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added more controls into gpu stereo sample

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This commit is contained in:
Alexey Spizhevoy 2010-12-21 08:26:48 +00:00
parent 5bfb44f887
commit 24206bd19f
1 changed files with 112 additions and 15 deletions
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127
samples/gpu/stereo_match.cpp
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@ -17,7 +17,17 @@ struct Params
string left; string left;
string right; string right;
string method_str;
string method_str() const
{
switch (method)
{
case BM: return "BM";
case BP: return "BP";
case CSBP: return "CSBP";
}
return "";
}
enum {BM, BP, CSBP} method; enum {BM, BP, CSBP} method;
int ndisp; // Max disparity + 1 int ndisp; // Max disparity + 1
}; };
@ -28,6 +38,7 @@ struct App
App(const Params& p); App(const Params& p);
void run(); void run();
void handleKey(char key); void handleKey(char key);
void printParams() const;
void workBegin() { work_begin = getTickCount(); } void workBegin() { work_begin = getTickCount(); }
void workEnd() void workEnd()
@ -40,7 +51,7 @@ struct App
string text() const string text() const
{ {
stringstream ss; stringstream ss;
ss << "(" << p.method_str << ") FPS: " << setiosflags(ios::left) << setprecision(4) << work_fps; ss << "(" << p.method_str() << ") FPS: " << setiosflags(ios::left) << setprecision(4) << work_fps;
return ss.str(); return ss.str();
} }
private: private:
@ -80,6 +91,7 @@ int main(int argc, char** argv)
Params::Params() Params::Params()
{ {
method = BM;
ndisp = 64; ndisp = 64;
} }
@ -100,7 +112,6 @@ Params Params::read(int argc, char** argv)
else if (val == "BP") p.method = BP; else if (val == "BP") p.method = BP;
else if (val == "CSBP") p.method = CSBP; else if (val == "CSBP") p.method = CSBP;
else throw runtime_error("unknown stereo match method: " + val); else throw runtime_error("unknown stereo match method: " + val);
p.method_str = val;
} }
else if (key == "-ndisp") p.ndisp = atoi(val.c_str()); else if (key == "-ndisp") p.ndisp = atoi(val.c_str());
else throw runtime_error("unknown key: " + key); else throw runtime_error("unknown key: " + key);
@ -116,8 +127,12 @@ App::App(const Params& p)
cout << "stereo_match_gpu sample\n"; cout << "stereo_match_gpu sample\n";
cout << "\nControls:\n" cout << "\nControls:\n"
<< "\tesc - exit\n" << "\tesc - exit\n"
<< "\tp - print current parameters\n"
<< "\tm - change stereo match method\n" << "\tm - change stereo match method\n"
<< "\t1/q - increase/decrease max disprity\n"; << "\t1/q - increase/decrease maximum disparity\n"
<< "\t2/w - increase/decrease window size (for BM only)\n"
<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
<< "\t4/r - increase/decrease level count (for BP and CSBP only)\n";
} }
@ -149,11 +164,8 @@ void App::run()
Mat disp(left.size(), CV_8U); Mat disp(left.size(), CV_8U);
gpu::GpuMat d_disp(left.size(), CV_8U); gpu::GpuMat d_disp(left.size(), CV_8U);
// Show initial parameters cout << "\nimage_size: (" << left.cols << ", " << left.rows << ")\n";
cout << "\nInitial Params:\n" printParams();
<< "\timage_size: (" << left.cols << ", " << left.rows << ")\n"
<< "\tmethod: " << p.method_str << endl
<< "\tndisp: " << p.ndisp << endl << endl;
running = true; running = true;
while (running) while (running)
@ -177,6 +189,29 @@ void App::run()
} }
void App::printParams() const
{
cout << "--- Parameters ---\n";
cout << "method: " << p.method_str() << endl
<< "ndisp: " << p.ndisp << endl;
switch (p.method)
{
case Params::BM:
cout << "win_size: " << bm.winSize << endl;
break;
case Params::BP:
cout << "iter_count: " << bp.iters << endl;
cout << "level_count: " << bp.levels << endl;
break;
case Params::CSBP:
cout << "iter_count: " << csbp.iters << endl;
cout << "level_count: " << csbp.levels << endl;
break;
}
cout << endl;
}
void App::handleKey(char key) void App::handleKey(char key)
{ {
switch (key) switch (key)
@ -184,37 +219,99 @@ void App::handleKey(char key)
case 27: case 27:
running = false; running = false;
break; break;
case 'p': case 'P':
printParams();
break;
case 'm': case 'M': case 'm': case 'M':
switch (p.method) switch (p.method)
{ {
case Params::BM: case Params::BM:
p.method = Params::BP; p.method = Params::BP;
p.method_str = "BP";
break; break;
case Params::BP: case Params::BP:
p.method = Params::CSBP; p.method = Params::CSBP;
p.method_str = "CSBP";
break; break;
case Params::CSBP: case Params::CSBP:
p.method = Params::BM; p.method = Params::BM;
p.method_str = "BM";
break; break;
} }
cout << "method: " << p.method_str << endl; cout << "method: " << p.method_str() << endl;
break; break;
case '1': case '1':
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8; p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp; bm.ndisp = p.ndisp;
bp.ndisp = p.ndisp; bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp; csbp.ndisp = p.ndisp;
cout << "ndisp: " << p.ndisp << endl;
break; break;
case 'q': case 'Q': case 'q': case 'Q':
p.ndisp = max(p.ndisp - 8, 1); p.ndisp = max(p.ndisp - 8, 1);
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp; bm.ndisp = p.ndisp;
bp.ndisp = p.ndisp; bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp; csbp.ndisp = p.ndisp;
cout << "ndisp: " << p.ndisp << endl; break;
case '2':
if (p.method == Params::BM)
{
bm.winSize += 1;
cout << "win_size: " << bm.winSize << endl;
}
break;
case 'w': case 'W':
if (p.method == Params::BM)
{
bm.winSize = max(bm.winSize - 1, 2);
cout << "win_size: " << bm.winSize << endl;
}
break;
case '3':
if (p.method == Params::BP)
{
bp.iters += 1;
cout << "iter_count: " << bp.iters << endl;
}
else if (p.method == Params::CSBP)
{
csbp.iters += 1;
cout << "iter_count: " << csbp.iters << endl;
}
break;
case 'e': case 'E':
if (p.method == Params::BP)
{
bp.iters = max(bp.iters - 1, 1);
cout << "iter_count: " << bp.iters << endl;
}
else if (p.method == Params::CSBP)
{
csbp.iters = max(csbp.iters - 1, 1);
cout << "iter_count: " << csbp.iters << endl;
}
break;
case '4':
if (p.method == Params::BP)
{
bp.levels += 1;
cout << "level_count: " << bp.levels << endl;
}
else if (p.method == Params::CSBP)
{
csbp.levels += 1;
cout << "level_count: " << csbp.levels << endl;
}
break;
case 'r': case 'R':
if (p.method == Params::BP)
{
bp.levels = max(bp.levels - 1, 1);
cout << "level_count: " << bp.levels << endl;
}
else if (p.method == Params::CSBP)
{
csbp.levels = max(csbp.levels - 1, 1);
cout << "level_count: " << csbp.levels << endl;
}
break; break;
} }
} }