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refactored StereoBM

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This commit is contained in:
Vladislav Vinogradov
2013-05-08 14:27:56 +04:00
parent 71db862dc2
commit dd6d58f873
7 changed files with 139 additions and 116 deletions
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34
samples/gpu/stereo_match.cpp
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@@ -65,7 +65,7 @@ private:
Mat left, right;
gpu::GpuMat d_left, d_right;
gpu::StereoBM_GPU bm;
Ptr<gpu::StereoBM> bm;
gpu::StereoBeliefPropagation bp;
gpu::StereoConstantSpaceBP csbp;
@@ -172,7 +172,7 @@ void App::run()
imshow("right", right);
// Set common parameters
bm.ndisp = p.ndisp;
bm = gpu::createStereoBM(p.ndisp);
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
@@ -201,7 +201,7 @@ void App::run()
imshow("left", left);
imshow("right", right);
}
bm(d_left, d_right, d_disp);
bm->compute(d_left, d_right, d_disp);
break;
case Params::BP: bp(d_left, d_right, d_disp); break;
case Params::CSBP: csbp(d_left, d_right, d_disp); break;
@@ -228,8 +228,8 @@ void App::printParams() const
switch (p.method)
{
case Params::BM:
cout << "win_size: " << bm.winSize << endl;
cout << "prefilter_sobel: " << bm.preset << endl;
cout << "win_size: " << bm->getBlockSize() << endl;
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
break;
case Params::BP:
cout << "iter_count: " << bp.iters << endl;
@@ -289,44 +289,44 @@ void App::handleKey(char key)
case 's': case 'S':
if (p.method == Params::BM)
{
switch (bm.preset)
switch (bm->getPreFilterType())
{
case gpu::StereoBM_GPU::BASIC_PRESET:
bm.preset = gpu::StereoBM_GPU::PREFILTER_XSOBEL;
case 0:
bm->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
break;
case gpu::StereoBM_GPU::PREFILTER_XSOBEL:
bm.preset = gpu::StereoBM_GPU::BASIC_PRESET;
case cv::StereoBM::PREFILTER_XSOBEL:
bm->setPreFilterType(0);
break;
}
cout << "prefilter_sobel: " << bm.preset << endl;
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
}
break;
case '1':
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp;
bm->setNumDisparities(p.ndisp);
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
break;
case 'q': case 'Q':
p.ndisp = max(p.ndisp - 8, 1);
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp;
bm->setNumDisparities(p.ndisp);
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
break;
case '2':
if (p.method == Params::BM)
{
bm.winSize = min(bm.winSize + 1, 51);
cout << "win_size: " << bm.winSize << endl;
bm->setBlockSize(min(bm->getBlockSize() + 1, 51));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case 'w': case 'W':
if (p.method == Params::BM)
{
bm.winSize = max(bm.winSize - 1, 2);
cout << "win_size: " << bm.winSize << endl;
bm->setBlockSize(max(bm->getBlockSize() - 1, 2));
cout << "win_size: " << bm->getBlockSize() << endl;
}
break;
case '3':