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gpu::StereoConstantSpaceBP:

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fixed some bugs in init_data_cost on first level (added non-reduction version for first level)
  optimized compute_data_cost like init_data_cost (used reduction scheme)
  avoid temp matrix
This commit is contained in:
Vladislav Vinogradov
2010-08-13 08:30:06 +00:00
parent bcfec60024
commit 26712fad72
3 changed files with 216 additions and 71 deletions
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modules/gpu/src/constantspacebp_gpu.cpp
+8 -9
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@@ -59,14 +59,14 @@ void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat&, const GpuMat&, Gp
namespace cv { namespace gpu { namespace csbp
{
void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump,
const DevMem2D& left, const DevMem2D& right, const DevMem2D& temp1, const DevMem2D& temp2);
const DevMem2D& left, const DevMem2D& right, const DevMem2D& temp/*, const DevMem2D& temp2*/);
void init_data_cost(int rows, int cols, const DevMem2D& disp_selected_pyr, const DevMem2D& data_cost_selected,
size_t msg_step, int msg_type, int h, int w, int level, int nr_plane, int ndisp, int channels,
const cudaStream_t& stream);
void compute_data_cost(const DevMem2D& disp_selected_pyr, const DevMem2D& data_cost, size_t msg_step1, size_t msg_step2, int msg_type,
int h, int w, int h2, int level, int nr_plane, int channels, const cudaStream_t& stream);
int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, const cudaStream_t& stream);
void init_message(const DevMem2D& u_new, const DevMem2D& d_new, const DevMem2D& l_new, const DevMem2D& r_new,
const DevMem2D& u_cur, const DevMem2D& d_cur, const DevMem2D& l_cur, const DevMem2D& r_cur,
@@ -116,7 +116,7 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
int& msg_type,
GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
GpuMat disp_selected_pyr[2], GpuMat& data_cost, GpuMat& data_cost_selected,
GpuMat& temp1, GpuMat& temp2, GpuMat& out,
GpuMat& temp, GpuMat& out,
const GpuMat& left, const GpuMat& right, GpuMat& disp,
const cudaStream_t& stream)
{
@@ -190,14 +190,13 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
temp_size = Size(step_pyr[levels - 1], rows_pyr[levels - 1] * ndisp);
}
temp1.create(temp_size, msg_type);
temp2.create(temp_size, msg_type);
temp.create(temp_size, msg_type);
////////////////////////////////////////////////////////////////////////////
// Compute
csbp::load_constants(ndisp, max_data_term, scale * data_weight, scale * max_disc_term, scale * disc_single_jump,
left, right, temp1, temp2);
left, right, temp);
l[0] = zero;
d[0] = zero;
@@ -224,7 +223,7 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
else
{
csbp::compute_data_cost(disp_selected_pyr[cur_idx], data_cost, step_pyr[i], step_pyr[i+1], msg_type,
rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
int new_idx = (cur_idx + 1) & 1;
@@ -259,13 +258,13 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
{
::stereo_csbp_gpu_operator(ndisp, iters, levels, nr_plane, max_data_term, data_weight, max_disc_term, disc_single_jump, msg_type,
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp1, temp2, out, left, right, disp, 0);
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp/*, temp2*/, out, left, right, disp, 0);
}
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, const Stream& stream)
{
::stereo_csbp_gpu_operator(ndisp, iters, levels, nr_plane, max_data_term, data_weight, max_disc_term, disc_single_jump, msg_type,
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp1, temp2, out, left, right, disp,
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp/*, temp2*/, out, left, right, disp,
StreamAccessor::getStream(stream));
}