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* bug fix #17

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b7c88ad
* bug fix
eshibusawa Jun 27, 2023
5d75985
* fix agin
eshibusawa Jun 27, 2023
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2 changes: 1 addition & 1 deletion stereotgv/calcTensor.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -224,7 +224,7 @@ void StereoTgv::CalcTensorMasked(float* gray, float* mask, float beta, float gam
float* a, float* b, float* c)
{
dim3 threads(BlockWidth, BlockHeight);
dim3 blocks(iDivUp(h, threads.x), iDivUp(h, threads.y));
dim3 blocks(iDivUp(w, threads.x), iDivUp(h, threads.y));

// mirror if a coordinate value is out-of-range
gray_img.addressMode[0] = cudaAddressModeMirror;
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8 changes: 4 additions & 4 deletions stereotgv/conversion.cu
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Expand Up @@ -16,16 +16,16 @@ __global__ void TgvConvertKBKernel(float2* disparity,

float u0 = (float)ix;
float v0 = (float)iy;
float xprime0 = (u0 - focalx) / cx;
float yprime0 = (v0 - focaly) / cy;
float xprime0 = (u0 - cx) / focalx;
float yprime0 = (v0 - cy) / focaly;

float u = disparity[pos].x;
float v = disparity[pos].y;

float u1 = u0 + u;
float v1 = v0 + v;
float xprime1 = (u1 - focalx) / cx;
float yprime1 = (v1 - focaly) / cy;
float xprime1 = (u1 - cx) / focalx;
float yprime1 = (v1 - cy) / focaly;

// Newton-Raphson Method Frame 0
float ru0 = sqrtf(xprime0 * xprime0 + yprime0 * yprime0);
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6 changes: 3 additions & 3 deletions stereotgv/medianFilter.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ __global__ void TgvMedianFilterKernel3(float* u, float* v,
}

float tmpu, tmpv;
for (int j = 0; j < 9; j++) {
for (int j = 0; j < 5; j++) {
for (int i = j + 1; i < 9; i++) {
if (mu[j] > mu[i]) {
//Swap the variables.
Expand Down Expand Up @@ -357,7 +357,7 @@ __global__ void TgvMedianFilterDisparityKernel3(float* u,
}

float tmpu, tmpv;
for (int j = 0; j < 9; j++) {
for (int j = 0; j < 5; j++) {
for (int i = j + 1; i < 9; i++) {
if (mu[j] > mu[i]) {
//Swap the variables.
Expand Down Expand Up @@ -490,7 +490,7 @@ __global__ void TgvMedianFilterDisparityMaskedKernel3(float* u, float* mask,
}

float tmpu, tmpv;
for (int j = 0; j < 9; j++) {
for (int j = 0; j < 5; j++) {
for (int i = j + 1; i < 9; i++) {
if (mu[j] > mu[i]) {
//Swap the variables.
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4 changes: 2 additions & 2 deletions stereotgv/stereotgv.cu
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Expand Up @@ -181,9 +181,9 @@ int StereoTgv::loadVectorFields(cv::Mat translationVector, cv::Mat calibrationVe

checkCudaErrors(cudaMemcpy(d_tvForward, (float2 *)translationVectorPad.ptr(), dataSize32fc2, cudaMemcpyHostToDevice));

pTvForward[0] = d_tvForward;
ScalarMultiply(d_tvForward, -1.0f, width, height, stride, d_tvBackward);
pTvBackward[0] = d_tvBackward;
Swap(pTvForward[0], d_tvForward);
Swap(pTvBackward[0], d_tvBackward);
for (int level = 1; level < nLevels; level++) {
//std::cout << "vectorfields " << pW[level] << " " << pH[level] << " " << pS[level] << std::endl;
Downscale(pTvForward[level - 1], pW[level - 1], pH[level - 1], pS[level - 1],
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2 changes: 1 addition & 1 deletion stereotgv/updatePrimalVariables.cu
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Expand Up @@ -235,7 +235,7 @@ void TgvUpdatePrimalVariablesMaskedKernel(float* mask, float* u_, float2* v_, fl
vpos.y = v_pos.y + (tau / eta_v2s) * (alpha1 * dq_tensor.y + alpha0 * div_q.y);
}
else {
vpos.x = v_pos.x + (tau) * (alpha1 * dq_tensor.x + alpha0 * div_q.x);
vpos.y = v_pos.y + (tau) * (alpha1 * dq_tensor.y + alpha0 * div_q.y);
}
v[pos] = vpos;

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