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refactored StereoBM

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This commit is contained in:
Vladislav Vinogradov
2013-05-08 14:27:56 +04:00
parent 71db862dc2
commit dd6d58f873
7 changed files with 139 additions and 116 deletions
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samples/gpu/driver_api_stereo_multi.cpp
+6 -7
View File
@@ -85,7 +85,7 @@ void inline contextOff()
// GPUs data
GpuMat d_left[2];
GpuMat d_right[2];
StereoBM_GPU* bm[2];
Ptr<gpu::StereoBM> bm[2];
GpuMat d_result[2];
static void printHelp()
@@ -162,14 +162,14 @@ int main(int argc, char** argv)
contextOn(0);
d_left[0].upload(left.rowRange(0, left.rows / 2));
d_right[0].upload(right.rowRange(0, right.rows / 2));
bm[0] = new StereoBM_GPU();
bm[0] = gpu::createStereoBM();
contextOff();
// Split source images for processing on the GPU #1
contextOn(1);
d_left[1].upload(left.rowRange(left.rows / 2, left.rows));
d_right[1].upload(right.rowRange(right.rows / 2, right.rows));
bm[1] = new StereoBM_GPU();
bm[1] = gpu::createStereoBM();
contextOff();
// Execute calculation in two threads using two GPUs
@@ -182,7 +182,7 @@ int main(int argc, char** argv)
d_left[0].release();
d_right[0].release();
d_result[0].release();
delete bm[0];
bm[0].release();
contextOff();
// Release the second GPU resources
@@ -191,7 +191,7 @@ int main(int argc, char** argv)
d_left[1].release();
d_right[1].release();
d_result[1].release();
delete bm[1];
bm[1].release();
contextOff();
waitKey();
@@ -204,8 +204,7 @@ void Worker::operator()(int device_id) const
{
contextOn(device_id);
bm[device_id]->operator()(d_left[device_id], d_right[device_id],
d_result[device_id]);
bm[device_id]->compute(d_left[device_id], d_right[device_id], d_result[device_id]);
std::cout << "GPU #" << device_id << " (" << DeviceInfo().name()
<< "): finished\n";
samples/gpu/stereo_match.cpp
+17 -17
View File
@@ -65,7 +65,7 @@ private:
Mat left, right;
gpu::GpuMat d_left, d_right;
gpu::StereoBM_GPU bm;
Ptr<gpu::StereoBM> bm;
gpu::StereoBeliefPropagation bp;
gpu::StereoConstantSpaceBP csbp;
@@ -172,7 +172,7 @@ void App::run()
imshow("right", right);
// Set common parameters
bm.ndisp = p.ndisp;
bm = gpu::createStereoBM(p.ndisp);
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
@@ -201,7 +201,7 @@ void App::run()
imshow("left", left);
imshow("right", right);
}
bm(d_left, d_right, d_disp);
bm->compute(d_left, d_right, d_disp);
break;
case Params::BP: bp(d_left, d_right, d_disp); break;
case Params::CSBP: csbp(d_left, d_right, d_disp); break;
@@ -228,8 +228,8 @@ void App::printParams() const
switch (p.method)
{
case Params::BM:
cout << "win_size: " << bm.winSize << endl;
cout << "prefilter_sobel: " << bm.preset << endl;
cout << "win_size: " << bm->getBlockSize() << endl;
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
break;
case Params::BP:
cout << "iter_count: " << bp.iters << endl;
@@ -289,44 +289,44 @@ void App::handleKey(char key)
case 's': case 'S':
if (p.method == Params::BM)
{
switch (bm.preset)
switch (bm->getPreFilterType())
{
case gpu::StereoBM_GPU::BASIC_PRESET:
bm.preset = gpu::StereoBM_GPU::PREFILTER_XSOBEL;
case 0:
bm->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
break;
case gpu::StereoBM_GPU::PREFILTER_XSOBEL:
bm.preset = gpu::StereoBM_GPU::BASIC_PRESET;
case cv::StereoBM::PREFILTER_XSOBEL:
bm->setPreFilterType(0);
break;
}
cout << "prefilter_sobel: " << bm.preset << endl;
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
}
break;
case '1':
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp;
bm->setNumDisparities(p.ndisp);
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
break;
case 'q': case 'Q':
p.ndisp = max(p.ndisp - 8, 1);
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp;
bm->setNumDisparities(p.ndisp);
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
break;
case '2':
if (p.method == Params::BM)
{
bm.winSize = min(bm.winSize + 1, 51);
cout << "win_size: " << bm.winSize << endl;
bm->setBlockSize(min(bm->getBlockSize() + 1, 51));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case 'w': case 'W':
if (p.method == Params::BM)
{
bm.winSize = max(bm.winSize - 1, 2);
cout << "win_size: " << bm.winSize << endl;
bm->setBlockSize(max(bm->getBlockSize() - 1, 2));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case '3':
samples/gpu/stereo_multi.cpp
+6 -7
View File
@@ -51,7 +51,7 @@ struct Worker { void operator()(int device_id) const; };
// GPUs data
GpuMat d_left[2];
GpuMat d_right[2];
StereoBM_GPU* bm[2];
Ptr<gpu::StereoBM> bm[2];
GpuMat d_result[2];
static void printHelp()
@@ -112,13 +112,13 @@ int main(int argc, char** argv)
setDevice(0);
d_left[0].upload(left.rowRange(0, left.rows / 2));
d_right[0].upload(right.rowRange(0, right.rows / 2));
bm[0] = new StereoBM_GPU();
bm[0] = gpu::createStereoBM();
// Split source images for processing on the GPU #1
setDevice(1);
d_left[1].upload(left.rowRange(left.rows / 2, left.rows));
d_right[1].upload(right.rowRange(right.rows / 2, right.rows));
bm[1] = new StereoBM_GPU();
bm[1] = gpu::createStereoBM();
// Execute calculation in two threads using two GPUs
int devices[] = {0, 1};
@@ -130,7 +130,7 @@ int main(int argc, char** argv)
d_left[0].release();
d_right[0].release();
d_result[0].release();
delete bm[0];
bm[0].release();
// Release the second GPU resources
setDevice(1);
@@ -138,7 +138,7 @@ int main(int argc, char** argv)
d_left[1].release();
d_right[1].release();
d_result[1].release();
delete bm[1];
bm[1].release();
waitKey();
return 0;
@@ -149,8 +149,7 @@ void Worker::operator()(int device_id) const
{
setDevice(device_id);
bm[device_id]->operator()(d_left[device_id], d_right[device_id],
d_result[device_id]);
bm[device_id]->compute(d_left[device_id], d_right[device_id], d_result[device_id]);
std::cout << "GPU #" << device_id << " (" << DeviceInfo().name()
<< "): finished\n";