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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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31
modules/gpu/src/beliefpropagation_gpu.cpp
View File

@@ -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
View File

@@ -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_)