Chiebot-Mirror
/
opencv
8
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

added methods estimateRecopmmendedParams for StereoBP and StereoCSBP

Browse Source
pull/13383/head
Andrey Morozov 15 years ago
parent 1febf345bf
commit 096080de70
3 changed files with 48 additions and 17 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 20
      modules/gpu/include/opencv2/gpu/gpu.hpp
  2. 31
      modules/gpu/src/beliefpropagation_gpu.cpp
  3. 14
      modules/gpu/src/constantspacebp_gpu.cpp

20
modules/gpu/include/opencv2/gpu/gpu.hpp
Unescape View File

@ -235,7 +235,7 @@ namespace cv
class CV_EXPORTS CudaMem class CV_EXPORTS CudaMem
{ {
public: public:
enum { ALLOC_PAGE_LOCKED = 1, ALLOC_ZEROCOPY = 2, ALLOC_WRITE_COMBINED = 4 }; enum { ALLOC_PAGE_LOCKED = 1, ALLOC_ZEROCOPY = 2, ALLOC_WRITE_COMBINED = 4 };
CudaMem(); CudaMem();
@ -266,7 +266,7 @@ namespace cv
Mat createMatHeader() const; Mat createMatHeader() const;
operator Mat() const; operator Mat() const;
//! maps host memory into device address space and returns GpuMat header for it. Throws exception if not supported by hardware. //! maps host memory into device address space and returns GpuMat header for it. Throws exception if not supported by hardware.
GpuMat createGpuMatHeader() const; GpuMat createGpuMatHeader() const;
operator GpuMat() const; operator GpuMat() const;
@ -342,7 +342,7 @@ namespace cv
}; };
////////////////////////////// Image processing ////////////////////////////// ////////////////////////////// Image processing //////////////////////////////
// DST[x,y] = SRC[xmap[x,y],ymap[x,y]] with bilinear interpolation. // DST[x,y] = SRC[xmap[x,y],ymap[x,y]] with bilinear interpolation.
// xymap.type() == xymap.type() == CV_32FC1 // xymap.type() == xymap.type() == CV_32FC1
CV_EXPORTS void remap(const GpuMat& src, const GpuMat& xmap, const GpuMat& ymap, GpuMat& dst); CV_EXPORTS void remap(const GpuMat& src, const GpuMat& xmap, const GpuMat& ymap, GpuMat& dst);
@ -376,7 +376,7 @@ namespace cv
//! the default constructor //! the default constructor
StereoBM_GPU(); StereoBM_GPU();
//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8. //! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ); StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair //! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
@ -405,7 +405,7 @@ namespace cv
}; };
////////////////////////// StereoBeliefPropagation /////////////////////////// ////////////////////////// StereoBeliefPropagation ///////////////////////////
// "Efficient Belief Propagation for Early Vision" // "Efficient Belief Propagation for Early Vision"
// P.Felzenszwalb // P.Felzenszwalb
class CV_EXPORTS StereoBeliefPropagation class CV_EXPORTS StereoBeliefPropagation
@ -415,6 +415,8 @@ namespace cv
enum { DEFAULT_ITERS = 5 }; enum { DEFAULT_ITERS = 5 };
enum { DEFAULT_LEVELS = 5 }; enum { DEFAULT_LEVELS = 5 };
static void estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels);
//! the default constructor //! the default constructor
explicit StereoBeliefPropagation(int ndisp = DEFAULT_NDISP, explicit StereoBeliefPropagation(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS, int iters = DEFAULT_ITERS,
@ -436,7 +438,7 @@ namespace cv
//! Acync version //! Acync version
void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream); void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream);
//! version for user specified data term //! version for user specified data term
void operator()(const GpuMat& data, GpuMat& disparity); void operator()(const GpuMat& data, GpuMat& disparity);
void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream); void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream);
@ -460,7 +462,7 @@ namespace cv
/////////////////////////// StereoConstantSpaceBP /////////////////////////// /////////////////////////// StereoConstantSpaceBP ///////////////////////////
// "A Constant-Space Belief Propagation Algorithm for Stereo Matching" // "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
// Qingxiong Yang, Liang Wang†, Narendra Ahuja // Qingxiong Yang, Liang Wang†, Narendra Ahuja
// http://vision.ai.uiuc.edu/~qyang6/ // http://vision.ai.uiuc.edu/~qyang6/
class CV_EXPORTS StereoConstantSpaceBP class CV_EXPORTS StereoConstantSpaceBP
@ -471,6 +473,8 @@ namespace cv
enum { DEFAULT_LEVELS = 4 }; enum { DEFAULT_LEVELS = 4 };
enum { DEFAULT_NR_PLANE = 4 }; enum { DEFAULT_NR_PLANE = 4 };
static void estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels, int & nr_plane);
//! the default constructor //! the default constructor
explicit StereoConstantSpaceBP(int ndisp = DEFAULT_NDISP, explicit StereoConstantSpaceBP(int ndisp = DEFAULT_NDISP,
int iters = DEFAULT_ITERS, int iters = DEFAULT_ITERS,
@ -524,7 +528,7 @@ namespace cv
/////////////////////////// DisparityBilateralFilter /////////////////////////// /////////////////////////// DisparityBilateralFilter ///////////////////////////
// Disparity map refinement using joint bilateral filtering given a single color image. // Disparity map refinement using joint bilateral filtering given a single color image.
// Qingxiong Yang, Liang Wang†, Narendra Ahuja // Qingxiong Yang, Liang Wang†, Narendra Ahuja
// http://vision.ai.uiuc.edu/~qyang6/ // http://vision.ai.uiuc.edu/~qyang6/
class CV_EXPORTS DisparityBilateralFilter class CV_EXPORTS DisparityBilateralFilter

