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cdata_weight always positive; fewer multiplications.

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This commit is contained in:
Aaron Denney 2014-06-24 11:09:46 -07:00
parent d848704b35
commit 1533d0448f
1 changed files with 3 additions and 3 deletions
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6
modules/cudastereo/src/cuda/stereocsbp.cu
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@ -103,7 +103,7 @@ namespace cv { namespace cuda { namespace device
{ {
static __device__ __forceinline__ float compute(const uchar* left, const uchar* right) static __device__ __forceinline__ float compute(const uchar* left, const uchar* right)
{ {
return fmin(cdata_weight * ::abs((int)*left - *right), cdata_weight * cmax_data_term); return cdata_weight * fmin( ::abs((int)*left - *right), cmax_data_term);
} }
}; };
template <> struct DataCostPerPixel<3> template <> struct DataCostPerPixel<3>
@ -114,7 +114,7 @@ namespace cv { namespace cuda { namespace device
float tg = 0.587f * ::abs((int)left[1] - right[1]); float tg = 0.587f * ::abs((int)left[1] - right[1]);
float tr = 0.299f * ::abs((int)left[2] - right[2]); float tr = 0.299f * ::abs((int)left[2] - right[2]);
return fmin(cdata_weight * (tr + tg + tb), cdata_weight * cmax_data_term); return cdata_weight * fmin(tr + tg + tb, cmax_data_term);
} }
}; };
template <> struct DataCostPerPixel<4> template <> struct DataCostPerPixel<4>
@ -128,7 +128,7 @@ namespace cv { namespace cuda { namespace device
float tg = 0.587f * ::abs((int)l.y - r.y); float tg = 0.587f * ::abs((int)l.y - r.y);
float tr = 0.299f * ::abs((int)l.z - r.z); float tr = 0.299f * ::abs((int)l.z - r.z);
return fmin(cdata_weight * (tr + tg + tb), cdata_weight * cmax_data_term); return cdata_weight * fmin(tr + tg + tb, cmax_data_term);
} }
}; };