modules/cudastereo/src/stereobp.cpp

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This source file includes following definitions.
estimateRecommendedParams
createStereoBeliefPropagation
getMinDisparity
setMinDisparity
getNumDisparities
setNumDisparities
getBlockSize
setBlockSize
getSpeckleWindowSize
setSpeckleWindowSize
getSpeckleRange
setSpeckleRange
getDisp12MaxDiff
setDisp12MaxDiff
getNumIters
setNumIters
getNumLevels
setNumLevels
getMaxDataTerm
setMaxDataTerm
getDataWeight
setDataWeight
getMaxDiscTerm
setMaxDiscTerm
getDiscSingleJump
setDiscSingleJump
getMsgType
setMsgType
msg_type_
compute
compute
compute
init
calcBP
createStereoBeliefPropagation
estimateRecommendedParams
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#include "precomp.hpp"

using namespace cv;
using namespace cv::cuda;

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

void cv::cuda::StereoBeliefPropagation::estimateRecommendedParams(int, int, int&, int&, int&) { throw_no_cuda(); }

Ptr<cuda::StereoBeliefPropagation> cv::cuda::createStereoBeliefPropagation(int, int, int, int) { throw_no_cuda(); return Ptr<cuda::StereoBeliefPropagation>(); }

#else /* !defined (HAVE_CUDA) */

namespace cv { namespace cuda { namespace device
{
    namespace stereobp
    {
        void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump);
        template<typename T, typename D>
        void comp_data_gpu(const PtrStepSzb& left, const PtrStepSzb& right, const PtrStepSzb& data, cudaStream_t stream);
        template<typename T>
        void data_step_down_gpu(int dst_cols, int dst_rows, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
        template <typename T>
        void level_up_messages_gpu(int dst_idx, int dst_cols, int dst_rows, int src_rows, PtrStepSzb* mus, PtrStepSzb* mds, PtrStepSzb* mls, PtrStepSzb* mrs, cudaStream_t stream);
        template <typename T>
        void calc_all_iterations_gpu(int cols, int rows, int iters, const PtrStepSzb& u, const PtrStepSzb& d,
            const PtrStepSzb& l, const PtrStepSzb& r, const PtrStepSzb& data, cudaStream_t stream);
        template <typename T>
        void output_gpu(const PtrStepSzb& u, const PtrStepSzb& d, const PtrStepSzb& l, const PtrStepSzb& r, const PtrStepSzb& data,
            const PtrStepSz<short>& disp, cudaStream_t stream);
    }
}}}

namespace
{
    class StereoBPImpl : public cuda::StereoBeliefPropagation
    {
    public:
        StereoBPImpl(int ndisp, int iters, int levels, int msg_type);

        void compute(InputArray left, InputArray right, OutputArray disparity);
        void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream);
        void compute(InputArray data, 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 0; }
        void setBlockSize(int /*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 getNumIters() const { return iters_; }
        void setNumIters(int iters) { iters_ = iters; }

        int getNumLevels() const { return levels_; }
        void setNumLevels(int levels) { levels_ = levels; }

        double getMaxDataTerm() const { return max_data_term_; }
        void setMaxDataTerm(double max_data_term) { max_data_term_ = (float) max_data_term; }

        double getDataWeight() const { return data_weight_; }
        void setDataWeight(double data_weight) { data_weight_ = (float) data_weight; }

        double getMaxDiscTerm() const { return max_disc_term_; }
        void setMaxDiscTerm(double max_disc_term) { max_disc_term_ = (float) max_disc_term; }

        double getDiscSingleJump() const { return disc_single_jump_; }
        void setDiscSingleJump(double disc_single_jump) { disc_single_jump_ = (float) disc_single_jump; }

        int getMsgType() const { return msg_type_; }
        void setMsgType(int msg_type) { msg_type_ = msg_type; }

    private:
        void init(Stream& stream);
        void calcBP(OutputArray disp, Stream& stream);

        int ndisp_;
        int iters_;
        int levels_;
        float max_data_term_;
        float data_weight_;
        float max_disc_term_;
        float disc_single_jump_;
        int msg_type_;

        float scale_;
        int rows_, cols_;
        std::vector<int> cols_all_, rows_all_;
        GpuMat u_, d_, l_, r_, u2_, d2_, l2_, r2_;
        std::vector<GpuMat> datas_;
        GpuMat outBuf_;
    };

    const float DEFAULT_MAX_DATA_TERM = 10.0f;
    const float DEFAULT_DATA_WEIGHT = 0.07f;
    const float DEFAULT_MAX_DISC_TERM = 1.7f;
    const float DEFAULT_DISC_SINGLE_JUMP = 1.0f;

