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added optimized belief propagation implementation (used short for messages)

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Vladislav Vinogradov
2010-08-02 11:10:29 +00:00
parent d6bbaea28a
commit 788ac96f8b
4 changed files with 504 additions and 308 deletions
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36
modules/gpu/include/opencv2/gpu/gpu.hpp
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@@ -375,20 +375,32 @@ namespace cv
class CV_EXPORTS StereoBeliefPropagation_GPU
{
public:
enum { MSG_TYPE_AUTO,
MSG_TYPE_FLOAT,
MSG_TYPE_SHORT_SCALE_AUTO,
MSG_TYPE_SHORT_SCALE_MANUAL };
enum { DEFAULT_NDISP = 64 };
enum { DEFAULT_ITERS = 5 };
enum { DEFAULT_LEVELS = 5 };
//! the default constructor
explicit StereoBeliefPropagation_GPU(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS,
int levels = DEFAULT_LEVELS);
//! the full constructor taking the number of disparities, number of BP iterations on first level,
//! number of levels, truncation of discontinuity cost, truncation of data cost and weighting of data cost.
StereoBeliefPropagation_GPU(int ndisp, int iters, int levels, float disc_cost, float data_cost, float lambda);
explicit StereoBeliefPropagation_GPU(int ndisp_ = DEFAULT_NDISP,
int iters_ = DEFAULT_ITERS,
int levels_ = DEFAULT_LEVELS,
int msg_type_ = MSG_TYPE_AUTO,
float msg_scale = 1.0f);
//! the full constructor taking the number of disparities, number of BP iterations on each level,
//! number of levels, truncation of data cost, data weight,
//! truncation of discontinuity cost and discontinuity single jump
StereoBeliefPropagation_GPU(int ndisp_, int iters_, int levels_,
float max_data_term_, float data_weight_,
float max_disc_term_, float disc_single_jump_,
int msg_type_ = MSG_TYPE_AUTO,
float msg_scale = 1.0f);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair,
//! if disparity is empty output type will be CV_32S else output type will be disparity.type().
//! if disparity is empty output type will be CV_16S else output type will be disparity.type().
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity);
//! Acync version
@@ -404,9 +416,13 @@ namespace cv
int iters;
int levels;
float disc_cost;
float data_cost;
float lambda;
float max_data_term;
float data_weight;
float max_disc_term;
float disc_single_jump;
int msg_type;
float msg_scale;
private:
GpuMat u, d, l, r, u2, d2, l2, r2;
std::vector<GpuMat> datas;