ProcessBpCUDA.h

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/*
Copyright (C) 2024 Scott Grauer-Gray
 
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
 
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
 
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
*/
 
#ifndef RUN_BP_STEREO_HOST_HEADER_H
#define RUN_BP_STEREO_HOST_HEADER_H
 
#include <cuda_runtime.h>
#include <cuda_fp16.h>
#include "BpRunProcessing/ProcessBp.h"
#include "BpRunProcessing/ParallelParamsBp.h"
#include "RunEval/RunTypeConstraints.h"
#include "RunEval/RunEvalConstsEnums.h"
 
template<RunData_t T, unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
class ProcessBpCUDA final : public ProcessBp<T, DISP_VALS, ACCELERATION>
{
public:
  explicit ProcessBpCUDA(const ParallelParams& cuda_params) : 
    ProcessBp<T, DISP_VALS, ACCELERATION>(cuda_params) {}
 
private:
  run_eval::Status InitializeDataCosts(
    const beliefprop::BpSettings& alg_settings,
    const BpLevel<T>& current_bp_level,
    const std::array<float*, 2>& images_target_device,
    const beliefprop::DataCostsCheckerboards<T*>& data_costs_device) const override;
 
  run_eval::Status InitializeDataCurrentLevel(
    const BpLevel<T>& current_bp_level,
    const BpLevel<T>& prev_bp_level,
    const beliefprop::DataCostsCheckerboards<T*>& data_costs_device,
    const beliefprop::DataCostsCheckerboards<T*>& data_costs_device_write,
    unsigned int bp_settings_num_disp_vals) const override;
 
  run_eval::Status InitializeMessageValsToDefault(
    const BpLevel<T>& current_bp_level,
    const beliefprop::CheckerboardMessages<T*>& messages_device,
    unsigned int bp_settings_num_disp_vals) const override;
 
  run_eval::Status RunBPAtCurrentLevel(
    const beliefprop::BpSettings& alg_settings,
    const BpLevel<T>& current_bp_level,
    const beliefprop::DataCostsCheckerboards<T*>& data_costs_device,
    const beliefprop::CheckerboardMessages<T*>& messages_device,
    T* allocated_memory) const override;
 
  run_eval::Status CopyMessageValuesToNextLevelDown(
    const BpLevel<T>& current_bp_level,
    const BpLevel<T>& next_bp_level,
    const beliefprop::CheckerboardMessages<T*>& messages_device_copy_from,
    const beliefprop::CheckerboardMessages<T*>& messages_device_copy_to,
    unsigned int bp_settings_num_disp_vals) const override;
 
  float* RetrieveOutputDisparity(
    const BpLevel<T>& current_bp_level,
    const beliefprop::DataCostsCheckerboards<T*>& data_costs_device,
    const beliefprop::CheckerboardMessages<T*>& messages_device,
    unsigned int bp_settings_num_disp_vals) const override;
  
  run_eval::Status ErrorCheck(
    const char *file = "",
    int line = 0,
    bool abort = false) const override;
};
 
#endif //RUN_BP_STEREO_HOST_HEADER_H