    StereoBPImpl::StereoBPImpl(int ndisp, int iters, int levels, int msg_type) :
        ndisp_(ndisp), iters_(iters), levels_(levels),
        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),
        msg_type_(msg_type)
    {
    }

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

    void StereoBPImpl::compute(InputArray _left, InputArray _right, OutputArray disparity, Stream& stream)
    {
        using namespace cv::cuda::device::stereobp;

        typedef void (*comp_data_t)(const PtrStepSzb& left, const PtrStepSzb& right, const PtrStepSzb& data, cudaStream_t stream);
        static const comp_data_t comp_data_callers[2][5] =
        {
            {0, comp_data_gpu<unsigned char, short>, 0, comp_data_gpu<uchar3, short>, comp_data_gpu<uchar4, short>},
            {0, comp_data_gpu<unsigned char, float>, 0, comp_data_gpu<uchar3, float>, comp_data_gpu<uchar4, float>}
        };

        scale_ = msg_type_ == CV_32F ? 1.0f : 10.0f;

        CV_Assert( 0 < ndisp_ && 0 < iters_ && 0 < levels_ );
        CV_Assert( msg_type_ == CV_32F || msg_type_ == CV_16S );
        CV_Assert( msg_type_ == CV_32F || (1 << (levels_ - 1)) * scale_ * max_data_term_ < std::numeric_limits<short>::max() );

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

        CV_Assert( left.type() == CV_8UC1 || left.type() == CV_8UC3 || left.type() == CV_8UC4 );
        CV_Assert( left.size() == right.size() && left.type() == right.type() );

        rows_ = left.rows;
        cols_ = left.cols;

        const int divisor = (int) pow(2.f, levels_ - 1.0f);
        const int lowest_cols = cols_ / divisor;
        const int lowest_rows = rows_ / divisor;
        const int min_image_dim_size = 2;
        CV_Assert( std::min(lowest_cols, lowest_rows) > min_image_dim_size );

        init(stream);

        datas_[0].create(rows_ * ndisp_, cols_, msg_type_);

        comp_data_callers[msg_type_ == CV_32F][left.channels()](left, right, datas_[0], StreamAccessor::getStream(stream));

        calcBP(disparity, stream);
    }

    void StereoBPImpl::compute(InputArray _data, OutputArray disparity, Stream& stream)
    {
        scale_ = msg_type_ == CV_32F ? 1.0f : 10.0f;

        CV_Assert( 0 < ndisp_ && 0 < iters_ && 0 < levels_ );
        CV_Assert( msg_type_ == CV_32F || msg_type_ == CV_16S );
        CV_Assert( msg_type_ == CV_32F || (1 << (levels_ - 1)) * scale_ * max_data_term_ < std::numeric_limits<short>::max() );

        GpuMat data = _data.getGpuMat();

        CV_Assert( (data.type() == msg_type_) && (data.rows % ndisp_ == 0) );

        rows_ = data.rows / ndisp_;
        cols_ = data.cols;

        const int divisor = (int) pow(2.f, levels_ - 1.0f);
        const int lowest_cols = cols_ / divisor;
        const int lowest_rows = rows_ / divisor;
        const int min_image_dim_size = 2;
        CV_Assert( std::min(lowest_cols, lowest_rows) > min_image_dim_size );

        init(stream);

        data.copyTo(datas_[0], stream);

        calcBP(disparity, stream);
    }

    void StereoBPImpl::init(Stream& stream)
    {
        using namespace cv::cuda::device::stereobp;

        u_.create(rows_ * ndisp_, cols_, msg_type_);
        d_.create(rows_ * ndisp_, cols_, msg_type_);
        l_.create(rows_ * ndisp_, cols_, msg_type_);
        r_.create(rows_ * ndisp_, cols_, msg_type_);

        if (levels_ & 1)
        {
            //can clear less area
            u_.setTo(0, stream);
            d_.setTo(0, stream);
            l_.setTo(0, stream);
            r_.setTo(0, stream);
        }

        if (levels_ > 1)
        {
            int less_rows = (rows_ + 1) / 2;
            int less_cols = (cols_ + 1) / 2;

            u2_.create(less_rows * ndisp_, less_cols, msg_type_);
            d2_.create(less_rows * ndisp_, less_cols, msg_type_);
            l2_.create(less_rows * ndisp_, less_cols, msg_type_);
            r2_.create(less_rows * ndisp_, less_cols, msg_type_);

            if ((levels_ & 1) == 0)
            {
                u2_.setTo(0, stream);
                d2_.setTo(0, stream);
                l2_.setTo(0, stream);
                r2_.setTo(0, stream);
            }
        }

        load_constants(ndisp_, max_data_term_, scale_ * data_weight_, scale_ * max_disc_term_, scale_ * disc_single_jump_);

