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minor fix

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This commit is contained in:
Andrey Morozov 2010-07-29 10:28:10 +00:00
parent 9ac1741555
commit 97254a7b45
1 changed files with 24 additions and 24 deletions
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48
modules/gpu/src/beliefpropagation_gpu.cpp
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@ -75,24 +75,24 @@ namespace cv { namespace gpu { namespace impl {
}}}
cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int ndisp_, int iters_, int levels_)
: ndisp(ndisp_), iters(iters_), levels(levels_), disc_cost(DEFAULT_DISC_COST), data_cost(DEFAULT_DATA_COST), lambda(DEFAULT_LAMBDA_COST), datas(levels_)
: ndisp(ndisp_), iters(iters_), levels(levels_), disc_cost(DEFAULT_DISC_COST), data_cost(DEFAULT_DATA_COST), lambda(DEFAULT_LAMBDA_COST), datas(levels_)
{
CV_Assert(0 < ndisp);
CV_Assert(ndisp % 8 == 0);
}
cv::gpu::StereoBeliefPropagation_GPU::StereoBeliefPropagation_GPU(int ndisp_, int iters_, int levels_, float disc_cost_, float data_cost_, float lambda_)
: ndisp(ndisp_), iters(iters_), levels(levels_), disc_cost(disc_cost_), data_cost(data_cost_), lambda(lambda_), datas(levels_)
: ndisp(ndisp_), iters(iters_), levels(levels_), disc_cost(disc_cost_), data_cost(data_cost_), lambda(lambda_), datas(levels_)
{
CV_Assert(0 < ndisp);
CV_Assert(ndisp % 8 == 0);
}
static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_cost, float data_cost, float lambda,
GpuMat& u, GpuMat& d, GpuMat& l, GpuMat& r,
static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_cost, float data_cost, float lambda,
GpuMat& u, GpuMat& d, GpuMat& l, GpuMat& r,
GpuMat& u2, GpuMat& d2, GpuMat& l2, GpuMat& r2,
vector<GpuMat>& datas, GpuMat& out,
const GpuMat& left, const GpuMat& right, GpuMat& disp,
const GpuMat& left, const GpuMat& right, GpuMat& disp,
const cudaStream_t& stream)
{
CV_DbgAssert(left.cols == right.cols && left.rows == right.rows && left.type() == right.type() && left.type() == CV_8U);
@ -105,12 +105,12 @@ static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_
int divisor = (int)pow(2.f, levels - 1.0f);
int lowest_cols = cols / divisor;
int lowest_rows = rows / divisor;
const int min_image_dim_size = 20;
CV_Assert(min(lowest_cols, lowest_rows) > min_image_dim_size);
const int min_image_dim_size = 2;
CV_Assert(min(lowest_cols, lowest_rows) > min_image_dim_size);
u.create(rows * ndisp, cols, CV_32F);
d.create(rows * ndisp, cols, CV_32F);
l.create(rows * ndisp, cols, CV_32F);
u.create(rows * ndisp, cols, CV_32F);
d.create(rows * ndisp, cols, CV_32F);
l.create(rows * ndisp, cols, CV_32F);
r.create(rows * ndisp, cols, CV_32F);
if (levels & 1)
@ -136,14 +136,14 @@ static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_
u2 = zero;
d2 = zero;
l2 = zero;
r2 = zero;
r2 = zero;
}
}
}
impl::load_constants(ndisp, disc_cost, data_cost, lambda);
datas.resize(levels);
AutoBuffer<int> cols_all_buf(levels);
AutoBuffer<int> rows_all_buf(levels);
AutoBuffer<int> iters_all_buf(levels);
@ -161,7 +161,7 @@ static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_
impl::comp_data_caller(left, right, datas.front(), stream);
for (int i = 1; i < levels; i++)
for (int i = 1; i < levels; i++)
{
cols_all[i] = (cols_all[i-1] + 1)/2;
rows_all[i] = (rows_all[i-1] + 1)/2;
@ -170,28 +170,28 @@ static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_
// we reduce iters num for each next level
iters_all[i] = max(2 * iters_all[i-1] / 3, 1);
datas[i].create(rows_all[i] * ndisp, cols_all[i], CV_32F);
datas[i].create(rows_all[i] * ndisp, cols_all[i], CV_32F);
impl::data_down_kernel_caller(cols_all[i], rows_all[i], rows_all[i-1], datas[i-1], datas[i], stream);
}
DevMem2D_<float> mus[] = {u, u2};
DevMem2D_<float> mus[] = {u, u2};
DevMem2D_<float> mds[] = {d, d2};
DevMem2D_<float> mrs[] = {r, r2};
DevMem2D_<float> mrs[] = {r, r2};
DevMem2D_<float> mls[] = {l, l2};
int mem_idx = (levels & 1) ? 0 : 1;
for (int i = levels - 1; i >= 0; i--) // for lower level we have already computed messages by setting to zero
{
if (i != levels - 1)
{
if (i != levels - 1)
impl::level_up(mem_idx, cols_all[i], rows_all[i], rows_all[i+1], mus, mds, mls, mrs, stream);
impl::call_all_iterations(cols_all[i], rows_all[i], iters_all[i], mus[mem_idx], mds[mem_idx], mls[mem_idx], mrs[mem_idx], datas[i], stream);
mem_idx = (mem_idx + 1) & 1;
}
if (disp.empty())
disp.create(rows, cols, CV_32S);
@ -201,18 +201,18 @@ static void stereo_bp_gpu_operator(int ndisp, int iters, int levels, float disc_
impl::output_caller(u, d, l, r, datas.front(), disp, stream);
}
else
{
{
out.create(rows, cols, CV_32S);
out = zero;
impl::output_caller(u, d, l, r, datas.front(), out, stream);
out.convertTo(disp, disp.type());
}
}
void cv::gpu::StereoBeliefPropagation_GPU::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
{
{
::stereo_bp_gpu_operator(ndisp, iters, levels, disc_cost, data_cost, lambda, u, d, l, r, u2, d2, l2, r2, datas, out, left, right, disp, 0);
}