sgm.cl File Reference

Functions
__kernel void	evaluate_path_ocl (__global float *prior_cost, __global float *local_cost, float path_intensity_gradient, __global float *curr_cost, int width, int height, int disp_range, int d, float PENALTY1, float PENALTY2)
__kernel void	iterate_direction_dirxpos_ocl (int dirx, __global uchar *left_image, __global float *costs, __global float *accumulated_costs, int width, int height, int disp_range, float PENALTY1, float PENALTY2)
__kernel void	iterate_direction_dirypos_ocl (int diry, __global uchar *left_image, __global float *costs, __global float *accumulated_costs, int width, int height, int disp_range, float PENALTY1, float PENALTY2)
__kernel void	iterate_direction_dirxneg_ocl (int dirx, __global uchar *left_image, __global float *costs, __global float *accumulated_costs, int width, int height, int disp_range, float PENALTY1, float PENALTY2)
__kernel void	iterate_direction_diryneg_ocl (int diry, __global uchar *left_image, __global float *costs, __global float *accumulated_costs, int width, int height, int disp_range, float PENALTY1, float PENALTY2)
__kernel void	inplace_sum_views_ocl (__global float *im1, __global float *im2, int width, int dispRange)

Function Documentation

evaluate_path_ocl()

__kernel void evaluate_path_ocl	(	__global float *	prior_cost,
		__global float *	local_cost,
		float	path_intensity_gradient,
		__global float *	curr_cost,
		int	width,
		int	height,
		int	disp_range,
		int	d,
		float	PENALTY1,
		float	PENALTY2
	)

Evaluate the current path cost

Parameters

prior_cost	The acculumated cost along the considered path
local_cost	The current local cost
path_intensity_gradient	The current path intensity difference
curr_cost	The current accumulated cost
width	The image width
height	The image height
disp_range	The stereo disparity search range
d	The current disparity
PENALTY1	The small penalty hyperparameter for accumualated cost
PENALTY2	The big penalty hyperparameter for accumualated cost

inplace_sum_views_ocl()

__kernel void inplace_sum_views_ocl	(	__global float *	im1,
		__global float *	im2,
		int	width,
		int	dispRange
	)

Compute the final sum cost based on the cost stored before through traversing optimal direction

Parameters

im1	The final accumulated datacost
im2	The compute cost from semi-global matching
width	The image width
disp_range	The stereo disparity search range

iterate_direction_dirxneg_ocl()

__kernel void iterate_direction_dirxneg_ocl	(	int	dirx,
		__global uchar *	left_image,
		__global float *	costs,
		__global float *	accumulated_costs,
		int	width,
		int	height,
		int	disp_range,
		float	PENALTY1,
		float	PENALTY2
	)

Dynamically iterate horizontally (x-direction) in the left direction (negative)

Parameters

dirx	The x direction value
left_image	The left input image
costs	The initial 3D datacost
accumulated_costs	The accumulated datacost along the traversed path
width	The image width
height	The image height
disp_range	The stereo disparity search range
PENALTY1	The small penalty hyperparameter for accumualated cost
PENALTY2	The big penalty hyperparameter for accumualated cost

iterate_direction_dirxpos_ocl()

__kernel void iterate_direction_dirxpos_ocl	(	int	dirx,
		__global uchar *	left_image,
		__global float *	costs,
		__global float *	accumulated_costs,
		int	width,
		int	height,
		int	disp_range,
		float	PENALTY1,
		float	PENALTY2
	)

Dynamically iterate horizontally (x-direction) in the right direction (positive)

Parameters

dirx	The x direction value
left_image	The left input image
costs	The initial 3D datacost
accumulated_costs	The accumulated datacost along the traversed path
width	The image width
height	The image height
disp_range	The stereo disparity search range
PENALTY1	The small penalty hyperparameter for accumualated cost
PENALTY2	The big penalty hyperparameter for accumualated cost

iterate_direction_diryneg_ocl()

__kernel void iterate_direction_diryneg_ocl	(	int	diry,
		__global uchar *	left_image,
		__global float *	costs,
		__global float *	accumulated_costs,
		int	width,
		int	height,
		int	disp_range,
		float	PENALTY1,
		float	PENALTY2
	)

Dynamically iterate vertically (y-direction) in the up direction (negative)

Parameters

diry	The y direction value
left_image	The left input image
costs	The initial 3D datacost
accumulated_costs	The accumulated datacost along the traversed path
width	The image width
height	The image height
disp_range	The stereo disparity search range
PENALTY1	The small penalty hyperparameter for accumualated cost
PENALTY2	The big penalty hyperparameter for accumualated cost

iterate_direction_dirypos_ocl()

__kernel void iterate_direction_dirypos_ocl	(	int	diry,
		__global uchar *	left_image,
		__global float *	costs,
		__global float *	accumulated_costs,
		int	width,
		int	height,
		int	disp_range,
		float	PENALTY1,
		float	PENALTY2
	)

Dynamically iterate vertically (y-direction) in the down direction (positive)

Parameters

diry	The y direction value
left_image	The left input image
costs	The initial 3D datacost
accumulated_costs	The accumulated datacost along the traversed path
width	The image width
height	The image height
disp_range	The stereo disparity search range
PENALTY1	The small penalty hyperparameter for accumualated cost
PENALTY2	The big penalty hyperparameter for accumualated cost