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added methods estimateRecopmmendedParams for StereoBP and StereoCSBP

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This commit is contained in:
Andrey Morozov 2010-08-25 07:27:17 +00:00
parent 1febf345bf
commit 096080de70
3 changed files with 48 additions and 17 deletions
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20
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -235,7 +235,7 @@ namespace cv
class CV_EXPORTS CudaMem
{
public:
public:
enum { ALLOC_PAGE_LOCKED = 1, ALLOC_ZEROCOPY = 2, ALLOC_WRITE_COMBINED = 4 };
CudaMem();
@ -266,7 +266,7 @@ namespace cv
Mat createMatHeader() const;
operator Mat() const;
//! maps host memory into device address space and returns GpuMat header for it. Throws exception if not supported by hardware.
//! maps host memory into device address space and returns GpuMat header for it. Throws exception if not supported by hardware.
GpuMat createGpuMatHeader() const;
operator GpuMat() const;
@ -342,7 +342,7 @@ namespace cv
};
////////////////////////////// Image processing //////////////////////////////
// DST[x,y] = SRC[xmap[x,y],ymap[x,y]] with bilinear interpolation.
// DST[x,y] = SRC[xmap[x,y],ymap[x,y]] with bilinear interpolation.
// xymap.type() == xymap.type() == CV_32FC1
CV_EXPORTS void remap(const GpuMat& src, const GpuMat& xmap, const GpuMat& ymap, GpuMat& dst);
@ -376,7 +376,7 @@ namespace cv
//! the default constructor
StereoBM_GPU();
//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
@ -405,7 +405,7 @@ namespace cv
};
////////////////////////// StereoBeliefPropagation ///////////////////////////
// "Efficient Belief Propagation for Early Vision"
// "Efficient Belief Propagation for Early Vision"
// P.Felzenszwalb
class CV_EXPORTS StereoBeliefPropagation
@ -415,6 +415,8 @@ namespace cv
enum { DEFAULT_ITERS = 5 };
enum { DEFAULT_LEVELS = 5 };
static void estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels);
//! the default constructor
explicit StereoBeliefPropagation(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS,
@ -436,7 +438,7 @@ namespace cv
//! Acync version
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream);
//! version for user specified data term
void operator()(const GpuMat& data, GpuMat& disparity);
void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream);
@ -460,7 +462,7 @@ namespace cv
/////////////////////////// StereoConstantSpaceBP ///////////////////////////
// "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
// Qingxiong Yang, Liang Wang†, Narendra Ahuja
// Qingxiong Yang, Liang Wang†, Narendra Ahuja
// http://vision.ai.uiuc.edu/~qyang6/
class CV_EXPORTS StereoConstantSpaceBP
@ -471,6 +473,8 @@ namespace cv
enum { DEFAULT_LEVELS = 4 };
enum { DEFAULT_NR_PLANE = 4 };
static void estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels, int & nr_plane);
//! the default constructor
explicit StereoConstantSpaceBP(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS,
@ -524,7 +528,7 @@ namespace cv
/////////////////////////// DisparityBilateralFilter ///////////////////////////
// Disparity map refinement using joint bilateral filtering given a single color image.
// Qingxiong Yang, Liang Wang†, Narendra Ahuja
// Qingxiong Yang, Liang Wang†, Narendra Ahuja
// http://vision.ai.uiuc.edu/~qyang6/
class CV_EXPORTS DisparityBilateralFilter

31
modules/gpu/src/beliefpropagation_gpu.cpp
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@ -77,6 +77,19 @@ namespace
const float DEFAULT_DISC_SINGLE_JUMP = 1.0f;
}
void cv::gpu::StereoBeliefPropagation::estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels)
{
ndisp = width / 4;
if (ndisp & 1 != 0) ndisp++;
int mm =::max(width, height);
iters = mm / 100 + 2;
levels = (int)(log(mm) + 1) * 4 / 5;
if (levels == 0) levels++;
}
cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int ndisp_, int iters_, int levels_, int msg_type_)
: ndisp(ndisp_), iters(iters_), levels(levels_),
max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
@ -117,7 +130,7 @@ namespace
CV_DbgAssert(left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
CV_Assert(left.type() == CV_8UC1 || left.type() == CV_8UC3);
rows = left.rows;
rows = left.rows;
cols = left.cols;
int divisor = (int)pow(2.f, rthis.levels - 1.0f);
@ -134,14 +147,14 @@ namespace
calcBP(disp, stream);
}
void operator()(const GpuMat& data, GpuMat& disp, const cudaStream_t& stream)
{
CV_Assert((data.type() == rthis.msg_type) && (data.rows % rthis.ndisp == 0));
rows = data.rows / rthis.ndisp;
cols = data.cols;
int divisor = (int)pow(2.f, rthis.levels - 1.0f);
int lowest_cols = cols / divisor;
int lowest_rows = rows / divisor;
@ -198,7 +211,7 @@ namespace
rows_all.resize(rthis.levels);
cols_all[0] = cols;
rows_all[0] = rows;
rows_all[0] = rows;
}
void calcBP(GpuMat& disp, const cudaStream_t& stream)
@ -279,14 +292,14 @@ void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& left, const GpuM
impl(left, right, disp, StreamAccessor::getStream(stream));
}
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp)
{
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp)
{
::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
impl(data, disp, 0);
}
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp, Stream& stream)
{
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp, Stream& stream)
{
::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
impl(data, disp, StreamAccessor::getStream(stream));
}

14
modules/gpu/src/constantspacebp_gpu.cpp
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@ -105,6 +105,20 @@ namespace
const float DEFAULT_DISC_SINGLE_JUMP = 10.0f;
}
void cv::gpu::StereoConstantSpaceBP::estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels, int &nr_plane)
{
ndisp = (int) ((float) width / 3.14f);
if (ndisp & 1 != 0) ndisp++;
int mm = ::max(width, height);
iters = mm / 100 + ((mm > 1200)? - 4 : 4);
levels = (int)log(mm) * 2 / 3;
if (levels == 0) levels++;
nr_plane = (int) ((float) ndisp / pow(2.0, levels + 1));
}
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
int msg_type_)