-
Notifications
You must be signed in to change notification settings - Fork 10
/
Copy pathbao_flow_patchmatch_multiscale_cuda.cpp
319 lines (275 loc) · 20.7 KB
/
bao_flow_patchmatch_multiscale_cuda.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
/* This file is part of the EPPM source code package.
*
* Copyright (c) 2013-2016 Linchao Bao ([email protected])
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use,
* copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following
* conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*/
#include "bao_flow_patchmatch_multiscale_cuda.h"
#include "bao_basic.h"
#include "bao_basic_cuda.h"
#include "bao_flow_tools.h"
#include "defs.h"
// extern float*** g_imgshow; //for debug
// extern float4*** g_imgshow2; //for debug
// extern int g_nLevel; //for debug
//SEE bao_pmflow_kernel.cu and bao_pmflow_refine_kernel.cu
extern "C" void baoCudaPatchMatch(short2* d_disp_vec, float* d_cost, uchar4* d_img1, uchar4* d_img2, unsigned char* d_census1, unsigned char* d_census2, int w, int h, size_t img_pitch, size_t cost_pitch, size_t disp_pitch, size_t census_pitch);
extern "C" void baoCudaLeftRightCheck(short2* d_disp_vec, float* d_cost, short2* d_disp_vec2, float* d_cost2, int w, int h, size_t cost_pitch, size_t disp_pitch);
extern "C" void baoCudaLeftRightCheck_Buffered(short2* d_disp_vec, float* d_cost, short2* d_disp_vec2, float* d_cost2, short2* d_disp_vec_temp, float* d_cost_temp, int w, int h, size_t cost_pitch, size_t disp_pitch);
extern "C" void baoCudaOutlierRemoval(short2* d_disp_vec, float* d_cost, int w, int h, size_t cost_pitch, size_t disp_pitch);
extern "C" void baoCudaWeightedMedianFilter(short2* d_disp_vec, float* d_cost, uchar4* d_img, int w, int h, size_t img_pitch, size_t cost_pitch, size_t disp_pitch, int num_iter, bool is_only_occlusion);
extern "C" void baoCudaFillHole(short2* d_disp_vec, float* d_cost, uchar4* d_img, int w, int h, size_t img_pitch, size_t cost_pitch, size_t disp_pitch);
extern "C" void baoCudaNNF2Flow(float2* d_flow, short2* d_disp_vec, int w, int h, size_t disp_pitch, size_t flow_pitch);
extern "C" void baoCudaFlow2NNF(short2* d_disp_vec, float2* d_flow, int w, int h, size_t disp_pitch, size_t flow_pitch);
extern "C" void baoCudaImageSmoothing(uchar4* d_img_smoothed, uchar4* d_img, int w, int h, size_t img_pitch);
extern "C" void baoCudaFlowSmoothing(float2* d_flow, uchar4* d_img, int w, int h, size_t img_pitch, size_t flow_pitch);
extern "C" void baoCudaFlowCutoff(float2* d_flow, int w, int h, size_t flow_pitch, float max_flow_val);
extern "C" void baoCudaPatchMatch_Scaled(short2* d_disp_vec, float* d_scale, float* d_cost, uchar4* d_img1, uchar4* d_img2, unsigned char* d_census1, unsigned char* d_census2, int w, int h, size_t img_pitch, size_t cost_pitch, size_t disp_pitch, size_t scale_pitch, size_t census_pitch);
