added get_first_k_initial_global_init_global_cost in gpu::SCBP

modules/gpu/include/opencv2/gpu/gpu.hpp

@@ -235,7 +235,7 @@ namespace cv
 
         class CV_EXPORTS CudaMem
         {
-        public:            
+        public:
             enum  { ALLOC_PAGE_LOCKED = 1, ALLOC_ZEROCOPY = 2, ALLOC_WRITE_COMBINED = 4 };
 
             CudaMem();
@@ -417,7 +417,7 @@ namespace cv
             //! Acync version
             void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream);
 
-            
+
             //! version for user specified data term
             void operator()(const GpuMat& data, GpuMat& disparity);
             void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream);
@@ -486,6 +486,8 @@ namespace cv
             int min_disp_th;
 
             int msg_type;
+
+            bool use_local_init_data_cost;
         private:
             GpuMat u[2], d[2], l[2], r[2];
             GpuMat disp_selected_pyr[2];

modules/gpu/src/constantspacebp_gpu.cpp

@@ -62,10 +62,10 @@ namespace cv { namespace gpu { namespace csbp
         const DevMem2D& left, const DevMem2D& right, const DevMem2D& temp);
 
     void init_data_cost(int rows, int cols, short* disp_selected_pyr, short* data_cost_selected,
-        size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, cudaStream_t stream);
+        size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream);
 
     void init_data_cost(int rows, int cols, float* disp_selected_pyr, float* data_cost_selected,
-        size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, cudaStream_t stream);
+        size_t msg_step, int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream);
 
     void compute_data_cost(const short* disp_selected_pyr, short* data_cost, size_t msg_step1, size_t msg_step2,
         int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
@@ -111,7 +111,7 @@ cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, in
     : ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
       max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
       max_disc_term(DEFAULT_MAX_DISC_TERM), disc_single_jump(DEFAULT_DISC_SINGLE_JUMP), min_disp_th(0),
-      msg_type(msg_type_)
+      msg_type(msg_type_), use_local_init_data_cost(true)
 {
     CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
 }
@@ -122,7 +122,7 @@ cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, in
     : ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
       max_data_term(max_data_term_), data_weight(data_weight_),
       max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_), min_disp_th(min_disp_th_),
-      msg_type(msg_type_)
+      msg_type(msg_type_), use_local_init_data_cost(true)
 {
     CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
 }
@@ -131,7 +131,7 @@ template<class T>
 static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
                           GpuMat disp_selected_pyr[2], GpuMat& data_cost, GpuMat& data_cost_selected,
                           GpuMat& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp,
-                          cudaStream_t stream)
+                          bool use_local_init_data_cost, cudaStream_t stream)
 {
     CV_DbgAssert(0 < rthis.ndisp && 0 < rthis.iters && 0 < rthis.levels && 0 < rthis.nr_plane
         && left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
@@ -202,7 +202,7 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
     ////////////////////////////////////////////////////////////////////////////
     // Compute
 
-    csbp::load_constants(rthis.ndisp, rthis.max_data_term, rthis.data_weight, 
+    csbp::load_constants(rthis.ndisp, rthis.max_data_term, rthis.data_weight,
         rthis.max_disc_term, rthis.disc_single_jump, rthis.min_disp_th, left, right, temp);
 
     l[0] = zero;
@@ -225,7 +225,7 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
         if (i == levels - 1)
         {
             csbp::init_data_cost(left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<T>(), data_cost_selected.ptr<T>(),
-                step_pyr[i], rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], rthis.ndisp, left.channels(), stream);
+                step_pyr[i], rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], rthis.ndisp, left.channels(), use_local_init_data_cost, stream);
         }
         else
         {
@@ -265,20 +265,20 @@ static void csbp_operator(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2]
 typedef void (*csbp_operator_t)(StereoConstantSpaceBP& rthis, GpuMat u[2], GpuMat d[2], GpuMat l[2], GpuMat r[2],
                                      GpuMat disp_selected_pyr[2], GpuMat& data_cost, GpuMat& data_cost_selected,
                                      GpuMat& temp, GpuMat& out, const GpuMat& left, const GpuMat& right, GpuMat& disp,
-                                     cudaStream_t stream);
+                                     bool use_local_init_data_cost, cudaStream_t stream);
 
 const static csbp_operator_t operators[] = {0, 0, 0, csbp_operator<short>, 0, csbp_operator<float>, 0, 0};
 
 void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp)
 {
     CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
-    operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, 0);
+    operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, use_local_init_data_cost, 0);
 }
 
 void cv::gpu::StereoConstantSpaceBP::operator()(const GpuMat& left, const GpuMat& right, GpuMat& disp, Stream& stream)
 {
     CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
-    operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, StreamAccessor::getStream(stream));
+    operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, left, right, disp, use_local_init_data_cost,  StreamAccessor::getStream(stream));
 }
 
 #endif /* !defined (HAVE_CUDA) */