From 75def740e3936da3ad297f90a6212aaacb4b7688 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sun, 24 May 2020 20:10:35 +0300
Subject: [PATCH] Iterate over many focal points
---
lib/libstereo/src/algorithms/clustersf.cu | 23 ++++++++++++++---------
1 file changed, 14 insertions(+), 9 deletions(-)
diff --git a/lib/libstereo/src/algorithms/clustersf.cu b/lib/libstereo/src/algorithms/clustersf.cu
index 0ab9900ef..f6c944548 100644
--- a/lib/libstereo/src/algorithms/clustersf.cu
+++ b/lib/libstereo/src/algorithms/clustersf.cu
@@ -38,21 +38,26 @@ void StereoCSF::compute(cv::InputArray l, cv::InputArray r, cv::OutputArray disp
mat2gray(l, impl_->l);
mat2gray(r, impl_->r);
- short2 focal_pt = {short(1000), short(800)};
+ Array2D<float> disp_array(l.cols(), l.rows());
+ disp_array.toGpuMat().setTo(cv::Scalar(0.0f));
- SalientGradient sgl = {focal_pt, 1000, impl_->l.data(), impl_->gl.data(), impl_->temp.data(), impl_->buckets_l.data(), impl_->l.width, impl_->l.height};
- parallel1DWarpSM(sgl, l.rows(), l.cols());
SalientGradientGrouped sgr = {impl_->r.data(), impl_->gr.data(), impl_->temp.data(), impl_->buckets_r.data(), impl_->r.width, impl_->r.height};
parallel1DWarpSM(sgr, r.rows(), r.cols());
- impl_->focal.toGpuMat().setTo(cv::Scalar(0));
+ for (int fx = 200; fx < l.cols()-200; fx += 50) {
+ for (int fy = 200; fy < l.rows()-200; fy += 50) {
+ short2 focal_pt = {short(fx), short(fy)};
+ SalientGradient sgl = {focal_pt, 1000, impl_->l.data(), impl_->gl.data(), impl_->temp.data(), impl_->buckets_l.data(), impl_->l.width, impl_->l.height};
+ parallel1DWarpSM(sgl, l.rows(), l.cols());
+ impl_->focal.toGpuMat().setTo(cv::Scalar(0));
- FocalCluster fc = {focal_pt, impl_->buckets_l.data(), impl_->buckets_r.data(), impl_->focal.data(), 1024};
- parallel1DWarp(fc, l.rows(), 1);
+ FocalCluster fc = {focal_pt, impl_->buckets_l.data(), impl_->buckets_r.data(), impl_->focal.data(), 1024};
+ parallel1DWarp(fc, l.rows(), 1);
- Array2D<float> disp_array(l.cols(), l.rows());
- FocalSelector fs = {focal_pt, impl_->buckets_l.data(), impl_->buckets_r.data(), impl_->focal.data(), disp_array.data(), 1024};
- parallel1DWarp(fs, l.rows(), 1);
+ FocalSelector fs = {focal_pt, impl_->buckets_l.data(), impl_->buckets_r.data(), impl_->focal.data(), disp_array.data(), 1024};
+ parallel1DWarp(fs, l.rows(), 1);
+ }
+ }
disp_array.toGpuMat().download(disparity);
--
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