extern "C" void baoCudaPatchMatch_PlaneFitting(short2* d_disp_vec, float* d_cost, uchar4* d_img1, uchar4* d_img2, unsigned char* d_census1, unsigned char* d_census2, int w, int h, size_t img_pitch, size_t cost_pitch, size_t disp_pitch, size_t census_pitch);
extern "C" void baoCudaSubpixRefine(float2* d_flow, short2* d_disp_vec, uchar4* d_img1, uchar4* d_img2, unsigned char* d_census1_up, unsigned char* d_census2_up, int w, int h, size_t img_pitch, size_t census_pitch_up, size_t disp_pitch, size_t flow_pitch);
extern "C" void baoCudaCensusTransform_Bicubic(unsigned char* d_census1, unsigned char* d_census2, int w_up, int h_up, size_t census_pitch, uchar4* d_img1, uchar4* d_img2, int w, int h, size_t img_pitch);
extern "C" void baoEliminateStillRegionFlow(float2* d_flow, uchar4* d_img1, uchar4* d_img2, int w, int h, size_t img_pitch);
//SEE bao_flow_c2f_classic_kernel.cu
extern "C" void baoCudaPatchMatchMultiscalePrepare(uchar4** pImgPyr1, uchar4** pImgPyr2, unsigned char** pCensusPyr1, unsigned char** pCensusPyr2, uchar4** pTempPyr1, uchar4** pTempPyr2, int* arrH, int* arrW, size_t*arrPitchUchar4, size_t*arrPitchUchar1, int nLevels, uchar4*d_img1, uchar4*d_img2, int h, int w);
extern "C" void baoCudaBLF_C2F(float2** pFlowPyr, uchar4** pImgPyr1, uchar4** pImgPyr2, unsigned char** pCensusPyr1, unsigned char** pCensusPyr2, float2** pTempPyr1, float2** pTempPyr2, int* arrH, int* arrW, size_t* arrPitchUchar4, size_t* arrPitchUchar1, int nLayerIdx);
extern "C" void baoCudaFlowClassicRefine(float2* flow_uv, uchar4* d_img1, uchar4* d_img2, int h, int w, size_t pitchUchar4);
void bao_cuda_convert_flow_to_colorshow(uchar4* rgbflow, float2* flow_vec, int h, int w, float max_disp_x=100, float max_disp_y=100);
bao_flow_patchmatch_multiscale_cuda::bao_flow_patchmatch_multiscale_cuda():m_h_arr(NULL),m_w_arr(NULL),m_nLevels(0),m_h(0),m_w(0),
h_img1(NULL),
h_img2(NULL),
h_colorflow(NULL),
h_flow(NULL),
d_img1(NULL),
d_img2(NULL),
d_colorflow(NULL),
m_img1_pyr(NULL),
m_img2_pyr(NULL),
m_img1_census_pyramid(NULL),
m_img2_census_pyramid(NULL),
m_pmcost1_pyramid(NULL),
m_pmcost2_pyramid(NULL),
m_pmcost_temp_pyramid(NULL),
m_disp_vec1_pyramid(NULL),
m_disp_vec2_pyramid(NULL),
m_disp_vec_temp_pyramid(NULL),
m_scale1_pyramid(NULL),
m_scale2_pyramid(NULL),
m_flow1_pyramid(NULL),
m_tempf1_pyr(NULL),
m_tempf2_pyr(NULL),
m_tempu1_pyr(NULL),
m_tempu2_pyr(NULL),
m_arrPitchUchar4(NULL),
m_arrPitchUchar1(NULL),
m_pitchUchar4(0),
h_flow_pyr(NULL),h_temp1_pyr(NULL),h_temp2_pyr(NULL),
d_census1_up(NULL),d_census2_up(NULL)
{
}
bao_flow_patchmatch_multiscale_cuda::~bao_flow_patchmatch_multiscale_cuda()
{
_destroy();
}
void bao_flow_patchmatch_multiscale_cuda::init( unsigned char***img1,unsigned char***img2,int h,int w )
{
init(h,w);
set_data(img1,img2);
}
void bao_flow_patchmatch_multiscale_cuda::init( int h,int w )
{
m_h = h;
m_w = w;
m_nLevels = bao_pyr_init_dim(m_h_arr,m_w_arr,h,w,PYR_MAX_DEPTH,PYR_RATIO);
