bool SemiglobalLabMatcher::update() { WriteGuard<ReadWritePipe<FloatImage, FloatImage> > wguard(m_wpipe); FloatImage leftImg, rightImg; if ( m_lrpipe->read(&leftImg) && m_rrpipe->read(&rightImg) ) { Dim dsiDim(leftImg.dim().width(), leftImg.dim().height(), m_maxDisparity); float *leftImg_d = leftImg.devMem(); float *rightImg_d = rightImg.devMem(); FloatImage dispImage = FloatImage::CreateDev( Dim(dsiDim.width(), dsiDim.height())); cudaPitchedPtr aggregDSI = m_aggregDSI.mem(dsiDim); SGPath *paths = m_sgPaths.getDescDev(dispImage.dim()); SemiGlobalLabDevRun(dsiDim, paths, m_sgPaths.pathCount(), leftImg_d, rightImg_d, aggregDSI, dispImage.devMem(), m_zeroAggregDSI); m_zeroAggregDSI = false; dispImage.cpuMem(); wguard.write(dispImage); } return wguard.wasWrite(); }
TDV_NAMESPACE_BEGIN FloatImage MedianFilterCPU::updateImpl(FloatImage input) { const Dim dim = input.dim(); CvMat *image = input.cpuMem(); FloatImage output = FloatImage::CreateCPU(dim); CvMat *img_output = output.cpuMem(); cvSmooth(image, img_output, CV_GAUSSIAN, 5); return output; }