual processing on the mainEngine
if (mImuSource != NULL) mMainEngine->ProcessFrame(inputRGBImage, inputRawDepthImage, inputIMUMeasurement);
else mMainEngine->ProcessFrame(inputRGBImage, inputRawDepthImage);
ITMSafeCall(cudaDeviceSynchronize());
sdkStopTimer(&timer_instant); sdkStopTimer(&timer_average);
__android_log_print(ANDROID_LOG_VERBOSE, "InfiniTAM", "Process Frame finished: %f %f", sdkGetTimerValue(&timer_instant), sdkGetAverageTimerValue(&timer_average));
return true;
}
void runBenchmark(int iterations, char *exec_path)
{
printf("Run %u particles simulation for %d iterations...\n\n", numParticles, iterations);
cudaDeviceSynchronize();
sdkStartTimer(&timer);
for (int i = 0; i < iterations; ++i)
{
psystem->update(timestep);
}
cudaDeviceSynchronize();
sdkStopTimer(&timer);
float fAvgSeconds = ((float)1.0e-3 * (float)sdkGetTimerValue(&timer)/(float)iterations);
printf("particles, Throughput = %.4f KParticles/s, Time = %.5f s, Size = %u particles, NumDevsUsed = %u, Workgroup = %u\n",
(1.0e-3 * numParticles)/fAvgSeconds, fAvgSeconds, numParticles, 1, 0);
}
bool
runSingleTest(const char *ref_file, const char *exec_path)
{
// allocate memory for result
int nTotalErrors = 0;
unsigned int *d_result;
unsigned int size = width * height * sizeof(unsigned int);
checkCudaErrors(cudaMalloc((void **) &d_result, size));
// warm-up
gaussianFilterRGBA(d_img, d_result, d_temp, width, height, sigma, order, nthreads);
checkCudaErrors(cudaDeviceSynchronize());
sdkStartTimer(&timer);
gaussianFilterRGBA(d_img, d_result, d_temp, width, height, sigma, order, nthreads);
checkCudaErrors(cudaDeviceSynchronize());
getLastCudaError("Kernel execution failed");
sdkStopTimer(&timer);
unsigned char *h_result = (unsigned char *)malloc(width*height*4);
checkCudaErrors(cudaMemcpy(h_result, d_result, width*height*4, cudaMemcpyDeviceToHost));
char dump_file[1024];
sprintf(dump_file, "lena_%02d.ppm", (int)sigma);
sdkSavePPM4ub(dump_file, h_result, width, height);
if (!sdkComparePPM(dump_file, sdkFindFilePath(ref_file, exec_path), MAX_EPSILON_ERROR, THRESHOLD, false))
{
nTotalErrors++;
}
printf("Processing time: %f (ms)\n", sdkGetTimerValue(&timer));
printf("%.2f Mpixels/sec\n", (width*height / (sdkGetTimerValue(&timer) / 1000.0f)) / 1e6);
checkCudaErrors(cudaFree(d_result));
free(h_result);
printf("Summary: %d errors!\n", nTotalErrors);
printf(nTotalErrors == 0 ? "Test passed\n": "Test failed!\n");
return (nTotalErrors == 0);
}
////////////////////////////////////////////////////////////////////////////////
//! Run a simple benchmark test for CUDA
////////////////////////////////////////////////////////////////////////////////
int runBenchmark(int argc, char **argv)
{
printf("[runBenchmark]: [%s]\n", sSDKsample);
loadImageData(argc, argv);
initCuda();
unsigned int *dResult;
size_t pitch;
checkCudaErrors(cudaMallocPitch((void **)&dResult, &pitch, width*sizeof(unsigned int), height));
sdkStartTimer(&kernel_timer);
// warm-up
bilateralFilterRGBA(dResult, width, height, euclidean_delta, filter_radius, iterations, kernel_timer);
checkCudaErrors(cudaDeviceSynchronize());