m_arrPitchUchar4 = bao_alloc<size_t>(m_nLevels);
m_arrPitchUchar1 = bao_alloc<size_t>(m_nLevels);
h_img1 = bao_alloc<uchar4>(h,w);
h_img2 = bao_alloc<uchar4>(h,w);
h_colorflow = bao_alloc<uchar4>(h,w);
h_flow = bao_alloc<float2>(h,w);
h_flow_pyr = bao_pyr_alloc<float2>(m_nLevels,m_h_arr,m_w_arr);
h_temp1_pyr = bao_pyr_alloc<float>(m_nLevels,m_h_arr,m_w_arr);
h_temp2_pyr = bao_pyr_alloc<float>(m_nLevels,m_h_arr,m_w_arr);
// h_imgshow = bao_pyr_alloc<float>(m_nLevels,m_h_arr,m_w_arr); //for debug
// g_imgshow = h_imgshow; //for debug
// h_imgshow2 = bao_pyr_alloc<float4>(m_nLevels,m_h_arr,m_w_arr); //for debug
// g_imgshow2 = h_imgshow2; //for debug
//bao_cuda_init();
d_img1 = bao_cuda_alloc_pitched<uchar4>(m_pitchUchar4,h,w);
d_img2 = bao_cuda_alloc_pitched<uchar4>(m_pitchUchar4,h,w);
d_census1_up = bao_cuda_alloc_pitched<unsigned char>(m_census_pitch_up,h*SUBPIX_UP_FACTOR,w*SUBPIX_UP_FACTOR);
d_census2_up = bao_cuda_alloc_pitched<unsigned char>(m_census_pitch_up,h*SUBPIX_UP_FACTOR,w*SUBPIX_UP_FACTOR);
d_colorflow = bao_cuda_alloc<uchar4>(h,w);
m_img1_pyr=bao_cuda_pyr_alloc_pitched<uchar4>(m_arrPitchUchar4,m_nLevels,m_h_arr,m_w_arr);
m_img2_pyr=bao_cuda_pyr_alloc_pitched<uchar4>(m_arrPitchUchar4,m_nLevels,m_h_arr,m_w_arr);
m_img1_census_pyramid=bao_cuda_pyr_alloc_pitched<unsigned char>(m_arrPitchUchar1,m_nLevels,m_h_arr,m_w_arr);
m_img2_census_pyramid=bao_cuda_pyr_alloc_pitched<unsigned char>(m_arrPitchUchar1,m_nLevels,m_h_arr,m_w_arr);
m_pmcost1_pyramid=bao_cuda_pyr_alloc<float>(m_nLevels,m_h_arr,m_w_arr);
m_pmcost2_pyramid=bao_cuda_pyr_alloc<float>(m_nLevels,m_h_arr,m_w_arr);
m_pmcost_temp_pyramid=bao_cuda_pyr_alloc<float>(m_nLevels,m_h_arr,m_w_arr);
m_disp_vec1_pyramid=bao_cuda_pyr_alloc<short2>(m_nLevels,m_h_arr,m_w_arr);
m_disp_vec2_pyramid=bao_cuda_pyr_alloc<short2>(m_nLevels,m_h_arr,m_w_arr);
m_disp_vec_temp_pyramid=bao_cuda_pyr_alloc<short2>(m_nLevels,m_h_arr,m_w_arr);
m_scale1_pyramid=bao_cuda_pyr_alloc<float>(m_nLevels,m_h_arr,m_w_arr);
m_scale2_pyramid=bao_cuda_pyr_alloc<float>(m_nLevels,m_h_arr,m_w_arr);
m_flow1_pyramid=bao_cuda_pyr_alloc<float2>(m_nLevels,m_h_arr,m_w_arr);
m_tempf1_pyr=bao_cuda_pyr_alloc<float2>(m_nLevels,m_h_arr,m_w_arr);
m_tempf2_pyr=bao_cuda_pyr_alloc<float2>(m_nLevels,m_h_arr,m_w_arr);
m_tempu1_pyr=bao_cuda_pyr_alloc<uchar4>(m_nLevels,m_h_arr,m_w_arr);
m_tempu2_pyr=bao_cuda_pyr_alloc<uchar4>(m_nLevels,m_h_arr,m_w_arr);
}
bool bao_flow_patchmatch_multiscale_cuda::set_data( unsigned char***img1,unsigned char***img2 )
{
bao_rgb2rgba(h_img1,img1,m_h,m_w);
bao_rgb2rgba(h_img2,img2,m_h,m_w);
bao_cuda_copy_h2d_pitched(d_img1,m_pitchUchar4,h_img1[0],m_h,m_w);
bao_cuda_copy_h2d_pitched(d_img2,m_pitchUchar4,h_img2[0],m_h,m_w);
//prepare data
_prepare_data();
return true;
}
void bao_flow_patchmatch_multiscale_cuda::_destroy()
{
bao_cuda_free_pitched(d_img1);
