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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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49
modules/gpu/src/cuda/beliefpropagation.cu
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@@ -353,42 +353,41 @@ namespace cv { namespace gpu { namespace impl {
namespace beliefpropagation_gpu
{
__global__ void output(int cols, int rows, float *u, float *d, float *l, float *r, float* data, size_t step, unsigned char *disp, size_t res_step)
__global__ void output(int cols, int rows, float *u, float *d, float *l, float *r, float* data, size_t step, int *disp, size_t res_step)
{
int x = blockIdx.x * blockDim.x + threadIdx.x;
int y = blockIdx.y * blockDim.y + threadIdx.y;
if (y > 0 && y < rows - 1)
if (x > 0 && x < cols - 1)
if (y > 0 && y < rows - 1 && x > 0 && x < cols - 1)
{
float *us = u + (y + 1) * step + x;
float *ds = d + (y - 1) * step + x;
float *ls = l + y * step + (x + 1);
float *rs = r + y * step + (x - 1);
float *dt = data + y * step + x;
size_t disp_step = rows * step;
int best = 0;
float best_val = FLT_MAX;
for (int d = 0; d < cndisp; ++d)
{
float *us = u + (y + 1) * step + x;
float *ds = d + (y - 1) * step + x;
float *ls = l + y * step + (x + 1);
float *rs = r + y * step + (x - 1);
float *dt = data + y * step + x;
float val = us[d * disp_step] + ds[d * disp_step] + ls[d * disp_step] + rs[d * disp_step] + dt[d * disp_step];
size_t disp_step = rows * step;
int best = 0;
float best_val = FLT_MAX;
for (int d = 0; d < cndisp; ++d)
if (val < best_val)
{
float val = us[d * disp_step] + ds[d * disp_step] + ls[d * disp_step] + rs[d * disp_step] + dt[d * disp_step];
if (val < best_val)
{
best_val = val;
best = d;
}
best_val = val;
best = d;
}
disp[res_step * y + x] = best & 0xFF;
}
disp[res_step * y + x] = best;
}
}
}
namespace cv { namespace gpu { namespace impl {
extern "C" void output_caller(const DevMem2D_<float>& u, const DevMem2D_<float>& d, const DevMem2D_<float>& l, const DevMem2D_<float>& r, const DevMem2D_<float>& data, DevMem2D disp, const cudaStream_t& stream)
extern "C" void output_caller(const DevMem2D_<float>& u, const DevMem2D_<float>& d, const DevMem2D_<float>& l, const DevMem2D_<float>& r, const DevMem2D_<float>& data, DevMem2D_<int> disp, const cudaStream_t& stream)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
@@ -398,12 +397,12 @@ namespace cv { namespace gpu { namespace impl {
if (stream == 0)
{
beliefpropagation_gpu::output<<<grid, threads>>>(disp.cols, disp.rows, u.ptr, d.ptr, l.ptr, r.ptr, data.ptr, u.step/sizeof(float), disp.ptr, disp.step);
beliefpropagation_gpu::output<<<grid, threads>>>(disp.cols, disp.rows, u.ptr, d.ptr, l.ptr, r.ptr, data.ptr, u.step/sizeof(float), disp.ptr, disp.step/sizeof(int));
cudaSafeCall( cudaThreadSynchronize() );
}
else
{
beliefpropagation_gpu::output<<<grid, threads, 0, stream>>>(disp.cols, disp.rows, u.ptr, d.ptr, l.ptr, r.ptr, data.ptr, u.step/sizeof(float), disp.ptr, disp.step);
beliefpropagation_gpu::output<<<grid, threads, 0, stream>>>(disp.cols, disp.rows, u.ptr, d.ptr, l.ptr, r.ptr, data.ptr, u.step/sizeof(float), disp.ptr, disp.step/sizeof(int));
}
}
}}}