root/modules/cudastereo/src/stereobm.cpp

DEFINITIONS

1. createStereoBM
2. getMinDisparity
3. setMinDisparity
4. getNumDisparities
5. setNumDisparities
6. getBlockSize
7. setBlockSize
8. getSpeckleWindowSize
9. setSpeckleWindowSize
10. getSpeckleRange
11. setSpeckleRange
12. getDisp12MaxDiff
13. setDisp12MaxDiff
14. getPreFilterType
15. setPreFilterType
16. getPreFilterSize
17. setPreFilterSize
18. getPreFilterCap
19. setPreFilterCap
20. getTextureThreshold
21. setTextureThreshold
22. getUniquenessRatio
23. setUniquenessRatio
24. getSmallerBlockSize
25. setSmallerBlockSize
26. getROI1
27. setROI1
28. getROI2
29. setROI2
30. avergeTexThreshold_
31. compute
32. compute
33. createStereoBM

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#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) */