third_party/opencv
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

minor fix for StereoCSBP data cost compute kernel and test

Browse Source
This commit is contained in:
Vladislav Vinogradov
2014-10-23 19:33:19 +04:00
parent 5c07e0b6d3
commit 84f33d0578
2 changed files with 11 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/gpu/src/cuda/stereocsbp.cu
+10 -4
View File
@@ -103,16 +103,22 @@ namespace cv { namespace gpu { namespace device
{
static __device__ __forceinline__ float compute(const uchar* left, const uchar* right)
{
return fmin(cdata_weight * ::abs((int)*left - *right), cdata_weight * cmax_data_term);
int l = *(left);
int r = *(right);
return fmin(cdata_weight * ::abs(l - r), cdata_weight * cmax_data_term);
}
};
template <> struct DataCostPerPixel<3>
{
static __device__ __forceinline__ float compute(const uchar* left, const uchar* right)
{
float tb = 0.114f * ::abs((int)left[0] - right[0]);
float tg = 0.587f * ::abs((int)left[1] - right[1]);
float tr = 0.299f * ::abs((int)left[2] - right[2]);
uchar3 l = *((const uchar3*)left);
uchar3 r = *((const uchar3*)right);
float tb = 0.114f * ::abs((int)l.x - r.x);
float tg = 0.587f * ::abs((int)l.y - r.y);
float tr = 0.299f * ::abs((int)l.z - r.z);
return fmin(cdata_weight * (tr + tg + tb), cdata_weight * cmax_data_term);
}