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added gpu implementation of constant space belief propagation stereo matching.

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some refactoring of StereoBeliefPropagation.
This commit is contained in:
Vladislav Vinogradov
2010-08-12 12:15:37 +00:00
parent 53057afcb8
commit ee104c27d8
5 changed files with 1226 additions and 182 deletions
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92
modules/gpu/include/opencv2/gpu/gpu.hpp
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@@ -375,34 +375,28 @@ namespace cv
GpuMat minSSD, leBuf, riBuf;
};
//////////////////////// StereoBeliefPropagation_GPU /////////////////////////
////////////////////////// StereoBeliefPropagation ///////////////////////////
class CV_EXPORTS StereoBeliefPropagation_GPU
class CV_EXPORTS StereoBeliefPropagation
{
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,
int msg_type = MSG_TYPE_AUTO,
float msg_scale = 1.0f);
explicit StereoBeliefPropagation(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS,
int levels = DEFAULT_LEVELS,
int msg_type = CV_32F);
//! 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);
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 = CV_32F);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair,
//! if disparity is empty output type will be CV_16S else output type will be disparity.type().
@@ -410,11 +404,6 @@ namespace cv
//! Acync version
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, const Stream& 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;
@@ -427,12 +416,67 @@ namespace cv
float disc_single_jump;
int msg_type;
float msg_scale;
private:
GpuMat u, d, l, r, u2, d2, l2, r2;
std::vector<GpuMat> datas;
GpuMat out;
};
};
/////////////////////////// StereoConstantSpaceBP ///////////////////////////
class CV_EXPORTS StereoConstantSpaceBP
{
public:
enum { DEFAULT_NDISP = 64 };
enum { DEFAULT_ITERS = 5 };
enum { DEFAULT_LEVELS = 5 };
enum { DEFAULT_NR_PLANE = 2 };
//! the default constructor
explicit StereoConstantSpaceBP(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS,
int levels = DEFAULT_LEVELS,
int nr_plane = DEFAULT_NR_PLANE,
int msg_type = CV_32F);
//! the full constructor taking the number of disparities, number of BP iterations on each level,
//! number of levels, number of active disparity on the first level, truncation of data cost, data weight,
//! truncation of discontinuity cost and discontinuity single jump
StereoConstantSpaceBP(int ndisp, int iters, int levels, int nr_plane,
float max_data_term, float data_weight, float max_disc_term, float disc_single_jump,
int msg_type = CV_32F);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair,
//! 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
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, const Stream& stream);
int ndisp;
int iters;
int levels;
int nr_plane;
float max_data_term;
float data_weight;
float max_disc_term;
float disc_single_jump;
int msg_type;
private:
GpuMat u[2], d[2], l[2], r[2];
GpuMat disp_selected_pyr[2];
GpuMat data_cost;
GpuMat data_cost_selected;
GpuMat temp1, temp2;
GpuMat out;
};
}
//! Speckle filtering - filters small connected components on diparity image.