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added minimum disparity threshold parameter to StereoConstantSpaceBP

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This commit is contained in:
Vladislav Vinogradov 2010-08-13 11:17:51 +00:00
parent 9c875a804a
commit 6062fad7d8
3 changed files with 24 additions and 19 deletions
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5
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -441,9 +441,10 @@ namespace cv
//! the full constructor taking the number of disparities, number of BP iterations on each level,
//! number of levels, number of active disparity on the first level, truncation of data cost, data weight,
//! truncation of discontinuity cost and discontinuity single jump
//! truncation of discontinuity cost, discontinuity single jump and minimum disparity threshold
StereoConstantSpaceBP(int ndisp, int iters, int levels, int nr_plane,
float max_data_term, float data_weight, float max_disc_term, float disc_single_jump,
int min_disp_th = 0,
int msg_type = CV_32F);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair,
@ -465,6 +466,8 @@ namespace cv
float max_disc_term;
float disc_single_jump;
int min_disp_th;
int msg_type;
private:
GpuMat u[2], d[2], l[2], r[2];

28
modules/gpu/src/constantspacebp_gpu.cpp
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@ -58,8 +58,8 @@ void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat&, const GpuMat&, Gp
namespace cv { namespace gpu { namespace csbp
{
void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump,
const DevMem2D& left, const DevMem2D& right, const DevMem2D& temp/*, const DevMem2D& temp2*/);
void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th,
const DevMem2D& left, const DevMem2D& right, const DevMem2D& temp);
void init_data_cost(int rows, int cols, const DevMem2D& disp_selected_pyr, const DevMem2D& data_cost_selected,
size_t msg_step, int msg_type, int h, int w, int level, int nr_plane, int ndisp, int channels,
@ -86,33 +86,35 @@ namespace cv { namespace gpu { namespace csbp
namespace
{
const float DEFAULT_MAX_DATA_TERM = 10.0f;
const float DEFAULT_DATA_WEIGHT = 0.07f;
const float DEFAULT_MAX_DISC_TERM = 1.7f;
const float DEFAULT_DISC_SINGLE_JUMP = 1.0f;
const float DEFAULT_MAX_DATA_TERM = 30.0f;
const float DEFAULT_DATA_WEIGHT = 1.0f;
const float DEFAULT_MAX_DISC_TERM = 160.0f;
const float DEFAULT_DISC_SINGLE_JUMP = 10.0f;
}
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
int msg_type_)
: 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),
max_disc_term(DEFAULT_MAX_DISC_TERM), disc_single_jump(DEFAULT_DISC_SINGLE_JUMP), min_disp_th(0),
msg_type(msg_type_)
{
}
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
float max_data_term_, float data_weight_, float max_disc_term_, float disc_single_jump_,
int min_disp_th_,
int msg_type_)
: 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_),
max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_), min_disp_th(min_disp_th_),
msg_type(msg_type_)
{
}
static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& nr_plane,
float& max_data_term, float& data_weight, float& max_disc_term, float& disc_single_jump,
int& min_disp_th,
int& msg_type,
GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
GpuMat disp_selected_pyr[2], GpuMat& data_cost, GpuMat& data_cost_selected,
@ -195,7 +197,7 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
////////////////////////////////////////////////////////////////////////////
// Compute
csbp::load_constants(ndisp, max_data_term, scale * data_weight, scale * max_disc_term, scale * disc_single_jump,
csbp::load_constants(ndisp, max_data_term, scale * data_weight, scale * max_disc_term, scale * disc_single_jump, min_disp_th,
left, right, temp);
l[0] = zero;
@ -257,14 +259,14 @@ static void stereo_csbp_gpu_operator(int& ndisp, int& iters, int& levels, int& n
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
{
::stereo_csbp_gpu_operator(ndisp, iters, levels, nr_plane, max_data_term, data_weight, max_disc_term, disc_single_jump, msg_type,
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp/*, temp2*/, out, left, right, disp, 0);
::stereo_csbp_gpu_operator(ndisp, iters, levels, nr_plane, max_data_term, data_weight, max_disc_term, disc_single_jump, min_disp_th, msg_type,
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, 0);
}
void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, const Stream& stream)
{
::stereo_csbp_gpu_operator(ndisp, iters, levels, nr_plane, max_data_term, data_weight, max_disc_term, disc_single_jump, msg_type,
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp/*, temp2*/, out, left, right, disp,
::stereo_csbp_gpu_operator(ndisp, iters, levels, nr_plane, max_data_term, data_weight, max_disc_term, disc_single_jump, min_disp_th, msg_type,
u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp,
StreamAccessor::getStream(stream));
}

10
modules/gpu/src/cuda/constantspacebp.cu
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@ -77,12 +77,13 @@ struct TypeLimits<float>
namespace csbp_kernels
{
__constant__ int cndisp;
__constant__ int cth;
__constant__ float cmax_data_term;
__constant__ float cdata_weight;
__constant__ float cmax_disc_term;
__constant__ float cdisc_single_jump;
__constant__ int cth;
__constant__ size_t cimg_step;
__constant__ size_t cmsg_step1;
@ -97,19 +98,18 @@ namespace csbp_kernels
namespace cv { namespace gpu { namespace csbp
{
void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump,
void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th,
const DevMem2D& left, const DevMem2D& right, const DevMem2D& temp)
{
int th = (int)(ndisp * 0.2);
cudaSafeCall( cudaMemcpyToSymbol(csbp_kernels::cndisp, &ndisp, sizeof(int)) );
cudaSafeCall( cudaMemcpyToSymbol(csbp_kernels::cth, &th, sizeof(int)) );
cudaSafeCall( cudaMemcpyToSymbol(csbp_kernels::cmax_data_term, &max_data_term, sizeof(float)) );
cudaSafeCall( cudaMemcpyToSymbol(csbp_kernels::cdata_weight, &data_weight, sizeof(float)) );
cudaSafeCall( cudaMemcpyToSymbol(csbp_kernels::cmax_disc_term, &max_disc_term, sizeof(float)) );
cudaSafeCall( cudaMemcpyToSymbol(csbp_kernels::cdisc_single_jump, &disc_single_jump, sizeof(float)) );
cudaSafeCall( cudaMemcpyToSymbol(csbp_kernels::cth, &min_disp_th, sizeof(int)) );
cudaSafeCall( cudaMemcpyToSymbol(csbp_kernels::cimg_step, &left.step, sizeof(size_t)) );
cudaSafeCall( cudaMemcpyToSymbol(csbp_kernels::cleft, &left.ptr, sizeof(left.ptr)) );