// Start round-trip timer and process iCycles loops on the GPU
iterations = 1; // standard 1-pass filtering
const int iCycles = 150;
double dProcessingTime = 0.0;
printf("\nRunning BilateralFilterGPU for %d cycles...\n\n", iCycles);
for (int i = 0; i < iCycles; i++)
{
dProcessingTime += bilateralFilterRGBA(dResult, width, height, euclidean_delta, filter_radius, iterations, kernel_timer);
}
// check if kernel execution generated an error and sync host
getLastCudaError("Error: bilateralFilterRGBA Kernel execution FAILED");
checkCudaErrors(cudaDeviceSynchronize());
sdkStopTimer(&kernel_timer);
// Get average computation time
dProcessingTime /= (double)iCycles;
// log testname, throughput, timing and config info to sample and master logs
printf("bilateralFilter-texture, Throughput = %.4f M RGBA Pixels/s, Time = %.5f s, Size = %u RGBA Pixels, NumDevsUsed = %u\n",
(1.0e-6 * width * height)/dProcessingTime, dProcessingTime, (width * height), 1);
printf("\n");
return 0;
}
// display results using OpenGL
void display()
{
sdkStartTimer(&timer);
// execute filter, writing results to pbo
unsigned int *d_result;
checkCudaErrors(cudaGLMapBufferObject((void **)&d_result, pbo));
gaussianFilterRGBA(d_img, d_result, d_temp, width, height, sigma, order, nthreads);
checkCudaErrors(cudaGLUnmapBufferObject(pbo));
// load texture from pbo
glBindBufferARB(GL_PIXEL_UNPACK_BUFFER_ARB, pbo);
glBindTexture(GL_TEXTURE_2D, texid);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, width, height, GL_RGBA, GL_UNSIGNED_BYTE, 0);
glBindBufferARB(GL_PIXEL_UNPACK_BUFFER_ARB, 0);
// display results
glClear(GL_COLOR_BUFFER_BIT);
glEnable(GL_TEXTURE_2D);
glDisable(GL_DEPTH_TEST);
glBegin(GL_QUADS);
glTexCoord2f(0, 1);
glVertex2f(0, 0);
glTexCoord2f(1, 1);
glVertex2f(1, 0);
glTexCoord2f(1, 0);
glVertex2f(1, 1);
glTexCoord2f(0, 0);
glVertex2f(0, 1);
glEnd();
glDisable(GL_TEXTURE_2D);
glutSwapBuffers();
sdkStopTimer(&timer);
computeFPS();
}
////////////////////////////////////////////////////////////////////////////////
//! Run a simple benchmark test for CUDA
////////////////////////////////////////////////////////////////////////////////
int runBenchmark()
{
printf("[runBenchmark]: [%s]\n", sSDKsample);
initCuda(true);
unsigned int *d_result;
checkCudaErrors(cudaMalloc((void **)&d_result, width*height*sizeof(unsigned int)));
// warm-up
boxFilterRGBA(d_img, d_temp, d_temp, width, height, filter_radius, iterations, nthreads, kernel_timer);
checkCudaErrors(cudaDeviceSynchronize());
sdkStartTimer(&kernel_timer);
// Start round-trip timer and process iCycles loops on the GPU
iterations = 1; // standard 1-pass filtering
const int iCycles = 150;
double dProcessingTime = 0.0;
printf("\nRunning BoxFilterGPU for %d cycles...\n\n", iCycles);
for (int i = 0; i < iCycles; i++)
{
dProcessingTime += boxFilterRGBA(d_img, d_temp, d_img, width, height, filter_radius, iterations, nthreads, kernel_timer);
}
// check if kernel execution generated an error and sync host
getLastCudaError("Error: boxFilterRGBA Kernel execution FAILED");
checkCudaErrors(cudaDeviceSynchronize());
sdkStopTimer(&kernel_timer);
// Get average computation time