bao_cuda_free_pitched(d_img2);
bao_cuda_free_pitched(d_census1_up);
bao_cuda_free_pitched(d_census2_up);
bao_cuda_free(d_colorflow);
bao_cuda_pyr_free_pitched(m_img1_pyr,m_nLevels);
bao_cuda_pyr_free_pitched(m_img2_pyr,m_nLevels);
bao_cuda_pyr_free_pitched(m_img1_census_pyramid,m_nLevels);
bao_cuda_pyr_free_pitched(m_img2_census_pyramid,m_nLevels);
bao_cuda_pyr_free(m_pmcost1_pyramid,m_nLevels);
bao_cuda_pyr_free(m_pmcost2_pyramid,m_nLevels);
bao_cuda_pyr_free(m_pmcost_temp_pyramid,m_nLevels);
bao_cuda_pyr_free(m_disp_vec1_pyramid,m_nLevels);
bao_cuda_pyr_free(m_disp_vec2_pyramid,m_nLevels);
bao_cuda_pyr_free(m_disp_vec_temp_pyramid,m_nLevels);
bao_cuda_pyr_free(m_scale1_pyramid,m_nLevels);
bao_cuda_pyr_free(m_scale2_pyramid,m_nLevels);
bao_cuda_pyr_free(m_flow1_pyramid,m_nLevels);
bao_cuda_pyr_free(m_tempf1_pyr,m_nLevels);
bao_cuda_pyr_free(m_tempf2_pyr,m_nLevels);
bao_cuda_pyr_free(m_tempu1_pyr,m_nLevels);
bao_cuda_pyr_free(m_tempu2_pyr,m_nLevels);
// bao_pyr_free(h_imgshow,m_nLevels);
// bao_pyr_free(h_imgshow2,m_nLevels);
bao_pyr_free(h_flow_pyr,m_nLevels);
bao_pyr_free(h_temp1_pyr,m_nLevels);
bao_pyr_free(h_temp2_pyr,m_nLevels);
bao_free(h_img1);
bao_free(h_img2);
bao_free(h_colorflow);
bao_free(h_flow);
bao_free(m_arrPitchUchar4);
bao_free(m_arrPitchUchar1);
bao_pyr_destroy_dim(m_h_arr,m_w_arr);
}
void bao_flow_patchmatch_multiscale_cuda::_prepare_data()
{
baoCudaPatchMatchMultiscalePrepare(m_img1_pyr,m_img2_pyr,m_img1_census_pyramid,m_img2_census_pyramid,m_tempu1_pyr,m_tempu2_pyr,m_h_arr,m_w_arr,m_arrPitchUchar4,m_arrPitchUchar1,m_nLevels,d_img1,d_img2,m_h,m_w);
}
void bao_flow_patchmatch_multiscale_cuda::compute_flow( float**disp1_x,float**disp1_y,unsigned char***color_flow )
{
int pm_layer = PYR_MAX_DEPTH-1;
bao_timer_gpu_cpu timer;
// timer.start();
// patch match
baoCudaPatchMatch(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_img2_pyr[pm_layer],m_img1_census_pyramid[pm_layer],m_img2_census_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),m_arrPitchUchar1[pm_layer]);
baoCudaPatchMatch(m_disp_vec2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_img2_pyr[pm_layer],m_img1_pyr[pm_layer],m_img2_census_pyramid[pm_layer],m_img1_census_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),m_arrPitchUchar1[pm_layer]);
// baoCudaPatchMatch_Scaled(m_disp_vec1_pyramid[pm_layer],m_scale1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_img2_pyr[pm_layer],m_img1_census_pyramid[pm_layer],m_img2_census_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),m_w_arr[pm_layer]*sizeof(float),m_arrPitchUchar1[pm_layer]);
// baoCudaPatchMatch_Scaled(m_disp_vec2_pyramid[pm_layer],m_scale2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_img2_pyr[pm_layer],m_img1_pyr[pm_layer],m_img2_census_pyramid[pm_layer],m_img1_census_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),m_w_arr[pm_layer]*sizeof(float),m_arrPitchUchar1[pm_layer]);
