def test_shift_and_stack(self):
IMAGE_DIR = "Backpack-perfect"
im1 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im1.png"))
im2 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im0.png"))
stereo = SemiGlobalMatching(im1,
im2,
os.path.join("../data", IMAGE_DIR,
"calib.txt"),
window_size=3,
resize=(640, 480))
params = {
"p1": 5,
"p2": 90000,
"census_kernel_size": 7,
"reversed": False
}
stereo.set_params(params)
stereo.params['ndisp'] = 50
t1 = time()
assert stereo.p1 is not None, "parameters have not been set"
t1 = time()
cim1 = stereo.census_transform(stereo.im1)
cim2 = stereo.census_transform(stereo.im2)
#print(f"census transform time {time() - t1}")
#pdb.set_trace()
if not stereo.reversed:
D = range(int(stereo.params['ndisp']))
else:
D = reversed(range(int(-stereo.params['ndisp']), 1))
t1 = time()
#print(list(D))
cost_images = stereo.compute_disparity_img(cim1, cim2, D)
print(f"python shift and stack time {time() - t1}")
#cost_images = np.float32(cost_images)
lib = ctypes.cdll.LoadLibrary("../lib/sgbm_helper.so")
sss = lib.shift_subtract_stack
sss.restype = None
sss.argtypes = [
ctl.ndpointer(np.uint64, flags='aligned, c_contiguous'),
ctl.ndpointer(np.uint64, flags='aligned, c_contiguous'),
ctl.ndpointer(np.float64, flags='aligned, c_contiguous'),
ctypes.c_int, ctypes.c_int, ctypes.c_int
]
cost_images = cost_images.transpose((2, 0, 1))
cost_im_2 = np.zeros(cost_images.shape, dtype=np.float64)
cost_im_2 = np.ascontiguousarray(cost_im_2, dtype=np.float64)
t1 = time()
sss(cim1.copy(), cim2.copy(), cost_im_2, cim1.shape[0], cim1.shape[1],
cost_images.shape[0])
print(f"c++ shift and stack time {time() - t1}")
self.assertTrue(np.all(np.isclose(cost_images, cost_im_2)))
def test_census_transform2(self):
im1 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im1.png"))
stereo = SemiGlobalMatching(im1,
im1.copy(),
os.path.join("../data", IMAGE_DIR,
"calib.txt"),
window_size=3,
resize=(480, 480))
params = {
"p1": 5,
"p2": 30000,
"census_kernel_size": 3,
"reversed": True
}
stereo.set_params(params)
testim = np.zeros((16, 16), dtype=np.uint8)
testim[7, 7] = 5
testim[7, 8] = 9
testim[7, 6] = 3
t1 = time()
census1 = stereo.census_transform(
testim.copy()) # python implementation
#print(f"python census transform time: {time() - t1}")
#
lib = ctypes.cdll.LoadLibrary("../lib/sgbm_helper.so")
census = lib.census_transform
census.restype = None
census.argtypes = [
ctl.ndpointer(np.uint8, flags='aligned, c_contiguous'),
ctl.ndpointer(np.uint64, flags='aligned, c_contiguous'),
ctypes.c_int, ctypes.c_int, ctypes.c_int
]
census2 = np.zeros(testim.shape, dtype=np.uint64)
t1 = time()
census(testim.copy(), census2, testim.shape[0], testim.shape[1], 1)
#print(f"c++ census transform time: {time() - t1}")
self.assertTrue(np.all(np.isclose(census1, census2)))
if __name__ == "__main__":
IMAGE_DIR = "Backpack-perfect"
im1 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im1.png"))
im2 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im0.png"))
stereo = SemiGlobalMatching(im1,
im2,
os.path.join("../data", IMAGE_DIR,
"calib.txt"),
window_size=3,
resize=(640, 480))
params = {"p1": 5, "p2": 90000, "census_kernel_size": 7, "reversed": False}
stereo.set_params(params)
stereo.params['ndisp'] = 50
t1 = time()
assert stereo.p1 is not None, "parameters have not been set"
t1 = time()
cim1 = stereo.census_transform(stereo.im1)
cim2 = stereo.census_transform(stereo.im2)
#print(f"census transform time {time() - t1}")
if not stereo.reversed:
D = range(int(stereo.params['ndisp']))
else:
D = reversed(range(int(-stereo.params['ndisp']), 1))
cost_images = stereo.compute_disparity_img(cim1, cim2, D)
m, n, D = cost_images.shape
def test_two_directions(self):
IMAGE_DIR = "Backpack-perfect"
im1 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im1.png"))
im2 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im0.png"))