31
modules/gpu/src/beliefpropagation_gpu.cpp
Unescape View File

@ -77,6 +77,19 @@ namespace
const float DEFAULT_DISC_SINGLE_JUMP = 1.0f; const float DEFAULT_DISC_SINGLE_JUMP = 1.0f;
} }
void cv::gpu::StereoBeliefPropagation::estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels)
{
ndisp = width / 4;
if (ndisp & 1 != 0) ndisp++;
int mm =::max(width, height);
iters = mm / 100 + 2;
levels = (int)(log(mm) + 1) * 4 / 5;
if (levels == 0) levels++;
}
cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int ndisp_, int iters_, int levels_, int msg_type_) cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int ndisp_, int iters_, int levels_, int msg_type_)
: ndisp(ndisp_), iters(iters_), levels(levels_), : ndisp(ndisp_), iters(iters_), levels(levels_),
max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT), max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
@ -117,7 +130,7 @@ namespace
CV_DbgAssert(left.rows == right.rows && left.cols == right.cols && left.type() == right.type()); CV_DbgAssert(left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
CV_Assert(left.type() == CV_8UC1 || left.type() == CV_8UC3); CV_Assert(left.type() == CV_8UC1 || left.type() == CV_8UC3);
rows = left.rows; rows = left.rows;
cols = left.cols; cols = left.cols;
int divisor = (int)pow(2.f, rthis.levels - 1.0f); int divisor = (int)pow(2.f, rthis.levels - 1.0f);
@ -134,14 +147,14 @@ namespace
calcBP(disp, stream); calcBP(disp, stream);
} }
void operator()(const GpuMat& data, GpuMat& disp, const cudaStream_t& stream) void operator()(const GpuMat& data, GpuMat& disp, const cudaStream_t& stream)
{ {
CV_Assert((data.type() == rthis.msg_type) && (data.rows % rthis.ndisp == 0)); CV_Assert((data.type() == rthis.msg_type) && (data.rows % rthis.ndisp == 0));
rows = data.rows / rthis.ndisp; rows = data.rows / rthis.ndisp;
cols = data.cols; cols = data.cols;
int divisor = (int)pow(2.f, rthis.levels - 1.0f); int divisor = (int)pow(2.f, rthis.levels - 1.0f);
int lowest_cols = cols / divisor; int lowest_cols = cols / divisor;
int lowest_rows = rows / divisor; int lowest_rows = rows / divisor;
@ -198,7 +211,7 @@ namespace
rows_all.resize(rthis.levels); rows_all.resize(rthis.levels);
cols_all[0] = cols; cols_all[0] = cols;
rows_all[0] = rows; rows_all[0] = rows;
} }
void calcBP(GpuMat& disp, const cudaStream_t& stream) void calcBP(GpuMat& disp, const cudaStream_t& stream)
@ -279,14 +292,14 @@ void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& left, const GpuM
impl(left, right, disp, StreamAccessor::getStream(stream)); impl(left, right, disp, StreamAccessor::getStream(stream));
} }
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp) void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp)
{ {
::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out); ::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
impl(data, disp, 0); impl(data, disp, 0);
} }
void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp, Stream& stream) void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp, Stream& stream)
{ {
::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out); ::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
impl(data, disp, StreamAccessor::getStream(stream)); impl(data, disp, StreamAccessor::getStream(stream));
} }

14
modules/gpu/src/constantspacebp_gpu.cpp
Unescape View File

@ -105,6 +105,20 @@ namespace
const float DEFAULT_DISC_SINGLE_JUMP = 10.0f; const float DEFAULT_DISC_SINGLE_JUMP = 10.0f;
} }
void cv::gpu::StereoConstantSpaceBP::estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels, int &nr_plane)
{
ndisp = (int) ((float) width / 3.14f);
if (ndisp & 1 != 0) ndisp++;
int mm = ::max(width, height);
iters = mm / 100 + ((mm > 1200)? - 4 : 4);
levels = (int)log(mm) * 2 / 3;
if (levels == 0) levels++;
nr_plane = (int) ((float) ndisp / pow(2.0, levels + 1));
}
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_, cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
int msg_type_) int msg_type_)

Write Preview
Loading…
Cancel
Save