// baoCudaPatchMatch_PlaneFitting(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_img2_pyr[pm_layer],m_img1_census_pyramid[pm_layer],m_img2_census_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),m_arrPitchUchar1[pm_layer]);
// baoCudaPatchMatch_PlaneFitting(m_disp_vec2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_img2_pyr[pm_layer],m_img1_pyr[pm_layer],m_img2_census_pyramid[pm_layer],m_img1_census_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),m_arrPitchUchar1[pm_layer]);
// timer.time_display("PM Total");
// left-right check
// timer.start();
baoCudaLeftRightCheck(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_disp_vec2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2));
// baoCudaLeftRightCheck_Buffered(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_disp_vec2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_disp_vec_temp_pyramid[pm_layer],m_pmcost_temp_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2));
// fill holes
baoCudaOutlierRemoval(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2)); //remove isolated outliers
// baoCudaWeightedMedianFilter(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),1,false);
baoCudaWeightedMedianFilter(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),20,true);
baoCudaFillHole(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2)); //fill holes
// baoCudaOutlierRemoval(m_disp_vec2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2)); //remove isolated outliers
// baoCudaWeightedMedianFilter(m_disp_vec2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_img2_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),20,true);
// baoCudaFillHole(m_disp_vec2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_img2_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2)); //fill holes
//
// // wmf
// baoCudaWeightedMedianFilter(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),1,false);
// baoCudaWeightedMedianFilter(m_disp_vec2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_img2_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),1,false);
//
// // second round left-right check and filling holes
// baoCudaLeftRightCheck(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_disp_vec2_pyramid[pm_layer],m_pmcost2_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2));
// baoCudaOutlierRemoval(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2)); //remove isolated outliers
// baoCudaWeightedMedianFilter(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2),20,true);
// baoCudaFillHole(m_disp_vec1_pyramid[pm_layer],m_pmcost1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer],m_w_arr[pm_layer]*sizeof(float),m_w_arr[pm_layer]*sizeof(short2)); //fill holes
// convert to flow
baoCudaNNF2Flow(m_flow1_pyramid[pm_layer],m_disp_vec1_pyramid[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]*sizeof(short2),m_w_arr[pm_layer]*sizeof(float2));
