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241 lines
7.7 KiB
Text
241 lines
7.7 KiB
Text
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/*
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* BSD 2-Clause License
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*
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* Copyright (c) 2020, Alessandro Capotondi
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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/**
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* @file sobel.cu
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* @author Alessandro Capotondi
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* @date 12 May 2020
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* @brief Sobel Filtering
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*
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* @see https://dolly.fim.unimore.it/2019/course/view.php?id=152
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*/
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#include <stdio.h>
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#include <time.h>
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#include <sys/time.h>
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#include <opencv2/opencv.hpp>
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#include <opencv2/imgcodecs/imgcodecs.hpp>
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#include <opencv2/objdetect/objdetect.hpp>
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#include <opencv2/highgui/highgui.hpp>
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using namespace cv;
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using namespace std;
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#ifndef BLOCK_SIZE
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#define BLOCK_SIZE 16
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#endif
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#ifndef NSTREAMS
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#define NSTREAMS 12
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#endif
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#define gpuErrchk(ans) \
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{ \
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gpuAssert((ans), __FILE__, __LINE__); \
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}
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static inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort = true)
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{
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if (code != cudaSuccess)
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{
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fprintf(stderr, "GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line);
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if (abort)
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exit(code);
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}
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}
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extern "C"
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{
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#include "utils.h"
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}
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int FILTER_HOST[3][3] = {{-1, 0, 1},
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{-2, 0, 2},
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{-1, 0, 1}};
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void sobel_host(unsigned char *__restrict__ orig, unsigned char *__restrict__ out, int width, int height)
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{
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#pragma omp parallel for collapse(2)
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for (int y = 1; y < height - 1; y++)
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{
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for (int x = 1; x < width - 1; x++)
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{
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int dx = 0, dy = 0;
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for (int k = -1; k <= 1; k++)
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{
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for (int z = -1; z <= 1; z++)
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{
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dx += FILTER_HOST[k + 1][z + 1] * orig[(y + k) * width + x + z];
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dy += FILTER_HOST[z + 1][k + 1] * orig[(y + k) * width + x + z];
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}
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}
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out[y * width + x] = sqrt((float)((dx * dx) + (dy * dy)));
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}
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}
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}
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__constant__ int FILTER_GPU[3][3] = {{-1, 0, 1},
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{-2, 0, 2},
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{-1, 0, 1}};
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__global__ void sobel_v1(unsigned char *__restrict__ orig, unsigned char *__restrict__ out, int width, int height)
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{
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int i = threadIdx.y + blockIdx.y * blockDim.y;
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int j = threadIdx.x + blockIdx.x * blockDim.x;
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if (j > 0 && i > 0 && j < width - 1 && i < height - 1)
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{
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int dx = 0, dy = 0;
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for (int k = -1; k <= 1; k++)
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{
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for (int z = -1; z <= 1; z++)
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{
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dx += FILTER_GPU[k + 1][z + 1] * orig[(i + k) * width + j + z];
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dy += FILTER_GPU[z + 1][k + 1] * orig[(i + k) * width + j + z];
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}
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}
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out[i * width + j] = sqrt((float)((dx * dx) + (dy * dy)));
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}
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}
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int main(int argc, char *argv[])
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{
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int iret = 0;
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struct timespec rt[2];
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string filename("data/sample.avi");
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if (argc > 1)
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filename = argv[1];
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//Open Video Example
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VideoCapture cap(filename);
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// Check if camera opened successfully
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if (!cap.isOpened())
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{