stereo = SemiGlobalMatching(im1,
im2,
os.path.join("../data", IMAGE_DIR,
"calib.txt"),
window_size=3,
resize=(640, 480))
params = {
"p1": 5,
"p2": 90000,
"census_kernel_size": 7,
"reversed": True
}
stereo.set_params(params)
stereo.params['ndisp'] = 50
t1 = time()
assert stereo.p1 is not None, "parameters have not been set"
t1 = time()
cim1 = stereo.census_transform(stereo.im1)
cim2 = stereo.census_transform(stereo.im2)
#print(f"census transform time {time() - t1}")
if not stereo.reversed:
D = range(int(stereo.params['ndisp']))
else:
D = reversed(range(int(-stereo.params['ndisp']), 1))
cost_images = stereo.compute_disparity_img(cim1, cim2, D)
cost_images = np.float32(cost_images)
m, n, D = cost_images.shape
# direction == (1,0)
stereo.directions = [(1, 0), (-1, 0), (1, 1), (-1, 1), (1, -1),
(-1, -1)]
#stereo.directions = [(0,1)]
t1 = time()
L = stereo.aggregate_cost(cost_images)
print("python aggregate cost %f" % (time() - t1))
L = L.transpose((2, 0, 1))
cost_images = cost_images.transpose((2, 0, 1))
cost_images = np.ascontiguousarray(cost_images, dtype=np.float32)
d, rows, cols = cost_images.shape
d_step = 1
rows = np.int32(rows)
cols = np.int32(cols)
compiler_constants = {
'D_STEP': d_step,
'D': d,
'ARR_SIZE': math.floor(d / d_step),
'P1': 5,
'P2': 90000,
'SHMEM_SIZE': 64
}
build_options = [format_compiler_constants(compiler_constants)]
mod = SourceModule(open("../lib/sgbm_helper.cu").read(),
options=build_options)
shmem_size = 16
vertical_blocks = int(math.ceil(rows / shmem_size))
#r_aggregate = mod.get_function('r_aggregate')
vertical_aggregate_down = mod.get_function('vertical_aggregate_down')
vertical_aggregate_up = mod.get_function('vertical_aggregate_up')
diagonal_br_tl_aggregate = mod.get_function('diagonal_br_tl_aggregate')
diagonal_tl_br_aggregate = mod.get_function('diagonal_tl_br_aggregate')
diagonal_tr_bl_aggregate = mod.get_function('diagonal_tr_bl_aggregate')
diagonal_bl_tr_aggregate = mod.get_function('diagonal_bl_tr_aggregate')
#l_aggregate = mod.get_function('l_aggregate')
t1 = time()
cost_images_ptr = drv.to_device(cost_images)
dp_ptr = drv.mem_alloc(cost_images.nbytes)
vertical_aggregate_down(dp_ptr,
cost_images_ptr,
rows,
cols,
block=(256, 1, 1),
grid=(1, 1))
vertical_aggregate_up(dp_ptr,
cost_images_ptr,
rows,
cols,
block=(256, 1, 1),
grid=(1, 1))
#r_aggregate(dp_ptr, cost_images_ptr, rows, cols, block = (shmem_size, shmem_size, 1), grid = (1, vertical_blocks))
#l_aggregate(dp_ptr, cost_images_ptr, rows, cols, block = (shmem_size, shmem_size, 1), grid = (1, vertical_blocks))
diagonal_tl_br_aggregate(dp_ptr,
cost_images_ptr,
rows,
cols,
block=(256, 1, 1),
grid=(1, 1))
diagonal_bl_tr_aggregate(dp_ptr,
cost_images_ptr,
rows,
cols,
block=(256, 1, 1),
grid=(1, 1))
diagonal_tr_bl_aggregate(dp_ptr,
cost_images_ptr,
rows,
cols,
block=(256, 1, 1),
grid=(1, 1))
diagonal_br_tl_aggregate(dp_ptr,
cost_images_ptr,
rows,
cols,
block=(256, 1, 1),
grid=(1, 1))
print("cuda aggregate cost %f" % (time() - t1))
drv.stop_profiler()
agg_image = drv.from_device(dp_ptr,
cost_images.shape,
dtype=np.float32)
s1 = np.sum(np.float64(L))
s2 = np.sum(np.float64(agg_image))
print("L sum: %f" % s1)
print("out sum: %f" % s2)
self.assertTrue(np.all(np.isclose(agg_image, L)))
def test_diagonal_bl_tr(self):
IMAGE_DIR = "Backpack-perfect"
im1 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im1.png"))
im2 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im0.png"))
stereo = SemiGlobalMatching(im1,
im2,
os.path.join("../data", IMAGE_DIR,
"calib.txt"),
window_size=3,
resize=(640, 480))
params = {
"p1": 5,
"p2": 90000,
"census_kernel_size": 7,
"reversed": True
}
stereo.set_params(params)
stereo.params['ndisp'] = 50
t1 = time()
assert stereo.p1 is not None, "parameters have not been set"
t1 = time()
cim1 = stereo.census_transform(stereo.im1)