// baoEliminateStillRegionFlow(m_flow1_pyramid[pm_layer],m_img1_pyr[pm_layer],m_img2_pyr[pm_layer],m_w_arr[pm_layer],m_h_arr[pm_layer],m_arrPitchUchar4[pm_layer]);
// timer.time_display("Refine");
//for debug show
//bao_cuda_copy_d2h(h_temp1_pyr[pm_layer][0],m_scale1_pyramid[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]);
//imshow(h_temp1_pyr[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]);
bao_cuda_copy_d2h(h_flow_pyr[pm_layer][0],m_flow1_pyramid[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]);
for (int i=0;i<m_h_arr[pm_layer];i++) for(int j=0;j<m_w_arr[pm_layer];j++)
{
h_temp1_pyr[pm_layer][i][j]=h_flow_pyr[pm_layer][i][j].x;
h_temp2_pyr[pm_layer][i][j]=h_flow_pyr[pm_layer][i][j].y;
}
//bao_save_flo_file("test.flo",h_temp1_pyr[pm_layer],h_temp2_pyr[pm_layer],m_h_arr[pm_layer],m_w_arr[pm_layer]);
//upsample and blf refine
// timer.start();
for (int nlayer=pm_layer-1; nlayer>=0; nlayer--)
{
// baoCudaFlowSmoothing(m_flow1_pyramid[nlayer+1],m_img1_pyr[nlayer+1],m_w_arr[nlayer+1],m_h_arr[nlayer+1],m_arrPitchUchar4[nlayer+1],m_w_arr[nlayer+1]*sizeof(float2));
baoCudaBLF_C2F(m_flow1_pyramid,m_img1_pyr,m_img2_pyr,m_img1_census_pyramid,m_img2_census_pyramid,m_tempf1_pyr,m_tempf2_pyr,m_h_arr,m_w_arr,m_arrPitchUchar4,m_arrPitchUchar1,nlayer);
baoCudaFlowSmoothing(m_flow1_pyramid[nlayer],m_img1_pyr[nlayer],m_w_arr[nlayer],m_h_arr[nlayer],m_arrPitchUchar4[nlayer],m_w_arr[nlayer]*sizeof(float2));
baoCudaWeightedMedianFilter(m_disp_vec1_pyramid[nlayer],m_pmcost1_pyramid[nlayer],m_img1_pyr[nlayer],m_w_arr[nlayer],m_h_arr[nlayer],m_arrPitchUchar4[nlayer],m_w_arr[nlayer]*sizeof(float),m_w_arr[nlayer]*sizeof(short2),1,false);
}
// timer.time_display("Upsample");
//final flow smoothing
// timer.start();
// baoEliminateStillRegionFlow(m_flow1_pyramid[0],m_img1_pyr[0],m_img2_pyr[0],m_w_arr[0],m_h_arr[0],m_arrPitchUchar4[0]);
// baoCudaFlowCutoff(m_flow1_pyramid[0],m_w_arr[0],m_h_arr[0],m_w_arr[0]*sizeof(float2),MAX_FLOW_VAL);
baoCudaFlowSmoothing(m_flow1_pyramid[0],m_img1_pyr[0],m_w_arr[0],m_h_arr[0],m_arrPitchUchar4[0],m_w_arr[0]*sizeof(float2));
// timer.time_display("Final step");
//L1 refinement
// timer.start();
// baoCudaFlowClassicRefine(m_flow1_pyramid[0],m_img1_pyr[0],m_img2_pyr[0],m_h_arr[0],m_w_arr[0],m_arrPitchUchar4[0]);
// timer.time_display("L1 ref");
// copy result (d_disp_vec) to host
// checkCudaErrors(cudaDeviceSynchronize());
bao_cuda_copy_d2h(h_flow[0],m_flow1_pyramid[0],m_h,m_w);
// output
for (int i=0;i<m_h;i++) for(int j=0;j<m_w;j++)
{
disp1_x[i][j] = h_flow[i][j].x;
disp1_y[i][j] = h_flow[i][j].y;
}
if (color_flow != NULL)
{
//convert to color show
bao_cuda_convert_flow_to_colorshow(d_colorflow,m_flow1_pyramid[0],m_h,m_w,20,20);
bao_cuda_copy_d2h(h_colorflow[0],d_colorflow,m_h,m_w);
bao_rgba2rgb(color_flow,h_colorflow,m_h,m_w);
}
}