Merge remote-tracking branch 'origin/2.4' into merge-2.4
Conflicts: modules/calib3d/include/opencv2/calib3d/calib3d.hpp modules/core/include/opencv2/core/core.hpp modules/core/include/opencv2/core/cuda/limits.hpp modules/core/include/opencv2/core/internal.hpp modules/core/src/matrix.cpp modules/nonfree/test/test_features2d.cpp modules/ocl/include/opencv2/ocl/ocl.hpp modules/ocl/src/hog.cpp modules/ocl/test/test_haar.cpp modules/ocl/test/test_objdetect.cpp modules/ocl/test/test_pyrup.cpp modules/ts/src/precomp.hpp samples/ocl/facedetect.cpp samples/ocl/hog.cpp samples/ocl/pyrlk_optical_flow.cpp samples/ocl/surf_matcher.cpp
This commit is contained in:
Roman Donchenko
@@ -12,56 +12,45 @@ using namespace cv;
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using namespace std;
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using namespace ocl;
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bool help_showed = false;
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struct Params
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{
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Params();
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static Params read(int argc, char** argv);
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string left;
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string right;
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string method_str() const
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{
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switch (method)
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{
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case BM: return "BM";
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case BP: return "BP";
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case CSBP: return "CSBP";
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}
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return "";
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}
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enum {BM, BP, CSBP} method;
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int ndisp; // Max disparity + 1
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enum {GPU, CPU} type;
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};
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struct App
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{
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App(const Params& p);
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App(CommandLineParser& cmd);
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void run();
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void handleKey(char key);
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void printParams() const;
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void workBegin() { work_begin = getTickCount(); }
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void workBegin()
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{
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work_begin = getTickCount();
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}
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void workEnd()
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{
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int64 d = getTickCount() - work_begin;
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double f = getTickFrequency();
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work_fps = f / d;
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}
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string method_str() const
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{
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switch (method)
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{
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case BM:
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return "BM";
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case BP:
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return "BP";
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case CSBP:
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return "CSBP";
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}
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return "";
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}
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string text() const
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{
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stringstream ss;
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ss << "(" << p.method_str() << ") FPS: " << setiosflags(ios::left)
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<< setprecision(4) << work_fps;
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ss << "(" << method_str() << ") FPS: " << setiosflags(ios::left)
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<< setprecision(4) << work_fps;
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return ss.str();
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}
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private:
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Params p;
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bool running;
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Mat left_src, right_src;
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@@ -74,42 +63,45 @@ private:
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int64 work_begin;
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double work_fps;
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};
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static void printHelp()
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{
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cout << "Usage: stereo_match_gpu\n"
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<< "\t--left <left_view> --right <right_view> # must be rectified\n"
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<< "\t--method <stereo_match_method> # BM | BP | CSBP\n"
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<< "\t--ndisp <number> # number of disparity levels\n"
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<< "\t--type <device_type> # cpu | CPU | gpu | GPU\n";
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help_showed = true;
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}
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string l_img, r_img;
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string out_img;
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enum {BM, BP, CSBP} method;
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int ndisp; // Max disparity + 1
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enum {GPU, CPU} type;
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};
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int main(int argc, char** argv)
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{
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const char* keys =
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"{ h | help | false | print help message }"
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"{ l | left | | specify left image }"
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"{ r | right | | specify right image }"
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"{ m | method | BM | specify match method(BM/BP/CSBP) }"
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"{ n | ndisp | 64 | specify number of disparity levels }"
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"{ s | cpu_ocl | false | use cpu or gpu as ocl device to process the image }"
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"{ o | output | stereo_match_output.jpg | specify output path when input is images}";
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CommandLineParser cmd(argc, argv, keys);
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if (cmd.get<bool>("help"))
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{
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cout << "Avaible options:" << endl;
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cmd.printMessage();
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return 0;
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}
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try