dProcessingTime /= (double)iCycles;
// log testname, throughput, timing and config info to sample and master logs
printf("boxFilter-texture, Throughput = %.4f M RGBA Pixels/s, Time = %.5f s, Size = %u RGBA Pixels, NumDevsUsed = %u, Workgroup = %u\n",
(1.0e-6 * width * height)/dProcessingTime, dProcessingTime,
(width * height), 1, nthreads);
printf("\n");
return 0;
}
// display results using OpenGL (called by GLUT)
void display()
{
sdkStartTimer(&timer);
render();
// display results
glClear(GL_COLOR_BUFFER_BIT);
// draw image from PBO
glDisable(GL_DEPTH_TEST);
glRasterPos2i(0, 0);
glBindBufferARB(GL_PIXEL_UNPACK_BUFFER_ARB, pbo);
glDrawPixels(width, height, GL_RGBA, GL_UNSIGNED_BYTE, 0);
glBindBufferARB(GL_PIXEL_UNPACK_BUFFER_ARB, 0);
glutSwapBuffers();
glutReportErrors();
sdkStopTimer(&timer);
computeFPS();
}
void display()
{
//cutilCheckError(cutStartTimer(timer));
sdkStartTimer(&timer);
if(IsFirstTime){
IsFirstTime = false;
psystem->update();
if (renderer)
renderer->setVertexBuffer(psystem->getCurrentReadBuffer(), psystem->getNumParticles());
}
if (!bPause){
psystem->update();
if (renderer)
renderer->setVertexBuffer(psystem->getCurrentReadBuffer(), psystem->getNumParticles());
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
for (int c = 0; c < 3; ++c) {
camera_trans_lag[c] += (camera_trans[c] - camera_trans_lag[c]) * inertia;
camera_rot_lag[c] += (camera_rot[c] - camera_rot_lag[c]) * inertia;
}
glTranslatef(camera_trans_lag[0], camera_trans_lag[1], camera_trans_lag[2]);
glRotatef(camera_rot_lag[0], 1.0, 0.0, 0.0);
glRotatef(camera_rot_lag[1], 0.0, 1.0, 0.0);
glGetFloatv(GL_MODELVIEW_MATRIX, modelView);
glColor3f(0.0, 0.0, 0.0);
//glutWireCube(2.0);
if (renderer) renderer->display();
//cutilCheckError(cutStopTimer(timer));
sdkStopTimer(&timer);
glutSwapBuffers();
glutReportErrors();
computeFPS();
}
static CUT_THREADPROC solverThread(TOptionPlan *plan)
{
//Init GPU
checkCudaErrors(cudaSetDevice(plan->device));
cudaDeviceProp deviceProp;
checkCudaErrors(cudaGetDeviceProperties(&deviceProp, plan->device));
//Start the timer
sdkStartTimer(&hTimer[plan->device]);
// Allocate intermediate memory for MC integrator and initialize
// RNG states
initMonteCarloGPU(plan);
// Main commputation
MonteCarloGPU(plan);
checkCudaErrors(cudaDeviceSynchronize());
//Stop the timer
sdkStopTimer(&hTimer[plan->device]);
//Shut down this GPU
closeMonteCarloGPU(plan);
cudaStreamSynchronize(0);
printf("solverThread() finished - GPU Device %d: %s\n", plan->device, deviceProp.name);
// cudaDeviceReset causes the driver to clean up all state. While
// not mandatory in normal operation, it is good practice. It is also
// needed to ensure correct operation when the application is being
// profiled. Calling cudaDeviceReset causes all profile data to be
// flushed before the application exits
cudaDeviceReset();
CUT_THREADEND;
}
void runBenchmark(int iterations, char *exec_path)
{
int file_count=0, iterationsPerFrame = (int)(1.0/(30.0*timestep));
printf("Run %u particles simulation for %d iterations...\n\n", numParticles, iterations);
//abb58: 1. what are you trying to sync???
