fixed build without cuda
This commit is contained in:
Andrey Morozov
parent
662c58ca86
commit
79e1c6f188
@ -52,11 +52,11 @@ cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int, int, int, int) {
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cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int, int, int, float, float, float, float, int) { throw_nogpu(); }
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void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
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void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat&, const GpuMat&, GpuMat&, const Stream&) { throw_nogpu(); }
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void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat&, const GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
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#else /* !defined (HAVE_CUDA) */
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namespace cv { namespace gpu { namespace bp
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namespace cv { namespace gpu { namespace bp
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{
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void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump);
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void comp_data(int msg_type, const DevMem2D& l, const DevMem2D& r, int channels, DevMem2D mdata, const cudaStream_t& stream);
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@ -75,22 +75,22 @@ namespace
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}
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cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int ndisp_, int iters_, int levels_, int msg_type_)
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: ndisp(ndisp_), iters(iters_), levels(levels_),
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max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
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max_disc_term(DEFAULT_MAX_DISC_TERM), disc_single_jump(DEFAULT_DISC_SINGLE_JUMP),
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: ndisp(ndisp_), iters(iters_), levels(levels_),
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max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
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max_disc_term(DEFAULT_MAX_DISC_TERM), disc_single_jump(DEFAULT_DISC_SINGLE_JUMP),
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msg_type(msg_type_), datas(levels_)
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{
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}
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cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int ndisp_, int iters_, int levels_, float max_data_term_, float data_weight_, float max_disc_term_, float disc_single_jump_, int msg_type_)
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: ndisp(ndisp_), iters(iters_), levels(levels_),
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max_data_term(max_data_term_), data_weight(data_weight_),
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max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_),
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: ndisp(ndisp_), iters(iters_), levels(levels_),
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max_data_term(max_data_term_), data_weight(data_weight_),
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max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_),
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msg_type(msg_type_), datas(levels_)
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{
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}
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static void stereo_bp_gpu_operator(int& ndisp, int& iters, int& levels,
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static void stereo_bp_gpu_operator(int& ndisp, int& iters, int& levels,
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float& max_data_term, float& data_weight, float& max_disc_term, float& disc_single_jump,
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int& msg_type,
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GpuMat& u, GpuMat& d, GpuMat& l, GpuMat& r,
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@ -116,7 +116,7 @@ static void stereo_bp_gpu_operator(int& ndisp, int& iters, int& levels,
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int lowest_cols = cols / divisor;
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int lowest_rows = rows / divisor;
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const int min_image_dim_size = 2;
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CV_Assert(min(lowest_cols, lowest_rows) > min_image_dim_size);
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CV_Assert(min(lowest_cols, lowest_rows) > min_image_dim_size);
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u.create(rows * ndisp, cols, msg_type);
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d.create(rows * ndisp, cols, msg_type);
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@ -200,7 +200,7 @@ static void stereo_bp_gpu_operator(int& ndisp, int& iters, int& levels,
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out = ((disp.type() == CV_16S) ? disp : GpuMat(rows, cols, CV_16S));
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out = zero;
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bp::output(msg_type, u, d, l, r, datas.front(), disp, stream);
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if (disp.type() != CV_16S)
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@ -52,12 +52,12 @@ cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int, int, int, int, int) {
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cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int, int, int, int, float, float, float, float, int, int) { throw_nogpu(); }
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void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
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void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat&, const GpuMat&, GpuMat&, const Stream&) { throw_nogpu(); }
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void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat&, const GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
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#else /* !defined (HAVE_CUDA) */
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namespace cv { namespace gpu { namespace csbp
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{
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namespace cv { namespace gpu { namespace csbp
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{
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void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th,
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const DevMem2D& left, const DevMem2D& right, const DevMem2D& temp);
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@ -72,28 +72,28 @@ namespace cv { namespace gpu { namespace csbp
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void compute_data_cost(const float* disp_selected_pyr, float* data_cost, size_t msg_step1, size_t msg_step2,
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int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
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void init_message(short* u_new, short* d_new, short* l_new, short* r_new,
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const short* u_cur, const short* d_cur, const short* l_cur, const short* r_cur,
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short* selected_disp_pyr_new, const short* selected_disp_pyr_cur,
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short* data_cost_selected, const short* data_cost, size_t msg_step1, size_t msg_step2,
