stereobm.cpp 7.11 KB
Newer Older
wester committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185
/*M///////////////////////////////////////////////////////////////////////////////////////
//
//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
//  By downloading, copying, installing or using the software you agree to this license.
//  If you do not agree to this license, do not download, install,
//  copy or use the software.
//
//
//                           License Agreement
//                For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistribution's of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//
//   * Redistribution's in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
//   * The name of the copyright holders may not be used to endorse or promote products
//     derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/

#include "precomp.hpp"

using namespace cv;
using namespace cv::cuda;

#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)

Ptr<cuda::StereoBM> cv::cuda::createStereoBM(int, int) { throw_no_cuda(); return Ptr<cuda::StereoBM>(); }

#else /* !defined (HAVE_CUDA) */

namespace cv { namespace cuda { namespace device
{
    namespace stereobm
    {
        void stereoBM_CUDA(const PtrStepSzb& left, const PtrStepSzb& right, const PtrStepSzb& disp, int ndisp, int winsz, const PtrStepSz<unsigned int>& minSSD_buf, cudaStream_t & stream);
        void prefilter_xsobel(const PtrStepSzb& input, const PtrStepSzb& output, int prefilterCap /*= 31*/, cudaStream_t & stream);
        void postfilter_textureness(const PtrStepSzb& input, int winsz, float avgTexturenessThreshold, const PtrStepSzb& disp, cudaStream_t & stream);
    }
}}}

namespace
{
    class StereoBMImpl : public cuda::StereoBM
    {
    public:
        StereoBMImpl(int numDisparities, int blockSize);

        void compute(InputArray left, InputArray right, OutputArray disparity);
        void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream);

        int getMinDisparity() const { return 0; }
        void setMinDisparity(int /*minDisparity*/) {}

        int getNumDisparities() const { return ndisp_; }
        void setNumDisparities(int numDisparities) { ndisp_ = numDisparities; }

        int getBlockSize() const { return winSize_; }
        void setBlockSize(int blockSize) { winSize_ = blockSize; }

        int getSpeckleWindowSize() const { return 0; }
        void setSpeckleWindowSize(int /*speckleWindowSize*/) {}

        int getSpeckleRange() const { return 0; }
        void setSpeckleRange(int /*speckleRange*/) {}

        int getDisp12MaxDiff() const { return 0; }
        void setDisp12MaxDiff(int /*disp12MaxDiff*/) {}

        int getPreFilterType() const { return preset_; }
        void setPreFilterType(int preFilterType) { preset_ = preFilterType; }

        int getPreFilterSize() const { return 0; }
        void setPreFilterSize(int /*preFilterSize*/) {}

        int getPreFilterCap() const { return preFilterCap_; }
        void setPreFilterCap(int preFilterCap) { preFilterCap_ = preFilterCap; }

        int getTextureThreshold() const { return static_cast<int>(avergeTexThreshold_); }
        void setTextureThreshold(int textureThreshold) { avergeTexThreshold_ = static_cast<float>(textureThreshold); }

        int getUniquenessRatio() const { return 0; }
        void setUniquenessRatio(int /*uniquenessRatio*/) {}

        int getSmallerBlockSize() const { return 0; }
        void setSmallerBlockSize(int /*blockSize*/){}

        Rect getROI1() const { return Rect(); }
        void setROI1(Rect /*roi1*/) {}

        Rect getROI2() const { return Rect(); }
        void setROI2(Rect /*roi2*/) {}

    private:
        int preset_;
        int ndisp_;
        int winSize_;
        int preFilterCap_;
        float avergeTexThreshold_;

        GpuMat minSSD_, leBuf_, riBuf_;
    };

    StereoBMImpl::StereoBMImpl(int numDisparities, int blockSize)
        : preset_(0), ndisp_(numDisparities), winSize_(blockSize), preFilterCap_(31), avergeTexThreshold_(3)
    {
    }

    void StereoBMImpl::compute(InputArray left, InputArray right, OutputArray disparity)
    {
        compute(left, right, disparity, Stream::Null());
    }

    void StereoBMImpl::compute(InputArray _left, InputArray _right, OutputArray _disparity, Stream& _stream)
    {
        using namespace ::cv::cuda::device::stereobm;

        const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
        CV_Assert( 0 < ndisp_ && ndisp_ <= max_supported_ndisp );
        CV_Assert( ndisp_ % 8 == 0 );
        CV_Assert( winSize_ % 2 == 1 );

        GpuMat left = _left.getGpuMat();
        GpuMat right = _right.getGpuMat();

        CV_Assert( left.type() == CV_8UC1 );
        CV_Assert( left.size() == right.size() && left.type() == right.type() );

        _disparity.create(left.size(), CV_8UC1);
        GpuMat disparity = _disparity.getGpuMat();

        cudaStream_t stream = StreamAccessor::getStream(_stream);

        cuda::ensureSizeIsEnough(left.size(), CV_32SC1, minSSD_);

        PtrStepSzb le_for_bm =  left;
        PtrStepSzb ri_for_bm = right;

        if (preset_ == cv::StereoBM::PREFILTER_XSOBEL)
        {
            cuda::ensureSizeIsEnough(left.size(), left.type(), leBuf_);
            cuda::ensureSizeIsEnough(right.size(), right.type(), riBuf_);

            prefilter_xsobel( left, leBuf_, preFilterCap_, stream);
            prefilter_xsobel(right, riBuf_, preFilterCap_, stream);

            le_for_bm = leBuf_;
            ri_for_bm = riBuf_;
        }

        stereoBM_CUDA(le_for_bm, ri_for_bm, disparity, ndisp_, winSize_, minSSD_, stream);

        if (avergeTexThreshold_ > 0)
            postfilter_textureness(le_for_bm, winSize_, avergeTexThreshold_, disparity, stream);
    }
}

Ptr<cuda::StereoBM> cv::cuda::createStereoBM(int numDisparities, int blockSize)
{
    return makePtr<StereoBMImpl>(numDisparities, blockSize);
}

#endif /* !defined (HAVE_CUDA) */