cudaDeviceSynchronize();
sdkStartTimer(&timer);
for (int i = 0; i < iterations; ++i) {
psystem->update(timestep);
if (i % iterationsPerFrame == 0) {
psystem->writeParticles(fpout, 0, numParticles, file_count);
//psystem->dumpParticles(0, numParticles, file_count);
file_count++;
}
}
cudaDeviceSynchronize();
sdkStopTimer(&timer);
float fAvgSeconds = ((float)1.0e-3 * (float)sdkGetTimerValue(&timer)/(float)iterations);
}
// display results using OpenGL (called by GLUT)
void display()
{
sdkStartTimer(&timer);
// map PBO to get CUDA device pointer
uchar4 *d_output;
checkCudaErrors(cudaGraphicsMapResources(1, &cuda_pbo_resource, 0));
size_t num_bytes;
checkCudaErrors(cudaGraphicsResourceGetMappedPointer((void **)&d_output, &num_bytes,
cuda_pbo_resource));
render(imageWidth, imageHeight, tx, ty, scale, cx, cy,
blockSize, gridSize, g_FilterMode, d_output);
checkCudaErrors(cudaGraphicsUnmapResources(1, &cuda_pbo_resource, 0));
// Common display path
{
// display results
glClear(GL_COLOR_BUFFER_BIT);
#if USE_BUFFER_TEX
// display using buffer texture
glBindTexture(GL_TEXTURE_BUFFER_EXT, bufferTex);
glBindProgramARB(GL_FRAGMENT_PROGRAM_ARB, fprog);
glEnable(GL_FRAGMENT_PROGRAM_ARB);
glProgramLocalParameterI4iNV(GL_FRAGMENT_PROGRAM_ARB, 0, width, 0, 0, 0);
#else
// download image from PBO to OpenGL texture
glBindBufferARB(GL_PIXEL_UNPACK_BUFFER_ARB, pbo);
glBindTexture(GL_TEXTURE_TYPE, displayTex);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexSubImage2D(GL_TEXTURE_TYPE,
0, 0, 0, width, height, GL_BGRA, GL_UNSIGNED_BYTE, 0);
glEnable(GL_TEXTURE_TYPE);
#endif
// draw textured quad
glDisable(GL_DEPTH_TEST);
glBegin(GL_QUADS);
glTexCoord2f(0.0f , (GLfloat)height);
glVertex2f(0.0f, 0.0f);
glTexCoord2f((GLfloat)width, (GLfloat)height);
glVertex2f(1.0f, 0.0f);
glTexCoord2f((GLfloat)width, 0.0f);
glVertex2f(1.0f, 1.0f);
glTexCoord2f(0.0f , 0.0f);
glVertex2f(0.0f, 1.0f);
glEnd();
glDisable(GL_TEXTURE_TYPE);
glDisable(GL_FRAGMENT_PROGRAM_ARB);
glBindBufferARB(GL_PIXEL_UNPACK_BUFFER_ARB, 0);
if (drawCurves)
{
// draw spline curves
glPushMatrix();
glScalef(0.25, 0.25, 1.0);
glTranslatef(0.0, 2.0, 0.0);
glColor3f(1.0, 0.0, 0.0);
plotCurve(bspline_w3);
glTranslatef(1.0, 0.0, 0.0);
glColor3f(0.0, 1.0, 0.0);
plotCurve(bspline_w2);
glTranslatef(1.0, 0.0, 0.0);
glColor3f(0.0, 0.0, 1.0);
plotCurve(bspline_w1);
glTranslatef(1.0, 0.0, 0.0);
glColor3f(1.0, 0.0, 1.0);
plotCurve(bspline_w0);
glPopMatrix();
glColor3f(1.0, 1.0, 1.0);
}
}
glutSwapBuffers();
glutReportErrors();
sdkStopTimer(&timer);
computeFPS();
}
////////////////////////////////////////////////////////////////////////////////
// Test driver
////////////////////////////////////////////////////////////////////////////////
int main(int argc, char **argv)
{
uint *h_SrcKey, *h_SrcVal, *h_DstKey, *h_DstVal;
uint *d_SrcKey, *d_SrcVal, *d_BufKey, *d_BufVal, *d_DstKey, *d_DstVal;
StopWatchInterface *hTimer = NULL;
const uint N = 4 * 1048576;
const uint DIR = 1;
const uint numValues = 65536;
printf("%s Starting...\n\n", argv[0]);