cim2 = stereo.census_transform(stereo.im2)
#print(f"census transform time {time() - t1}")
if not stereo.reversed:
D = range(int(stereo.params['ndisp']))
else:
D = reversed(range(int(-stereo.params['ndisp']), 1))
cost_images = stereo.compute_disparity_img(cim1, cim2, D)
cost_images = np.float32(cost_images)
m, n, D = cost_images.shape
# direction == (1,0)
stereo.directions = [(-1, 1)]
t1 = time()
L = stereo.aggregate_cost(cost_images)
print("python aggregate cost %f" % (time() - t1))
L = L.transpose((2, 0, 1))
cost_images = cost_images.transpose((2, 0, 1))
cost_images = np.ascontiguousarray(cost_images, dtype=np.float32)
d, rows, cols = cost_images.shape
d_step = 1
compiler_constants = {
'D_STEP': d_step,
'D': d,
'ARR_SIZE': math.floor(d / d_step),
'P1': 5,
'P2': 90000,
'SHMEM_SIZE': 64
}
build_options = [format_compiler_constants(compiler_constants)]
mod = SourceModule(open("../lib/sgbm_helper.cu").read(),
options=build_options)
diagonal_aggregate = mod.get_function("diagonal_bl_tr_aggregate")
out = np.zeros_like(L)
out = np.ascontiguousarray(out, dtype=np.float32)
t1 = time()
diagonal_aggregate(drv.Out(out),
drv.In(cost_images),
np.int32(rows),
np.int32(cols),
block=(256, 1, 1),
grid=(1, 1))
print("cuda aggregate cost %f" % (time() - t1))
drv.stop_profiler()
s1 = np.sum(np.float64(L))
s2 = np.sum(np.float64(out))
print("L sum: %f" % s1)
print("out sum: %f" % s2)
self.assertTrue(np.all(np.isclose(out, L)))
def test_horizontal_left(self):
IMAGE_DIR = "Backpack-perfect"
im1 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im1.png"))
im2 = cv2.imread(os.path.join("../data", IMAGE_DIR, "im0.png"))
#im1 = im1[:32,:,:]
#im2 = im2[:32,:,:]
stereo = SemiGlobalMatching(im1,
im2,
os.path.join("../data", IMAGE_DIR,
"calib.txt"),
window_size=3,
resize=(640, 480))
params = {
"p1": 5,
"p2": 90000,
"census_kernel_size": 7,
"reversed": True
}
stereo.set_params(params)
stereo.params['ndisp'] = 50
t1 = time()
assert stereo.p1 is not None, "parameters have not been set"
t1 = time()
cim1 = stereo.census_transform(stereo.im1)
cim2 = stereo.census_transform(stereo.im2)
#print(f"census transform time {time() - t1}")
#pdb.set_trace()
if not stereo.reversed:
D = range(int(stereo.params['ndisp']))
else:
D = reversed(range(int(-stereo.params['ndisp']), 1))
cost_images = stereo.compute_disparity_img(cim1, cim2, D)
cost_images = np.float32(cost_images)
##cost_images = cost_images[:,:,8:45]
#cost_images = cost_images[:,:,9:50]
#shape = (480,640,36)
#cost_images = np.float32(np.random.normal(loc=100, size=shape))
m, n, D = cost_images.shape
# direction == (1,0)
stereo.directions = [(0, -1)]
t1 = time()
L = stereo.aggregate_cost_optimization_test(cost_images)
print("python aggregate cost %f" % (time() - t1))
L = L.transpose((2, 0, 1))
cost_images = cost_images.transpose((2, 0, 1))
cost_images = np.ascontiguousarray(cost_images, dtype=np.float32)
d, rows, cols = cost_images.shape
d_step = 1
shmem_size = 16
compiler_constants = {
'D_STEP': d_step,
'D': d,
'ARR_SIZE': math.floor(d / d_step),
'P1': 5,
'P2': 90000,
'SHMEM_SIZE': shmem_size
}
build_options = [format_compiler_constants(compiler_constants)]
mod = SourceModule(open("../lib/sgbm_helper.cu").read(),
options=build_options)
l_aggregate = mod.get_function("l_aggregate")
out = np.zeros_like(L)
out = np.ascontiguousarray(out, dtype=np.float32)
vertical_blocks = int(math.ceil(rows / shmem_size))
t1 = time()
# pycuda complains when block size is greater than 32 x 32
l_aggregate(drv.Out(out),
drv.In(cost_images),
np.int32(rows),
np.int32(cols),
block=(shmem_size, shmem_size, 1),
grid=(1, vertical_blocks))
print("cuda aggregate cost %f" % (time() - t1))
drv.stop_profiler()
s1 = np.sum(np.float64(L))
s2 = np.sum(np.float64(out))
print("L sum: %f" % s1)
print("out sum: %f" % s2)
#pdb.set_trace()
self.assertTrue(np.all(np.isclose(out, L)))