replaced patch constants in device memory with definitions

include/rmd/mvs_device_data.cuh

@@ -36,20 +36,11 @@ struct SceneData
   float sigma_sq_max;
 };
 
-struct CorrPatch
-{
 #ifndef RMD_CORR_PATCH_SIDE
-#define RMD_CORR_PATCH_SIDE 5
+#define RMD_CORR_PATCH_SIDE    5
 #endif
 #define RMD_CORR_PATCH_OFFSET -RMD_CORR_PATCH_SIDE/2
-  CorrPatch()
-    : side(RMD_CORR_PATCH_SIDE)
-    , offset(make_int2(RMD_CORR_PATCH_OFFSET,
-                       RMD_CORR_PATCH_OFFSET))
-  { }
-  const int  side;
-  const int2 offset;
-};
+#define RMD_CORR_PATCH_AREA    RMD_CORR_PATCH_SIDE*RMD_CORR_PATCH_SIDE
 
 // DeviceData struct stores pointers to dev memory.
 // It is allocated and set from host.
@@ -104,7 +95,6 @@ struct DeviceData
   size_t height;
 
   SceneData scene;
-  CorrPatch patch;
 
   // Algorithm parameters
   float eta_inlier;

include/rmd/seed_matrix.cuh

@@ -77,7 +77,6 @@ public:
   void downloadConstTemplDenom(float *host_align_row_maj) const;
   void downloadConvergence(int *host_align_row_maj) const;
   void downloadEpipolarMatches(float2 *host_align_row_maj) const;
-  int getPatchSide() const { return dev_data_.patch.side; }
 #endif
 
 private:

src/epipolar_match.cu

@@ -119,10 +119,9 @@ void seedEpipolarMatchKernel(
         sum_img_templ += img*templ;
       }
     }
-#define RMD_CORR_PATCH_AREA RMD_CORR_PATCH_SIDE*RMD_CORR_PATCH_SIDE
     const float ncc_numerator = RMD_CORR_PATCH_AREA*sum_img_templ - sum_img*sum_templ;
     const float ncc_denominator = (RMD_CORR_PATCH_AREA*sum_img_sq - sum_img*sum_img)*const_templ_denom;
-#undef RMD_CORR_PATCH_AREA
+
     const float ncc = ncc_numerator * rsqrtf(ncc_denominator + FLT_MIN);
 
     if(ncc > best_ncc)

src/seed_check.cu

@@ -34,8 +34,8 @@ void seedCheckKernel(mvs::DeviceData *dev_ptr)
   if(x >= dev_ptr->width || y >= dev_ptr->height)
     return;
 
-  if(x > dev_ptr->width-dev_ptr->patch.side-1 || y > dev_ptr->height-dev_ptr->patch.side-1 ||
-     x < dev_ptr->patch.side || y < dev_ptr->patch.side)
+  if(x > dev_ptr->width-RMD_CORR_PATCH_SIDE-1 || y > dev_ptr->height-RMD_CORR_PATCH_SIDE-1 ||
+     x < RMD_CORR_PATCH_SIDE || y < RMD_CORR_PATCH_SIDE)
   {
     dev_ptr->convergence->atXY(x, y) = ConvergenceStates::BORDER;
     return;

src/seed_init.cu

@@ -36,24 +36,22 @@ void seedInitKernel(mvs::DeviceData *dev_ptr)
   // Compute template statistics for NCC
   float sum_templ    = 0.0f;
   float sum_templ_sq = 0.0f;
-  const int  &side   = dev_ptr->patch.side;
-  const int2 &offset = dev_ptr->patch.offset;
-  for(int patch_y=0; patch_y<side; ++patch_y)
+  for(int patch_y=0; patch_y<RMD_CORR_PATCH_SIDE; ++patch_y)
   {
-    for(int patch_x=0; patch_x<side; ++patch_x)
+    for(int patch_x=0; patch_x<RMD_CORR_PATCH_SIDE; ++patch_x)
     {
       const float templ = tex2D(
             ref_img_tex,
-            (float)(x+offset.x+patch_x)+0.5f,
-            (float)(y+offset.y+patch_y)+0.5f);
+            (float)(x+RMD_CORR_PATCH_OFFSET+patch_x)+0.5f,
+            (float)(y+RMD_CORR_PATCH_OFFSET+patch_y)+0.5f);
       sum_templ += templ;
       sum_templ_sq += templ*templ;
     }
   }
   dev_ptr->sum_templ->atXY(x, y) = sum_templ;
 
   dev_ptr->const_templ_denom->atXY(x, y) =
-      (float) ( (double) side*side*sum_templ_sq - (double) sum_templ*sum_templ );
+      (float) ( (double) RMD_CORR_PATCH_AREA*sum_templ_sq - (double) sum_templ*sum_templ );
 
   // Init measurement parameters
   dev_ptr->mu->atXY(x, y) = dev_ptr->scene.avg_depth;

test/seed_matrix_test.cpp

@@ -121,29 +121,28 @@ TEST(RMDCuTests, seedMatrixInit)
   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 y=RMD_CORR_PATCH_SIDE; y<ref_img.rows-RMD_CORR_PATCH_SIDE/2; ++y)
   {
-    for(size_t x=side; x<ref_img.cols-side/2; ++x)
+    for(size_t x=RMD_CORR_PATCH_SIDE; x<ref_img.cols-RMD_CORR_PATCH_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_y=0; patch_y<RMD_CORR_PATCH_SIDE; ++patch_y)
       {
-        for(int patch_x=0; patch_x<side; ++patch_x)
+        for(int patch_x=0; patch_x<RMD_CORR_PATCH_SIDE; ++patch_x)
         {
-          const double templ = (double) ref_img_flt.at<float>( y-side/2+patch_y, x-side/2+patch_x );
+          const double templ = (double) ref_img_flt.at<float>( y-RMD_CORR_PATCH_SIDE/2+patch_y, x-RMD_CORR_PATCH_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 );
+      ocv_const_templ_denom.at<float>(y, x) = (float) ( ((double)RMD_CORR_PATCH_AREA)*sum_templ_sq - sum_templ*sum_templ );
     }
   }
-  for(size_t r=side; r<ref_img.rows-side/2; ++r)
+  for(size_t r=RMD_CORR_PATCH_SIDE; r<ref_img.rows-RMD_CORR_PATCH_SIDE/2; ++r)
   {
-    for(size_t c=side; c<ref_img.cols-side/2; ++c)
+    for(size_t c=RMD_CORR_PATCH_SIDE; c<ref_img.cols-RMD_CORR_PATCH_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);
@@ -217,15 +216,14 @@ TEST(RMDCuTests, seedMatrixCheck)
   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)
+      if(r>ref_img.rows-RMD_CORR_PATCH_SIDE-1
+         || r<RMD_CORR_PATCH_SIDE
+         || c>ref_img.cols-RMD_CORR_PATCH_SIDE-1
+         || c<RMD_CORR_PATCH_SIDE)
       {
         ASSERT_EQ(rmd::ConvergenceStates::BORDER, cu_convergence.at<int>(r, c)) << "(r, c) = (" << r << ", " << c <<")";
       }