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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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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)) );