surfelCut.cl File Reference

Macros
#define	WIN_SIZE   2

Functions
__kernel void	computeCost1 (__global float *cost, __global uchar *img, __global int *val, int cam1, int cam2, int width, int height, __global float *H)
__kernel void	computeCost2 (__global float *cost, __global uchar4 *img, __global int *val, int cam1, int cam2, int width, int height, __global float *H)
__kernel void	computeCostXYZ (__global float *val, float pi4_min, float dx, int N, int cam, int M, int width, int height, __global int *nei, __global float *A, __global float *B, __global float *C, __global uchar4 *img)
__kernel void	filterCost1 (__global float *cost, __global int *val, int width, int height)
__kernel void	filterCostXYZ (__global float *cost, __global float *val, int width, int height, int N)
__kernel void	determinePlane (__global short *idx_sel, __global float *cost_min, __global float *cost, int width, int height, int N, int offset, int M)

Macro Definition Documentation

WIN_SIZE

#define WIN_SIZE   2

Function Documentation

computeCost1()

__kernel void computeCost1	(	__global float *	cost,
		__global uchar *	img,
		__global int *	val,
		int	cam1,
		int	cam2,
		int	width,
		int	height,
		__global float *	H
	)

Compute cost volume

computeCost2()

__kernel void computeCost2	(	__global float *	cost,
		__global uchar4 *	img,
		__global int *	val,
		int	cam1,
		int	cam2,
		int	width,
		int	height,
		__global float *	H
	)

Compute cost volume

computeCostXYZ()

__kernel void computeCostXYZ	(	__global float *	val,
		float	pi4_min,
		float	dx,
		int	N,
		int	cam,
		int	M,
		int	width,
		int	height,
		__global int *	nei,
		__global float *	A,
		__global float *	B,
		__global float *	C,
		__global uchar4 *	img
	)

Compute cost volume using OpenCL

Parameters

val	output cost volume before filter
pi4_min	binding box's min location in the search direction
dx	longest bounding box depends on resolution; dx = bounding_length_max / (float)(resolution - 1);
N	search direction grid length; N = (int)((bounding_box_length) / dx) + 1;
cam	current camera
M	the number of neighbor images
width	image width
height	image height
nei	neighboring camera info
A	A = (M2) * (invM1). matrix PlaneSweepingStereo::PrepareHomography
B	B = (M2) * (t) * (pi^T) * (invM1). matrix PlaneSweepingStereo::PrepareHomography
C	C = (pi^T) * (invM1) * (m1). scalar value PlaneSweepingStereo::PrepareHomography
img	data of all images

determinePlane()

__kernel void determinePlane	(	__global short *	idx_sel,
		__global float *	cost_min,
		__global float *	cost,
		int	width,
		int	height,
		int	N,
		int	offset,
		int	M
	)

determine optimal plane index with minimum cost

Parameters

idx_sel	output index of the minimum value in cost volume
cost_min	output minimum value in cost volume
cost	cost volume after filter
width	image width
height	image height
offset	offset value of index (Set the offset according to the N)
M	the number of neighbor images

filterCost1()

__kernel void filterCost1	(	__global float *	cost,
		__global int *	val,
		int	width,
		int	height
	)

filterCostXYZ()

__kernel void filterCostXYZ	(	__global float *	cost,
		__global float *	val,
		int	width,
		int	height,
		int	N
	)

Perform cost filter

Parameters

cost	output cost volume after filter
val	cost volume before filter
width	image width
height	image height
N	search direction grid length; N = (int)((bounding_box_length) / dx) + 1;