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changed StereoBeliefPropagation_GPU output disparity default type to CV_32S

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Vladislav Vinogradov
2010-07-29 08:47:06 +00:00
parent 7083f0f815
commit 63fed0f831
3 changed files with 63 additions and 47 deletions
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53
modules/gpu/src/beliefpropagation_gpu.cpp
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@@ -63,6 +63,7 @@ static const float DEFAULT_DATA_COST = 10.0f;
static const float DEFAULT_LAMBDA_COST = 0.07f;
typedef DevMem2D_<float> DevMem2Df;
typedef DevMem2D_<int> DevMem2Di;
namespace cv { namespace gpu { namespace impl {
extern "C" void load_constants(int ndisp, float disc_cost, float data_cost, float lambda);
@@ -70,31 +71,27 @@ namespace cv { namespace gpu { namespace impl {
extern "C" void data_down_kernel_caller(int dst_cols, int dst_rows, int src_rows, const DevMem2Df& src, DevMem2Df dst, const cudaStream_t& stream);
extern "C" void level_up(int dst_idx, int dst_cols, int dst_rows, int src_rows, DevMem2Df* mu, DevMem2Df* md, DevMem2Df* ml, DevMem2Df* mr, const cudaStream_t& stream);
extern "C" void call_all_iterations(int cols, int rows, int iters, DevMem2Df& u, DevMem2Df& d, DevMem2Df& l, DevMem2Df& r, const DevMem2Df& data, const cudaStream_t& stream);
extern "C" void output_caller(const DevMem2Df& u, const DevMem2Df& d, const DevMem2Df& l, const DevMem2Df& r, const DevMem2Df& data, DevMem2D disp, const cudaStream_t& stream);
extern "C" void output_caller(const DevMem2Df& u, const DevMem2Df& d, const DevMem2Df& l, const DevMem2Df& r, const DevMem2Df& data, DevMem2Di disp, const cudaStream_t& stream);
}}}
cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int ndisp_, int iters_, int levels_)
: ndisp(ndisp_), iters(iters_), levels(levels_), disc_cost(DEFAULT_DISC_COST), data_cost(DEFAULT_DATA_COST), lambda(DEFAULT_LAMBDA_COST), datas(levels_)
{
const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
CV_Assert(0 < ndisp && ndisp <= max_supported_ndisp);
CV_Assert(0 < ndisp);
CV_Assert(ndisp % 8 == 0);
}
cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int ndisp_, int iters_, int levels_, float disc_cost_, float data_cost_, float lambda_)
: ndisp(ndisp_), iters(iters_), levels(levels_), disc_cost(disc_cost_), data_cost(data_cost_), lambda(lambda_), datas(levels_)
{
const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
CV_Assert(0 < ndisp && ndisp <= max_supported_ndisp);
CV_Assert(0 < ndisp);
CV_Assert(ndisp % 8 == 0);
}
static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_cost, float data_cost, float lambda,
GpuMat& u, GpuMat& d, GpuMat& l, GpuMat& r,
GpuMat& u2, GpuMat& d2, GpuMat& l2, GpuMat& r2,
vector<GpuMat>& datas,
GpuMat& u2, GpuMat& d2, GpuMat& l2, GpuMat& r2,
vector<GpuMat>& datas, GpuMat& out,
const GpuMat& left, const GpuMat& right, GpuMat& disp,
const cudaStream_t& stream)
{
@@ -111,8 +108,6 @@ static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_
const int min_image_dim_size = 20;
CV_Assert(min(lowest_cols, lowest_rows) > min_image_dim_size);
disp.create(rows, cols, CV_8U);
u.create(rows * ndisp, cols, CV_32F);
d.create(rows * ndisp, cols, CV_32F);
l.create(rows * ndisp, cols, CV_32F);
@@ -146,10 +141,16 @@ static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_
}
impl::load_constants(ndisp, disc_cost, data_cost, lambda);
vector<int> cols_all(levels);
vector<int> rows_all(levels);
vector<int> iters_all(levels);
datas.resize(levels);
AutoBuffer<int> cols_all_buf(levels);
AutoBuffer<int> rows_all_buf(levels);
AutoBuffer<int> iters_all_buf(levels);
int *cols_all = cols_all_buf;
int *rows_all = rows_all_buf;
int *iters_all = iters_all_buf;
cols_all[0] = cols;
rows_all[0] = rows;
@@ -190,18 +191,34 @@ static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_
mem_idx = (mem_idx + 1) & 1;
}
if (disp.empty())
disp.create(rows, cols, CV_32S);
impl::output_caller(u, d, l, r, datas.front(), disp, stream);
if (disp.type() == CV_32S)
{
disp = zero;
impl::output_caller(u, d, l, r, datas.front(), disp, stream);
}
else
{
out.create(rows, cols, CV_32S);
out = zero;
impl::output_caller(u, d, l, r, datas.front(), out, stream);
out.convertTo(disp, disp.type());
}
}
void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
{
::stereo_bp_gpu_operator(ndisp, iters, levels, disc_cost, data_cost, lambda, u, d, l, r, u2, d2, l2, r2, datas, left, right, disp, 0);
::stereo_bp_gpu_operator(ndisp, iters, levels, disc_cost, data_cost, lambda, u, d, l, r, u2, d2, l2, r2, datas, out, left, right, disp, 0);
}
void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, const CudaStream& stream)
{
::stereo_bp_gpu_operator(ndisp, iters, levels, disc_cost, data_cost, lambda, u, d, l, r, u2, d2, l2, r2, datas, left, right, disp, StreamAccessor::getStream(stream));
::stereo_bp_gpu_operator(ndisp, iters, levels, disc_cost, data_cost, lambda, u, d, l, r, u2, d2, l2, r2, datas, out, left, right, disp, StreamAccessor::getStream(stream));
}
bool cv::gpu::StereoBeliefPropagation_GPU::checkIfGpuCallReasonable()