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void init_message(short* u_new, short* d_new, short* l_new, short* r_new,
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const short* u_cur, const short* d_cur, const short* l_cur, const short* r_cur,
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short* selected_disp_pyr_new, const short* selected_disp_pyr_cur,
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short* data_cost_selected, const short* data_cost, size_t msg_step1, size_t msg_step2,
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int h, int w, int nr_plane, int h2, int w2, int nr_plane2, cudaStream_t stream);
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void init_message(float* u_new, float* d_new, float* l_new, float* r_new,
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const float* u_cur, const float* d_cur, const float* l_cur, const float* r_cur,
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float* selected_disp_pyr_new, const float* selected_disp_pyr_cur,
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float* data_cost_selected, const float* data_cost, size_t msg_step1, size_t msg_step2,
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void init_message(float* u_new, float* d_new, float* l_new, float* r_new,
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const float* u_cur, const float* d_cur, const float* l_cur, const float* r_cur,
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float* selected_disp_pyr_new, const float* selected_disp_pyr_cur,
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float* data_cost_selected, const float* data_cost, size_t msg_step1, size_t msg_step2,
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int h, int w, int nr_plane, int h2, int w2, int nr_plane2, cudaStream_t stream);
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void calc_all_iterations(short* u, short* d, short* l, short* r, short* data_cost_selected,
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const short* selected_disp_pyr_cur, size_t msg_step, int h, int w, int nr_plane, int iters, cudaStream_t stream);
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void calc_all_iterations(short* u, short* d, short* l, short* r, short* data_cost_selected,
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const short* selected_disp_pyr_cur, size_t msg_step, int h, int w, int nr_plane, int iters, cudaStream_t stream);
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void calc_all_iterations(float*u, float* d, float* l, float* r, float* data_cost_selected,
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void calc_all_iterations(float*u, float* d, float* l, float* r, float* data_cost_selected,
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const float* selected_disp_pyr_cur, size_t msg_step, int h, int w, int nr_plane, int iters, cudaStream_t stream);
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void compute_disp(const short* u, const short* d, const short* l, const short* r, const short* data_cost_selected, const short* disp_selected, size_t msg_step,
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void compute_disp(const short* u, const short* d, const short* l, const short* r, const short* data_cost_selected, const short* disp_selected, size_t msg_step,
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DevMem2D_<short> disp, int nr_plane, cudaStream_t stream);
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void compute_disp(const float* u, const float* d, const float* l, const float* r, const float* data_cost_selected, const float* disp_selected, size_t msg_step,
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void compute_disp(const float* u, const float* d, const float* l, const float* r, const float* data_cost_selected, const float* disp_selected, size_t msg_step,
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DevMem2D_<short> disp, int nr_plane, cudaStream_t stream);
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}}}
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@ -108,24 +108,24 @@ namespace
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cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
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int msg_type_)
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: ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
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max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
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: ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
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max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
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max_disc_term(DEFAULT_MAX_DISC_TERM), disc_single_jump(DEFAULT_DISC_SINGLE_JUMP), min_disp_th(0),
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msg_type(msg_type_)
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{
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{
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CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
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}
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cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
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float max_data_term_, float data_weight_, float max_disc_term_, float disc_single_jump_,
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int min_disp_th_, int msg_type_)
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: ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
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max_data_term(max_data_term_), data_weight(data_weight_),
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: ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
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max_data_term(max_data_term_), data_weight(data_weight_),
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max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_), min_disp_th(min_disp_th_),
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msg_type(msg_type_)
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{
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{
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CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
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}
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}
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template<class T>
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static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
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@ -133,14 +133,14 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
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GpuMat& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp,
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cudaStream_t stream)
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{
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CV_DbgAssert(0 < rthis.ndisp && 0 < rthis.iters && 0 < rthis.levels && 0 < rthis.nr_plane
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CV_DbgAssert(0 < rthis.ndisp && 0 < rthis.iters && 0 < rthis.levels && 0 < rthis.nr_plane
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&& left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
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CV_Assert(rthis.levels <= 8 && (left.type() == CV_8UC1 || left.type() == CV_8UC3));
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CV_Assert(rthis.levels <= 8 && (left.type() == CV_8UC1 || left.type() == CV_8UC3));
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const Scalar zero = Scalar::all(0);
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const float scale = (rthis.msg_type == CV_32F) ? 1.0f : 10.0f;
