modules/cudastereo/src/stereocsbp.cpp

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This source file includes following definitions.
estimateRecommendedParams
createStereoConstantSpaceBP
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
getNrPlane
setNrPlane
getUseLocalInitDataCost
setUseLocalInitDataCost
use_local_init_data_cost_
compute
compute
compute
createStereoConstantSpaceBP
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::StereoConstantSpaceBP::estimateRecommendedParams(int, int, int&, int&, int&, int&) { throw_no_cuda(); }

Ptr<cuda::StereoConstantSpaceBP> cv::cuda::createStereoConstantSpaceBP(int, int, int, int, int) { throw_no_cuda(); return Ptr<cuda::StereoConstantSpaceBP>(); }

#else /* !defined (HAVE_CUDA) */

#include "cuda/stereocsbp.hpp"

namespace
{
    class StereoCSBPImpl : public cuda::StereoConstantSpaceBP
    {
    public:
        StereoCSBPImpl(int ndisp, int iters, int levels, int nr_plane, 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 min_disp_th_; }
        void setMinDisparity(int minDisparity) { min_disp_th_ = 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; }

        int getNrPlane() const { return nr_plane_; }
        void setNrPlane(int nr_plane) { nr_plane_ = nr_plane; }

        bool getUseLocalInitDataCost() const { return use_local_init_data_cost_; }
        void setUseLocalInitDataCost(bool use_local_init_data_cost) { use_local_init_data_cost_ = use_local_init_data_cost; }

    private:
        int min_disp_th_;
        int ndisp_;
        int iters_;
        int levels_;
        float max_data_term_;
        float data_weight_;
        float max_disc_term_;
        float disc_single_jump_;
        int msg_type_;
        int nr_plane_;
        bool use_local_init_data_cost_;

        GpuMat mbuf_;
        GpuMat temp_;
        GpuMat outBuf_;
    };

    const float DEFAULT_MAX_DATA_TERM = 30.0f;
    const float DEFAULT_DATA_WEIGHT = 1.0f;
    const float DEFAULT_MAX_DISC_TERM = 160.0f;
    const float DEFAULT_DISC_SINGLE_JUMP = 10.0f;

    StereoCSBPImpl::StereoCSBPImpl(int ndisp, int iters, int levels, int nr_plane, int msg_type) :
        min_disp_th_(0), 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), nr_plane_(nr_plane), use_local_init_data_cost_(true)
    {
    }

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

    void StereoCSBPImpl::compute(InputArray _left, InputArray _right, OutputArray disp, Stream& _stream)
    {
        using namespace cv::cuda::device::stereocsbp;

        CV_Assert( msg_type_ == CV_32F || msg_type_ == CV_16S );
        CV_Assert( 0 < ndisp_ && 0 < iters_ && 0 < levels_ && 0 < nr_plane_ && levels_ <= 8 );

        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() );

        cudaStream_t stream = StreamAccessor::getStream(_stream);

        ////////////////////////////////////////////////////////////////////////////////////////////
        // Init

        int rows = left.rows;
        int cols = left.cols;

        levels_ = std::min(levels_, int(log((double)ndisp_) / log(2.0)));

        // compute sizes
        AutoBuffer<int> buf(levels_ * 3);
        int* cols_pyr = buf;
        int* rows_pyr = cols_pyr + levels_;
        int* nr_plane_pyr = rows_pyr + levels_;

        cols_pyr[0]     = cols;
        rows_pyr[0]     = rows;
        nr_plane_pyr[0] = nr_plane_;

        for (int i = 1; i < levels_; i++)
        {
            cols_pyr[i]     = cols_pyr[i-1] / 2;
            rows_pyr[i]     = rows_pyr[i-1] / 2;
            nr_plane_pyr[i] = nr_plane_pyr[i-1] * 2;
        }

        GpuMat u[2], d[2], l[2], r[2], disp_selected_pyr[2], data_cost, data_cost_selected;

        //allocate buffers
        int buffers_count = 10; // (up + down + left + right + disp_selected_pyr) * 2
        buffers_count += 2; //  data_cost has twice more rows than other buffers, what's why +2, not +1;
        buffers_count += 1; //  data_cost_selected
        mbuf_.create(rows * nr_plane_ * buffers_count, cols, msg_type_);

        data_cost          = mbuf_.rowRange(0, rows * nr_plane_ * 2);
        data_cost_selected = mbuf_.rowRange(data_cost.rows, data_cost.rows + rows * nr_plane_);

        for(int k = 0; k < 2; ++k) // in/out
        {
            GpuMat sub1 = mbuf_.rowRange(data_cost.rows + data_cost_selected.rows, mbuf_.rows);
            GpuMat sub2 = sub1.rowRange((k+0)*sub1.rows/2, (k+1)*sub1.rows/2);

            GpuMat *buf_ptrs[] = { &u[k], &d[k], &l[k], &r[k], &disp_selected_pyr[k] };
            for(int _r = 0; _r < 5; ++_r)
            {
                *buf_ptrs[_r] = sub2.rowRange(_r * sub2.rows/5, (_r+1) * sub2.rows/5);
                CV_DbgAssert( buf_ptrs[_r]->cols == cols && buf_ptrs[_r]->rows == rows * nr_plane_ );
            }
        };

        size_t elem_step = mbuf_.step / mbuf_.elemSize();

