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minor fix for StereoCSBP data cost compute kernel and test

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(cherry picked from commit 84f33d0578d3a836c8384608363ef5e2c24030fa)
This commit is contained in:
Vladislav Vinogradov 2014-10-23 19:33:19 +04:00 committed by Alexander Smorkalov
parent d579d3e596
commit a26e496d00
2 changed files with 11 additions and 5 deletions
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14
modules/gpu/src/cuda/stereocsbp.cu
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@ -103,16 +103,22 @@ namespace cv { namespace gpu { namespace device
{
static __device__ __forceinline__ float compute(const uchar* left, const uchar* right)
{
return fmin(cdata_weight * ::abs((int)*left - *right), cdata_weight * cmax_data_term);
int l = *(left);
int r = *(right);
return fmin(cdata_weight * ::abs(l - r), cdata_weight * cmax_data_term);
}
};
template <> struct DataCostPerPixel<3>
{
static __device__ __forceinline__ float compute(const uchar* left, const uchar* right)
{
float tb = 0.114f * ::abs((int)left[0] - right[0]);
float tg = 0.587f * ::abs((int)left[1] - right[1]);
float tr = 0.299f * ::abs((int)left[2] - right[2]);
uchar3 l = *((const uchar3*)left);
uchar3 r = *((const uchar3*)right);
float tb = 0.114f * ::abs((int)l.x - r.x);
float tg = 0.587f * ::abs((int)l.y - r.y);
float tr = 0.299f * ::abs((int)l.z - r.z);
return fmin(cdata_weight * (tr + tg + tb), cdata_weight * cmax_data_term);
}

2
modules/gpu/test/test_calib3d.cpp
View File

@ -158,7 +158,7 @@ GPU_TEST_P(StereoConstantSpaceBP, Regression)
cv::Mat h_disp(disp);
h_disp.convertTo(h_disp, disp_gold.depth());
EXPECT_MAT_NEAR(disp_gold, h_disp, 1.0);
EXPECT_MAT_SIMILAR(disp_gold, h_disp, 1e-4);
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoConstantSpaceBP, ALL_DEVICES);