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{
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if (argc < 2)
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{
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printHelp();
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return 1;
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}
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App app(cmd);
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int flag = CVCL_DEVICE_TYPE_GPU;
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if(cmd.get<bool>("s") == true)
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flag = CVCL_DEVICE_TYPE_CPU;
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Params args = Params::read(argc, argv);
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if (help_showed)
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return -1;
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int flags[2] = { CVCL_DEVICE_TYPE_GPU, CVCL_DEVICE_TYPE_CPU };
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vector<Info> info;
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if(getDevice(info, flags[args.type]) == 0)
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if(getDevice(info, flag) == 0)
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{
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throw runtime_error("Error: Did not find a valid OpenCL device!");
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}
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cout << "Device name:" << info[0].DeviceName[0] << endl;
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App app(args);
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app.run();
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}
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catch (const exception& e)
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@@ -119,77 +111,39 @@ int main(int argc, char** argv)
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return 0;
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}
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Params::Params()
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{
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method = BM;
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ndisp = 64;
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type = GPU;
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}
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Params Params::read(int argc, char** argv)
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{
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Params p;
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for (int i = 1; i < argc; i++)
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{
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if (string(argv[i]) == "--left") p.left = argv[++i];
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else if (string(argv[i]) == "--right") p.right = argv[++i];
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else if (string(argv[i]) == "--method")
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{
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if (string(argv[i + 1]) == "BM") p.method = BM;
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else if (string(argv[i + 1]) == "BP") p.method = BP;
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else if (string(argv[i + 1]) == "CSBP") p.method = CSBP;
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else throw runtime_error("unknown stereo match method: " + string(argv[i + 1]));
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i++;
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}
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else if (string(argv[i]) == "--ndisp") p.ndisp = atoi(argv[++i]);
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else if (string(argv[i]) == "--type")
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{
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string t(argv[++i]);
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if (t == "cpu" || t == "CPU")
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{
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p.type = CPU;
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}
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else if (t == "gpu" || t == "GPU")
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{
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p.type = GPU;
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}
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else throw runtime_error("unknown device type: " + t);
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}
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else if (string(argv[i]) == "--help") printHelp();
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else throw runtime_error("unknown key: " + string(argv[i]));
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}
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return p;
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}
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App::App(const Params& params)
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: p(params), running(false)
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App::App(CommandLineParser& cmd)
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: running(false),method(BM)
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{
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cout << "stereo_match_ocl sample\n";
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cout << "\nControls:\n"
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<< "\tesc - exit\n"
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<< "\tp - print current parameters\n"
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<< "\tg - convert source images into gray\n"
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<< "\tm - change stereo match method\n"
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<< "\ts - change Sobel prefiltering flag (for BM only)\n"
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<< "\t1/q - increase/decrease maximum disparity\n"
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<< "\t2/w - increase/decrease window size (for BM only)\n"
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<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
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<< "\t4/r - increase/decrease level count (for BP and CSBP only)\n";
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<< "\tesc - exit\n"
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<< "\tp - print current parameters\n"
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<< "\tg - convert source images into gray\n"
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<< "\tm - change stereo match method\n"
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<< "\ts - change Sobel prefiltering flag (for BM only)\n"
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<< "\t1/q - increase/decrease maximum disparity\n"
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<< "\t2/w - increase/decrease window size (for BM only)\n"
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<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
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<< "\t4/r - increase/decrease level count (for BP and CSBP only)\n";
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l_img = cmd.get<string>("l");
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r_img = cmd.get<string>("r");
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string mstr = cmd.get<string>("m");
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if(mstr == "BM") method = BM;
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else if(mstr == "BP") method = BP;
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else if(mstr == "CSBP") method = CSBP;
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else cout << "unknown method!\n";
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ndisp = cmd.get<int>("n");
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out_img = cmd.get<string>("o");
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}
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void App::run()
