potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-29 07:13:02 +04:00
Code Packages Releases Wiki Activity

added get_first_k_initial_global_init_global_cost in gpu::SCBP

Browse Source
This commit is contained in:
Andrey Morozov
2010-08-17 15:53:00 +00:00
parent 9a669b1ceb
commit 28030952fa
3 changed files with 185 additions and 146 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/gpu/src/constantspacebp_gpu.cpp
+10 -10
View File
@@ -62,10 +62,10 @@ namespace cv { namespace gpu { namespace csbp
const DevMem2D& left, const DevMem2D& right, const DevMem2D& temp);
void init_data_cost(int rows, int cols, short* disp_selected_pyr, short* data_cost_selected,
size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, cudaStream_t stream);
size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream);
void init_data_cost(int rows, int cols, float* disp_selected_pyr, float* data_cost_selected,
size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, cudaStream_t stream);
size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream);
void compute_data_cost(const short* disp_selected_pyr, short* data_cost, size_t msg_step1, size_t msg_step2,
int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
@@ -111,7 +111,7 @@ cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, in
: ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
max_disc_term(DEFAULT_MAX_DISC_TERM), disc_single_jump(DEFAULT_DISC_SINGLE_JUMP), min_disp_th(0),
msg_type(msg_type_)
msg_type(msg_type_), use_local_init_data_cost(true)
{
CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
}
@@ -122,7 +122,7 @@ cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, in
: ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
max_data_term(max_data_term_), data_weight(data_weight_),
max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_), min_disp_th(min_disp_th_),
msg_type(msg_type_)
msg_type(msg_type_), use_local_init_data_cost(true)
{
CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
}
@@ -131,7 +131,7 @@ template<class T>
static void csbp_operator(StereoConstantSpaceBP& rthis, 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& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp,
cudaStream_t stream)
bool use_local_init_data_cost, cudaStream_t stream)
{
CV_DbgAssert(0 < rthis.ndisp && 0 < rthis.iters && 0 < rthis.levels && 0 < rthis.nr_plane
&& left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
@@ -202,7 +202,7 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
////////////////////////////////////////////////////////////////////////////
// Compute
csbp::load_constants(rthis.ndisp, rthis.max_data_term, rthis.data_weight,
csbp::load_constants(rthis.ndisp, rthis.max_data_term, rthis.data_weight,
rthis.max_disc_term, rthis.disc_single_jump, rthis.min_disp_th, left, right, temp);
l[0] = zero;
@@ -225,7 +225,7 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
if (i == levels - 1)
{
csbp::init_data_cost(left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<T>(), data_cost_selected.ptr<T>(),
step_pyr[i], rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], rthis.ndisp, left.channels(), stream);
step_pyr[i], rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], rthis.ndisp, left.channels(), use_local_init_data_cost, stream);
}
else
{
@@ -265,20 +265,20 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
typedef void (*csbp_operator_t)(StereoConstantSpaceBP& rthis, 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& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp,
cudaStream_t stream);
bool use_local_init_data_cost, cudaStream_t stream);
const static csbp_operator_t operators[] = {0, 0, 0, csbp_operator<short>, 0, csbp_operator<float>, 0, 0};
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
{
CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, 0);
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, use_local_init_data_cost, 0);
}
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, Stream& stream)
{
CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, StreamAccessor::getStream(stream));
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, use_local_init_data_cost, StreamAccessor::getStream(stream));
}
#endif /* !defined (HAVE_CUDA) */