        datas_.resize(levels_);

        cols_all_.resize(levels_);
        rows_all_.resize(levels_);

        cols_all_[0] = cols_;
        rows_all_[0] = rows_;
    }

    void StereoBPImpl::calcBP(OutputArray disp, Stream& _stream)
    {
        using namespace cv::cuda::device::stereobp;

        typedef void (*data_step_down_t)(int dst_cols, int dst_rows, int src_rows, const PtrStepSzb& src, const PtrStepSzb& dst, cudaStream_t stream);
        static const data_step_down_t data_step_down_callers[2] =
        {
            data_step_down_gpu<short>, data_step_down_gpu<float>
        };

        typedef void (*level_up_messages_t)(int dst_idx, int dst_cols, int dst_rows, int src_rows, PtrStepSzb* mus, PtrStepSzb* mds, PtrStepSzb* mls, PtrStepSzb* mrs, cudaStream_t stream);
        static const level_up_messages_t level_up_messages_callers[2] =
        {
            level_up_messages_gpu<short>, level_up_messages_gpu<float>
        };

        typedef void (*calc_all_iterations_t)(int cols, int rows, int iters, const PtrStepSzb& u, const PtrStepSzb& d, const PtrStepSzb& l, const PtrStepSzb& r, const PtrStepSzb& data, cudaStream_t stream);
        static const calc_all_iterations_t calc_all_iterations_callers[2] =
        {
            calc_all_iterations_gpu<short>, calc_all_iterations_gpu<float>
        };

        typedef void (*output_t)(const PtrStepSzb& u, const PtrStepSzb& d, const PtrStepSzb& l, const PtrStepSzb& r, const PtrStepSzb& data, const PtrStepSz<short>& disp, cudaStream_t stream);
        static const output_t output_callers[2] =
        {
            output_gpu<short>, output_gpu<float>
        };

        const int funcIdx = msg_type_ == CV_32F;

        cudaStream_t stream = StreamAccessor::getStream(_stream);

        for (int i = 1; i < levels_; ++i)
        {
            cols_all_[i] = (cols_all_[i-1] + 1) / 2;
            rows_all_[i] = (rows_all_[i-1] + 1) / 2;

            datas_[i].create(rows_all_[i] * ndisp_, cols_all_[i], msg_type_);

            data_step_down_callers[funcIdx](cols_all_[i], rows_all_[i], rows_all_[i-1], datas_[i-1], datas_[i], stream);
        }

        PtrStepSzb mus[] = {u_, u2_};
        PtrStepSzb mds[] = {d_, d2_};
        PtrStepSzb mrs[] = {r_, r2_};
        PtrStepSzb mls[] = {l_, l2_};

        int mem_idx = (levels_ & 1) ? 0 : 1;

        for (int i = levels_ - 1; i >= 0; --i)
        {
            // for lower level we have already computed messages by setting to zero
            if (i != levels_ - 1)
                level_up_messages_callers[funcIdx](mem_idx, cols_all_[i], rows_all_[i], rows_all_[i+1], mus, mds, mls, mrs, stream);

            calc_all_iterations_callers[funcIdx](cols_all_[i], rows_all_[i], iters_, mus[mem_idx], mds[mem_idx], mls[mem_idx], mrs[mem_idx], datas_[i], stream);

            mem_idx = (mem_idx + 1) & 1;
        }

        const int dtype = disp.fixedType() ? disp.type() : CV_16SC1;

        disp.create(rows_, cols_, dtype);
        GpuMat out = disp.getGpuMat();

        if (dtype != CV_16SC1)
        {
            outBuf_.create(rows_, cols_, CV_16SC1);
            out = outBuf_;
        }

        out.setTo(0, _stream);

        output_callers[funcIdx](u_, d_, l_, r_, datas_.front(), out, stream);

        if (dtype != CV_16SC1)
            out.convertTo(disp, dtype, _stream);
    }
}

Ptr<cuda::StereoBeliefPropagation> cv::cuda::createStereoBeliefPropagation(int ndisp, int iters, int levels, int msg_type)
{
    return makePtr<StereoBPImpl>(ndisp, iters, levels, msg_type);
}

void cv::cuda::StereoBeliefPropagation::estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels)
{
    ndisp = width / 4;
    if ((ndisp & 1) != 0)
        ndisp++;

    int mm = std::max(width, height);
    iters = mm / 100 + 2;

    levels = (int)(::log(static_cast<double>(mm)) + 1) * 4 / 5;
    if (levels == 0) levels++;
}

#endif /* !defined (HAVE_CUDA) */
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root/modules/cudastereo/src/stereobp.cpp

DEFINITIONS