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{
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// Load images
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left_src = imread(p.left);
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right_src = imread(p.right);
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if (left_src.empty()) throw runtime_error("can't open file \"" + p.left + "\"");
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if (right_src.empty()) throw runtime_error("can't open file \"" + p.right + "\"");
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left_src = imread(l_img);
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right_src = imread(r_img);
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if (left_src.empty()) throw runtime_error("can't open file \"" + l_img + "\"");
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if (right_src.empty()) throw runtime_error("can't open file \"" + r_img + "\"");
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cvtColor(left_src, left, COLOR_BGR2GRAY);
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cvtColor(right_src, right, COLOR_BGR2GRAY);
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@@ -201,14 +155,15 @@ void App::run()
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imshow("right", right);
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// Set common parameters
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bm.ndisp = p.ndisp;
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bp.ndisp = p.ndisp;
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csbp.ndisp = p.ndisp;
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bm.ndisp = ndisp;
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bp.ndisp = ndisp;
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csbp.ndisp = ndisp;
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cout << endl;
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printParams();
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running = true;
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bool written = false;
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while (running)
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{
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@@ -216,9 +171,9 @@ void App::run()
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Mat disp;
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oclMat d_disp;
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workBegin();
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switch (p.method)
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switch (method)
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{
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case Params::BM:
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case BM:
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if (d_left.channels() > 1 || d_right.channels() > 1)
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{
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cout << "BM doesn't support color images\n";
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@@ -232,25 +187,27 @@ void App::run()
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}
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bm(d_left, d_right, d_disp);
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break;
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case Params::BP:
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case BP:
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bp(d_left, d_right, d_disp);
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break;
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case Params::CSBP:
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case CSBP:
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csbp(d_left, d_right, d_disp);
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break;
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}
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ocl::finish();
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workEnd();
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// Show results
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d_disp.download(disp);
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if (p.method != Params::BM)
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workEnd();
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if (method != BM)
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{
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disp.convertTo(disp, 0);
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}
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putText(disp, text(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar::all(255));
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imshow("disparity", disp);
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if(!written)
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{
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imwrite(out_img, disp);
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written = true;
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}
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handleKey((char)waitKey(3));
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}
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}
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@@ -261,19 +218,19 @@ void App::printParams() const
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cout << "--- Parameters ---\n";
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cout << "image_size: (" << left.cols << ", " << left.rows << ")\n";
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cout << "image_channels: " << left.channels() << endl;
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cout << "method: " << p.method_str() << endl
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<< "ndisp: " << p.ndisp << endl;
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switch (p.method)
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cout << "method: " << method_str() << endl
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<< "ndisp: " << ndisp << endl;
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switch (method)
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{
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case Params::BM:
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case BM:
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cout << "win_size: " << bm.winSize << endl;
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cout << "prefilter_sobel: " << bm.preset << endl;
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break;
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case Params::BP:
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case BP:
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cout << "iter_count: " << bp.iters << endl;
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cout << "level_count: " << bp.levels << endl;
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break;
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case Params::CSBP:
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case CSBP:
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cout << "iter_count: " << csbp.iters << endl;
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cout << "level_count: " << csbp.levels << endl;
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break;
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@@ -289,11 +246,13 @@ void App::handleKey(char key)
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case 27:
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running = false;
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break;
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case 'p': case 'P':
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case 'p':
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case 'P':
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printParams();
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break;
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case 'g': case 'G':
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if (left.channels() == 1 && p.method != Params::BM)
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case 'g':