int dev = findCudaDevice(argc, (const char **) argv);
if (dev == -1)
{
return EXIT_FAILURE;
}
printf("Allocating and initializing host arrays...\n\n");
sdkCreateTimer(&hTimer);
h_SrcKey = (uint *)malloc(N * sizeof(uint));
h_SrcVal = (uint *)malloc(N * sizeof(uint));
h_DstKey = (uint *)malloc(N * sizeof(uint));
h_DstVal = (uint *)malloc(N * sizeof(uint));
srand(2009);
for (uint i = 0; i < N; i++)
{
h_SrcKey[i] = rand() % numValues;
}
fillValues(h_SrcVal, N);
printf("Allocating and initializing CUDA arrays...\n\n");
checkCudaErrors(cudaMalloc((void **)&d_DstKey, N * sizeof(uint)));
checkCudaErrors(cudaMalloc((void **)&d_DstVal, N * sizeof(uint)));
checkCudaErrors(cudaMalloc((void **)&d_BufKey, N * sizeof(uint)));
checkCudaErrors(cudaMalloc((void **)&d_BufVal, N * sizeof(uint)));
checkCudaErrors(cudaMalloc((void **)&d_SrcKey, N * sizeof(uint)));
checkCudaErrors(cudaMalloc((void **)&d_SrcVal, N * sizeof(uint)));
checkCudaErrors(cudaMemcpy(d_SrcKey, h_SrcKey, N * sizeof(uint), cudaMemcpyHostToDevice));
checkCudaErrors(cudaMemcpy(d_SrcVal, h_SrcVal, N * sizeof(uint), cudaMemcpyHostToDevice));
printf("Initializing GPU merge sort...\n");
initMergeSort();
printf("Running GPU merge sort...\n");
checkCudaErrors(cudaDeviceSynchronize());
sdkResetTimer(&hTimer);
sdkStartTimer(&hTimer);
mergeSort(
d_DstKey,
d_DstVal,
d_BufKey,
d_BufVal,
d_SrcKey,
d_SrcVal,
N,
DIR
);
checkCudaErrors(cudaDeviceSynchronize());
sdkStopTimer(&hTimer);
printf("Time: %f ms\n", sdkGetTimerValue(&hTimer));
printf("Reading back GPU merge sort results...\n");
checkCudaErrors(cudaMemcpy(h_DstKey, d_DstKey, N * sizeof(uint), cudaMemcpyDeviceToHost));
checkCudaErrors(cudaMemcpy(h_DstVal, d_DstVal, N * sizeof(uint), cudaMemcpyDeviceToHost));
printf("Inspecting the results...\n");
uint keysFlag = validateSortedKeys(
h_DstKey,
h_SrcKey,
1,
N,
numValues,
DIR
);
uint valuesFlag = validateSortedValues(
h_DstKey,
h_DstVal,
h_SrcKey,
1,
N
);
printf("Shutting down...\n");
closeMergeSort();
sdkDeleteTimer(&hTimer);
checkCudaErrors(cudaFree(d_SrcVal));
checkCudaErrors(cudaFree(d_SrcKey));
checkCudaErrors(cudaFree(d_BufVal));
checkCudaErrors(cudaFree(d_BufKey));
checkCudaErrors(cudaFree(d_DstVal));
checkCudaErrors(cudaFree(d_DstKey));
free(h_DstVal);
free(h_DstKey);
free(h_SrcVal);
free(h_SrcKey);
// cudaDeviceReset causes the driver to clean up all state. While
// not mandatory in normal operation, it is good practice. It is also
// needed to ensure correct operation when the application is being
// profiled. Calling cudaDeviceReset causes all profile data to be
// flushed before the application exits
cudaDeviceReset();
exit((keysFlag && valuesFlag) ? EXIT_SUCCESS : EXIT_FAILURE);
}
TEST(RMDCuTests, seedMatrixInit)
{
const boost::filesystem::path dataset_path("../test_data");
const boost::filesystem::path sequence_file_path("../test_data/first_200_frames_traj_over_table_input_sequence.txt");
rmd::PinholeCamera cam(481.2f, -480.0f, 319.5f, 239.5f);
rmd::test::Dataset dataset(dataset_path.string(), sequence_file_path.string(), cam);
if (!dataset.readDataSequence())