        Size temp_size = data_cost.size();
        if ((size_t)temp_size.area() < elem_step * rows_pyr[levels_ - 1] * ndisp_)
            temp_size = Size(static_cast<int>(elem_step), rows_pyr[levels_ - 1] * ndisp_);

        temp_.create(temp_size, msg_type_);

        ////////////////////////////////////////////////////////////////////////////
        // Compute

        l[0].setTo(0, _stream);
        d[0].setTo(0, _stream);
        r[0].setTo(0, _stream);
        u[0].setTo(0, _stream);

        l[1].setTo(0, _stream);
        d[1].setTo(0, _stream);
        r[1].setTo(0, _stream);
        u[1].setTo(0, _stream);

        data_cost.setTo(0, _stream);
        data_cost_selected.setTo(0, _stream);

        int cur_idx = 0;

        if (msg_type_ == CV_32F)
        {
            for (int i = levels_ - 1; i >= 0; i--)
            {
                if (i == levels_ - 1)
                {
                    init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.step, left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<float>(), data_cost_selected.ptr<float>(),
                        elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), data_weight_, max_data_term_, min_disp_th_, use_local_init_data_cost_, stream);
                }
                else
                {
                    compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<float>(), data_cost.ptr<float>(), elem_step,
                        left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), data_weight_, max_data_term_, min_disp_th_, stream);

                    int new_idx = (cur_idx + 1) & 1;

                    init_message(temp_.ptr<uchar>(),
                                 u[new_idx].ptr<float>(), d[new_idx].ptr<float>(), l[new_idx].ptr<float>(), r[new_idx].ptr<float>(),
                                 u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(),
                                 disp_selected_pyr[new_idx].ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(),
                                 data_cost_selected.ptr<float>(), data_cost.ptr<float>(), elem_step, rows_pyr[i],
                                 cols_pyr[i], nr_plane_pyr[i], rows_pyr[i+1], cols_pyr[i+1], nr_plane_pyr[i+1], stream);

                    cur_idx = new_idx;
                }

                calc_all_iterations(temp_.ptr<uchar>(), u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(),
                                    data_cost_selected.ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(), elem_step,
                                    rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, max_disc_term_, disc_single_jump_, stream);
            }
        }
        else
        {
            for (int i = levels_ - 1; i >= 0; i--)
            {
                if (i == levels_ - 1)
                {
                    init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.step, left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<short>(), data_cost_selected.ptr<short>(),
                        elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), data_weight_, max_data_term_, min_disp_th_, use_local_init_data_cost_, stream);
                }
                else
                {
                    compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<short>(), data_cost.ptr<short>(), elem_step,
                        left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), data_weight_, max_data_term_, min_disp_th_, stream);

                    int new_idx = (cur_idx + 1) & 1;

                    init_message(temp_.ptr<uchar>(),
                                 u[new_idx].ptr<short>(), d[new_idx].ptr<short>(), l[new_idx].ptr<short>(), r[new_idx].ptr<short>(),
                                 u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(),
                                 disp_selected_pyr[new_idx].ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(),
                                 data_cost_selected.ptr<short>(), data_cost.ptr<short>(), elem_step, rows_pyr[i],
                                 cols_pyr[i], nr_plane_pyr[i], rows_pyr[i+1], cols_pyr[i+1], nr_plane_pyr[i+1], stream);

                    cur_idx = new_idx;
                }

                calc_all_iterations(temp_.ptr<uchar>(), u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(),
                                    data_cost_selected.ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(), elem_step,
                                    rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, max_disc_term_, disc_single_jump_, stream);
            }
        }

        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);

        if (msg_type_ == CV_32F)
        {
            compute_disp(u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(),
                         data_cost_selected.ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(), elem_step, out, nr_plane_pyr[0], stream);
        }
        else
        {
            compute_disp(u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(),
                         data_cost_selected.ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(), elem_step, out, nr_plane_pyr[0], stream);
        }

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

    void StereoCSBPImpl::compute(InputArray /*data*/, OutputArray /*disparity*/, Stream& /*stream*/)
    {
        CV_Error(Error::StsNotImplemented, "Not implemented");
    }
}

Ptr<cuda::StereoConstantSpaceBP> cv::cuda::createStereoConstantSpaceBP(int ndisp, int iters, int levels, int nr_plane, int msg_type)
{
    return makePtr<StereoCSBPImpl>(ndisp, iters, levels, nr_plane, msg_type);
}

void cv::cuda::StereoConstantSpaceBP::estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane)
{
    ndisp = (int) ((float) width / 3.14f);
    if ((ndisp & 1) != 0)
        ndisp++;

    int mm = std::max(width, height);
    iters = mm / 100 + ((mm > 1200)? - 4 : 4);

    levels = (int)::log(static_cast<double>(mm)) * 2 / 3;
    if (levels == 0) levels++;

    nr_plane = (int) ((float) ndisp / std::pow(2.0, levels + 1));
}

#endif /* !defined (HAVE_CUDA) */
/* [<][>][^][v][top][bottom][index][help] */
root/modules/cudastereo/src/stereocsbp.cpp

DEFINITIONS