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case 'G':
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if (left.channels() == 1 && method != BM)
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{
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left = left_src;
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right = right_src;
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@@ -309,23 +268,25 @@ void App::handleKey(char key)
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imshow("left", left);
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imshow("right", right);
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break;
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case 'm': case 'M':
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switch (p.method)
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case 'm':
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case 'M':
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switch (method)
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{
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case Params::BM:
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p.method = Params::BP;
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case BM:
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method = BP;
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break;
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case Params::BP:
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p.method = Params::CSBP;
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case BP:
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method = CSBP;
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break;
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case Params::CSBP:
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p.method = Params::BM;
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case CSBP:
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method = BM;
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break;
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}
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cout << "method: " << p.method_str() << endl;
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cout << "method: " << method_str() << endl;
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break;
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case 's': case 'S':
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if (p.method == Params::BM)
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case 's':
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case 'S':
|
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if (method == BM)
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{
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switch (bm.preset)
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{
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@@ -340,76 +301,80 @@ void App::handleKey(char key)
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}
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break;
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case '1':
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p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
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cout << "ndisp: " << p.ndisp << endl;
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bm.ndisp = p.ndisp;
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bp.ndisp = p.ndisp;
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csbp.ndisp = p.ndisp;
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ndisp == 1 ? ndisp = 8 : ndisp += 8;
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cout << "ndisp: " << ndisp << endl;
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bm.ndisp = ndisp;
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bp.ndisp = ndisp;
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csbp.ndisp = ndisp;
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break;
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case 'q': case 'Q':
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p.ndisp = max(p.ndisp - 8, 1);
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cout << "ndisp: " << p.ndisp << endl;
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bm.ndisp = p.ndisp;
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bp.ndisp = p.ndisp;
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csbp.ndisp = p.ndisp;
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case 'q':
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case 'Q':
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ndisp = max(ndisp - 8, 1);
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cout << "ndisp: " << ndisp << endl;
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bm.ndisp = ndisp;
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bp.ndisp = ndisp;
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csbp.ndisp = ndisp;
|
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break;
|
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case '2':
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if (p.method == Params::BM)
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if (method == BM)
|
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{
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bm.winSize = min(bm.winSize + 1, 51);
|
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cout << "win_size: " << bm.winSize << endl;
|
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}
|
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break;
|
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case 'w': case 'W':
|
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if (p.method == Params::BM)
|
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case 'w':
|
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case 'W':
|
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if (method == BM)
|
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{
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bm.winSize = max(bm.winSize - 1, 2);
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cout << "win_size: " << bm.winSize << endl;
|
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}
|
||||
break;
|
||||
case '3':
|
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if (p.method == Params::BP)
|
||||
if (method == BP)
|
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{
|
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bp.iters += 1;
|
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cout << "iter_count: " << bp.iters << endl;
|
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}
|
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else if (p.method == Params::CSBP)
|
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else if (method == CSBP)
|
||||
{
|
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csbp.iters += 1;
|
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cout << "iter_count: " << csbp.iters << endl;
|
||||
}
|
||||
break;
|
||||
case 'e': case 'E':
|
||||
if (p.method == Params::BP)
|
||||
case 'e':
|
||||
case 'E':
|
||||
if (method == BP)
|
||||
{
|
||||
bp.iters = max(bp.iters - 1, 1);
|
||||
cout << "iter_count: " << bp.iters << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
else if (method == CSBP)
|
||||
{
|
||||
csbp.iters = max(csbp.iters - 1, 1);
|
||||
cout << "iter_count: " << csbp.iters << endl;
|
||||
}
|
||||
break;
|
||||
case '4':
|
||||
if (p.method == Params::BP)
|
||||
if (method == BP)
|
||||
{
|
||||
bp.levels += 1;
|
||||
cout << "level_count: " << bp.levels << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
else if (method == CSBP)
|
||||
{
|
||||
csbp.levels += 1;
|
||||
cout << "level_count: " << csbp.levels << endl;
|
||||
}
|
||||
break;
|
||||
case 'r': case 'R':
|
||||
if (p.method == Params::BP)
|
||||
case 'r':
|
||||
case 'R':
|
||||
if (method == BP)
|
||||
{
|
||||
bp.levels = max(bp.levels - 1, 1);
|
||||
cout << "level_count: " << bp.levels << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
else if (method == CSBP)
|
||||
{
|
||||
csbp.levels = max(csbp.levels - 1, 1);
|
||||
cout << "level_count: " << csbp.levels << endl;
|
||||
@@ -417,5 +382,3 @@ void App::handleKey(char key)
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user