FAIL() << "could not read dataset";
const size_t ref_ind = 1;
const size_t curr_ind = 20;
const auto ref_entry = dataset(ref_ind);
cv::Mat ref_img;
dataset.readImage(ref_img, ref_entry);
cv::Mat ref_img_flt;
ref_img.convertTo(ref_img_flt, CV_32F, 1.0f/255.0f);
cv::Mat ref_depthmap;
dataset.readDepthmap(ref_depthmap, ref_entry, ref_img.cols, ref_img.rows);
rmd::SE3<float> T_world_ref;
dataset.readCameraPose(T_world_ref, ref_entry);
const auto curr_entry = dataset(curr_ind);
cv::Mat curr_img;
dataset.readImage(curr_img, curr_entry);
cv::Mat curr_img_flt;
curr_img.convertTo(curr_img_flt, CV_32F, 1.0f/255.0f);
rmd::SE3<float> T_world_curr;
dataset.readCameraPose(T_world_curr, curr_entry);
const float min_scene_depth = 0.4f;
const float max_scene_depth = 1.8f;
rmd::SeedMatrix seeds(ref_img.cols, ref_img.rows, cam);
StopWatchInterface * timer = NULL;
sdkCreateTimer(&timer);
sdkResetTimer(&timer);
sdkStartTimer(&timer);
seeds.setReferenceImage(
reinterpret_cast<float*>(ref_img_flt.data),
T_world_ref.inv(),
min_scene_depth,
max_scene_depth);
sdkStopTimer(&timer);
double t = sdkGetAverageTimerValue(&timer) / 1000.0;
printf("setReference image CUDA execution time: %f seconds.\n", t);
cv::Mat initial_depthmap(ref_img.rows, ref_img.cols, CV_32FC1);
seeds.downloadDepthmap(reinterpret_cast<float*>(initial_depthmap.data));
cv::Mat initial_sigma_sq(ref_img.rows, ref_img.cols, CV_32FC1);
seeds.downloadSigmaSq(reinterpret_cast<float*>(initial_sigma_sq.data));
cv::Mat initial_a(ref_img.rows, ref_img.cols, CV_32FC1);
seeds.downloadA(reinterpret_cast<float*>(initial_a.data));
cv::Mat initial_b(ref_img.rows, ref_img.cols, CV_32FC1);
seeds.downloadB(reinterpret_cast<float*>(initial_b.data));
const float avg_scene_depth = (min_scene_depth+max_scene_depth)/2.0f;
const float max_scene_sigma_sq = (max_scene_depth - min_scene_depth) * (max_scene_depth - min_scene_depth) / 36.0f;
for(size_t r=0; r<ref_img.rows; ++r)
{
for(size_t c=0; c<ref_img.cols; ++c)
{
ASSERT_FLOAT_EQ(avg_scene_depth, initial_depthmap.at<float>(r, c));
ASSERT_FLOAT_EQ(max_scene_sigma_sq, initial_sigma_sq.at<float>(r, c));
ASSERT_FLOAT_EQ(10.0f, initial_a.at<float>(r, c));
ASSERT_FLOAT_EQ(10.0f, initial_b.at<float>(r, c));
}
}
// Test initialization of NCC template statistics
// CUDA computation
cv::Mat cu_sum_templ(ref_img.rows, ref_img.cols, CV_32FC1);
seeds.downloadSumTempl(reinterpret_cast<float*>(cu_sum_templ.data));
cv::Mat cu_const_templ_denom(ref_img.rows, ref_img.cols, CV_32FC1);
seeds.downloadConstTemplDenom(reinterpret_cast<float*>(cu_const_templ_denom.data));
// Host computation
cv::Mat ocv_sum_templ(ref_img.rows, ref_img.cols, CV_32FC1);
cv::Mat ocv_const_templ_denom(ref_img.rows, ref_img.cols, CV_32FC1);
const int side = seeds.getPatchSide();
for(size_t y=side; y<ref_img.rows-side/2; ++y)
{
for(size_t x=side; x<ref_img.cols-side/2; ++x)
{
double sum_templ = 0.0f;
double sum_templ_sq = 0.0f;
for(int patch_y=0; patch_y<side; ++patch_y)
{
for(int patch_x=0; patch_x<side; ++patch_x)
{