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////////////////////////////////////////////////////////////////////////////////////////////
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// Init
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@ -180,13 +180,13 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
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d[0].create(msg_size, DataType<T>::type);
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l[0].create(msg_size, DataType<T>::type);
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r[0].create(msg_size, DataType<T>::type);
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u[1].create(msg_size, DataType<T>::type);
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d[1].create(msg_size, DataType<T>::type);
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l[1].create(msg_size, DataType<T>::type);
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r[1].create(msg_size, DataType<T>::type);
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disp_selected_pyr[0].create(msg_size, DataType<T>::type);
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disp_selected_pyr[0].create(msg_size, DataType<T>::type);
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disp_selected_pyr[1].create(msg_size, DataType<T>::type);
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data_cost.create(data_cost_size, DataType<T>::type);
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@ -203,7 +203,7 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
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////////////////////////////////////////////////////////////////////////////
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// Compute
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csbp::load_constants(rthis.ndisp, rthis.max_data_term, scale * rthis.data_weight,
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csbp::load_constants(rthis.ndisp, rthis.max_data_term, scale * rthis.data_weight,
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scale * rthis.max_disc_term, scale * rthis.disc_single_jump, rthis.min_disp_th, left, right, temp);
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l[0] = zero;
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@ -225,12 +225,12 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
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{
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if (i == levels - 1)
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{
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csbp::init_data_cost(left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<T>(), data_cost_selected.ptr<T>(),
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csbp::init_data_cost(left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<T>(), data_cost_selected.ptr<T>(),
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step_pyr[i], rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], rthis.ndisp, left.channels(), stream);
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}
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else
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{
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csbp::compute_data_cost(disp_selected_pyr[cur_idx].ptr<T>(), data_cost.ptr<T>(), step_pyr[i], step_pyr[i+1],
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csbp::compute_data_cost(disp_selected_pyr[cur_idx].ptr<T>(), data_cost.ptr<T>(), step_pyr[i], step_pyr[i+1],
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left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
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int new_idx = (cur_idx + 1) & 1;
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@ -238,14 +238,14 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
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csbp::init_message(u[new_idx].ptr<T>(), d[new_idx].ptr<T>(), l[new_idx].ptr<T>(), r[new_idx].ptr<T>(),
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u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
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disp_selected_pyr[new_idx].ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(),
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data_cost_selected.ptr<T>(), data_cost.ptr<T>(), step_pyr[i], step_pyr[i+1], rows_pyr[i],
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data_cost_selected.ptr<T>(), data_cost.ptr<T>(), step_pyr[i], step_pyr[i+1], rows_pyr[i],
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cols_pyr[i], nr_plane_pyr[i], rows_pyr[i+1], cols_pyr[i+1], nr_plane_pyr[i+1], stream);
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cur_idx = new_idx;
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}
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csbp::calc_all_iterations(u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
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data_cost_selected.ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(), step_pyr[i],
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csbp::calc_all_iterations(u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
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data_cost_selected.ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(), step_pyr[i],
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rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], rthis.iters, stream);
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}
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@ -254,9 +254,9 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
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out = ((disp.type() == CV_16S) ? disp : GpuMat(rows, cols, CV_16S));
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out = zero;
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csbp::compute_disp(u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
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data_cost_selected.ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(), step_pyr[0], out, nr_plane_pyr[0], stream);
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csbp::compute_disp(u[cur_idx].ptr<T>(), d[cur_idx].ptr<T>(), l[cur_idx].ptr<T>(), r[cur_idx].ptr<T>(),
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data_cost_selected.ptr<T>(), disp_selected_pyr[cur_idx].ptr<T>(), step_pyr[0], out, nr_plane_pyr[0], stream);
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if (disp.type() != CV_16S)
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out.convertTo(disp, disp.type());
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@ -271,13 +271,13 @@ typedef void (*csbp_operator_t)(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMa
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const static csbp_operator_t operators[] = {0, 0, 0, csbp_operator<short>, 0, csbp_operator<float>, 0, 0};
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void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
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{
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{
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CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
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operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, 0);
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}
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void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, Stream& stream)
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{
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{
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CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
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operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, StreamAccessor::getStream(stream));
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}
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