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implemented asynchronous call for StereoBeliefPropagation_GPU

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Vladislav Vinogradov
2010-07-29 07:20:35 +00:00
parent 70a2c8f50a
commit 84f51332dd
3 changed files with 138 additions and 49 deletions
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27
modules/gpu/include/opencv2/gpu/gpu.hpp
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@@ -379,19 +379,26 @@ namespace cv
enum { DEFAULT_ITERS = 5 };
enum { DEFAULT_LEVELS = 5 };
static const float DEFAULT_DISC_COST;
static const float DEFAULT_DATA_COST;
static const float DEFAULT_LAMBDA_COST;
explicit StereoBeliefPropagation_GPU(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS,
int levels = DEFAULT_LEVELS,
float disc_cost = DEFAULT_DISC_COST,
float data_cost = DEFAULT_DATA_COST,
float lambda = DEFAULT_LAMBDA_COST);
//! 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);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
//! Output disparity has CV_8U type.
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity);
//! Acync version
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, const CudaStream& stream);
//! Some heuristics that tries to estmate
//! if current GPU will be faster then CPU in this algorithm.
//! It queries current active device.
static bool checkIfGpuCallReasonable();
int ndisp;
int iters;