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cout << "Error opening video stream or file" << endl;
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return -1;
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}
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int width = cap.get(CAP_PROP_FRAME_WIDTH);
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int height = cap.get(CAP_PROP_FRAME_HEIGHT);
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int nCh = 3;
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// Frame Buffers
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Mat frameRGB = Mat::zeros(height, width, CV_8UC3);
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Mat frameIn = Mat::zeros(height, width, CV_8UC1);
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Mat frameOut = Mat::zeros(height, width, CV_8UC1);
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int nFrames = 0;
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double time_cnt = 0.0;
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while (1)
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{
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bool lastFrame = cap.read(frameRGB); // read a new frame from video
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if (!lastFrame)
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break;
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cvtColor(frameRGB, frameIn, COLOR_BGR2GRAY);
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// Compute CPU Version - Golden Model
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clock_gettime(CLOCK_REALTIME, rt + 0);
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sobel_host(frameIn.ptr(), frameOut.ptr(), width, height);
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clock_gettime(CLOCK_REALTIME, rt + 1);
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time_cnt+= (rt[1].tv_sec - rt[0].tv_sec) + 1.0e-9 * (rt[1].tv_nsec - rt[0].tv_nsec);
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nFrames++;
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#ifdef DISPLAY
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// Show frames
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imshow("frameIn", frameIn);
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imshow("frameOut", frameOut);
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waitKey(1);
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#endif
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}
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printf("Sobel (Host) : %d frames, %9.6f s per-frame (%9.6f fps)\n", nFrames, time_cnt/nFrames, 1/(time_cnt/nFrames));
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// CUDA VERSION --------------------------------------------------
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//Open Video Example
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cap = VideoCapture(filename);
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// Check if camera opened successfully
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if (!cap.isOpened())
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{
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cout << "Error opening video stream or file" << endl;
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return -1;
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}
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unsigned char *d_image_in;
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unsigned char *d_image_out;
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gpuErrchk(cudaMalloc((void **)&d_image_in, sizeof(unsigned char) * width * height));
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gpuErrchk(cudaMalloc((void **)&d_image_out, sizeof(unsigned char) * width * height));
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gpuErrchk(cudaMemset(d_image_out, 0, sizeof(unsigned char) * width * height));
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cudaStream_t stream[NSTREAMS];
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for(int i = 0; i < NSTREAMS; i++)
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cudaStreamCreate(&stream[i]);
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nFrames = 0;
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time_cnt = 0.0;
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while (1)
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{
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bool lastFrame = cap.read(frameRGB); // read a new frame from video
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if (!lastFrame)
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break;
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cvtColor(frameRGB, frameIn, COLOR_BGR2GRAY);
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// Compute CPU Version - Golden Model
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clock_gettime(CLOCK_REALTIME, rt + 0);
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gpuErrchk(cudaMemcpyAsync(d_image_in, frameIn.ptr(), sizeof(unsigned char) * width * height, cudaMemcpyHostToDevice,stream[nFrames%NSTREAMS]));
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dim3 dimBlock(BLOCK_SIZE, BLOCK_SIZE);
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dim3 dimGrid((width + BLOCK_SIZE - 1) / BLOCK_SIZE, (height + BLOCK_SIZE - 1) / BLOCK_SIZE);
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sobel_v1<<<dimGrid, dimBlock,0,stream[nFrames%NSTREAMS]>>>(d_image_in, d_image_out, width, height);
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gpuErrchk(cudaPeekAtLastError());
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gpuErrchk(cudaMemcpyAsync(frameOut.ptr(), d_image_out, sizeof(unsigned char) * width * height, cudaMemcpyDeviceToHost,stream[nFrames%NSTREAMS]));
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clock_gettime(CLOCK_REALTIME, rt + 1);
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time_cnt+= (rt[1].tv_sec - rt[0].tv_sec) + 1.0e-9 * (rt[1].tv_nsec - rt[0].tv_nsec);
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nFrames++;
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#ifdef DISPLAY
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// Show frames
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imshow("frameIn", frameIn);
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imshow("frameOut", frameOut);
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waitKey(1);
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#endif
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}
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cudaDeviceSynchronize();
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printf("Sobel (GPU) : %d frames, %9.6f s per-frame (%9.6f fps)\n", nFrames, time_cnt/nFrames, 1/(time_cnt/nFrames));
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gpuErrchk(cudaFree(d_image_out));
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gpuErrchk(cudaFree(d_image_in));
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for (int i=0; i<NSTREAMS; ++i)
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gpuErrchk(cudaStreamDestroy(stream[i]));
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frameOut.release();
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frameIn.release();
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frameRGB.release();
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cap.release();
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return iret;
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}
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