const double templ = (double) ref_img_flt.at<float>( y-side/2+patch_y, x-side/2+patch_x );
sum_templ += templ;
sum_templ_sq += templ*templ;
}
}
ocv_sum_templ.at<float>(y, x) = (float) sum_templ;
ocv_const_templ_denom.at<float>(y, x) = (float) ( ((double)(side*side))*sum_templ_sq - sum_templ*sum_templ );
}
}
for(size_t r=side; r<ref_img.rows-side/2; ++r)
{
for(size_t c=side; c<ref_img.cols-side/2; ++c)
{
ASSERT_NEAR(ocv_sum_templ.at<float>(r, c), cu_sum_templ.at<float>(r, c), 0.00001f);
ASSERT_NEAR(ocv_const_templ_denom.at<float>(r, c), cu_const_templ_denom.at<float>(r, c), 0.001f);
}
}
}
TEST(RMDCuTests, seedMatrixCheck)
{
const boost::filesystem::path dataset_path("../test_data");
const boost::filesystem::path sequence_file_path("../test_data/first_200_frames_traj_over_table_input_sequence.txt");
rmd::PinholeCamera cam(481.2f, -480.0f, 319.5f, 239.5f);
rmd::test::Dataset dataset(dataset_path.string(), sequence_file_path.string(), cam);
if (!dataset.readDataSequence())
FAIL() << "could not read dataset";
const size_t ref_ind = 1;
const size_t curr_ind = 20;
const auto ref_entry = dataset(ref_ind);
cv::Mat ref_img;
dataset.readImage(ref_img, ref_entry);
cv::Mat ref_img_flt;
ref_img.convertTo(ref_img_flt, CV_32F, 1.0f/255.0f);
cv::Mat ref_depthmap;
dataset.readDepthmap(ref_depthmap, ref_entry, ref_img.cols, ref_img.rows);
rmd::SE3<float> T_world_ref;
dataset.readCameraPose(T_world_ref, ref_entry);
const auto curr_entry = dataset(curr_ind);
cv::Mat curr_img;
dataset.readImage(curr_img, curr_entry);
cv::Mat curr_img_flt;
curr_img.convertTo(curr_img_flt, CV_32F, 1.0f/255.0f);
rmd::SE3<float> T_world_curr;
dataset.readCameraPose(T_world_curr, curr_entry);
const float min_scene_depth = 0.4f;
const float max_scene_depth = 1.8f;
rmd::SeedMatrix seeds(ref_img.cols, ref_img.rows, cam);
seeds.setReferenceImage(
reinterpret_cast<float*>(ref_img_flt.data),
T_world_ref.inv(),
min_scene_depth,
max_scene_depth);
StopWatchInterface * timer = NULL;
sdkCreateTimer(&timer);
sdkResetTimer(&timer);
sdkStartTimer(&timer);
seeds.update(
reinterpret_cast<float*>(ref_img_flt.data),
T_world_curr.inv());
sdkStopTimer(&timer);
double t = sdkGetAverageTimerValue(&timer) / 1000.0;
printf("update CUDA execution time: %f seconds.\n", t);
cv::Mat cu_convergence(ref_img.rows, ref_img.cols, CV_32SC1);
seeds.downloadConvergence(reinterpret_cast<int*>(cu_convergence.data));
const int side = seeds.getPatchSide();
for(size_t r=0; r<ref_img.rows; ++r)
{
for(size_t c=0; c<ref_img.cols; ++c)
{
if(r>ref_img.rows-side-1
|| r<side
|| c>ref_img.cols-side-1
|| c<side)
{
ASSERT_EQ(rmd::ConvergenceStates::BORDER, cu_convergence.at<int>(r, c)) << "(r, c) = (" << r << ", " << c <<")";
}
else
{
const int result = cu_convergence.at<int>(r, c);
const bool success = (result == rmd::ConvergenceStates::UPDATE ||
result == rmd::ConvergenceStates::DIVERGED ||
result == rmd::ConvergenceStates::CONVERGED ||
result == rmd::ConvergenceStates::NOT_VISIBLE ||
result == rmd::ConvergenceStates::NO_MATCH );
ASSERT_EQ(true, success) << "(r, c) = (" << r << ", " << c <<")";
}
}
}
}