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42
43#include "precomp.hpp"
44
45using namespace cv;
46using namespace cv::cuda;
47
48#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
49
50Ptr<cuda::StereoBM> cv::cuda::createStereoBM(int, int) { throw_no_cuda(); return Ptr<cuda::StereoBM>(); }
51
52#else /* !defined (HAVE_CUDA) */
53
54namespace cv { namespace cuda { namespace device
55{
56    namespace stereobm
57    {
58        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);
59        void prefilter_xsobel(const PtrStepSzb& input, const PtrStepSzb& output, int prefilterCap /*= 31*/, cudaStream_t & stream);
60        void postfilter_textureness(const PtrStepSzb& input, int winsz, float avgTexturenessThreshold, const PtrStepSzb& disp, cudaStream_t & stream);
61    }
62}}}
63
64namespace
65{
66    class StereoBMImpl : public cuda::StereoBM
67    {
68    public:
69        StereoBMImpl(int numDisparities, int blockSize);
70
71        void compute(InputArray left, InputArray right, OutputArray disparity);
72        void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream);
73
74        int getMinDisparity() const { return 0; }
75        void setMinDisparity(int /*minDisparity*/) {}
76
77        int getNumDisparities() const { return ndisp_; }
78        void setNumDisparities(int numDisparities) { ndisp_ = numDisparities; }
79
80        int getBlockSize() const { return winSize_; }
81        void setBlockSize(int blockSize) { winSize_ = blockSize; }
82
83        int getSpeckleWindowSize() const { return 0; }
84        void setSpeckleWindowSize(int /*speckleWindowSize*/) {}
85
86        int getSpeckleRange() const { return 0; }
87        void setSpeckleRange(int /*speckleRange*/) {}
88
89        int getDisp12MaxDiff() const { return 0; }
90        void setDisp12MaxDiff(int /*disp12MaxDiff*/) {}
91
92        int getPreFilterType() const { return preset_; }
93        void setPreFilterType(int preFilterType) { preset_ = preFilterType; }
94
95        int getPreFilterSize() const { return 0; }
96        void setPreFilterSize(int /*preFilterSize*/) {}
97
98        int getPreFilterCap() const { return preFilterCap_; }
99        void setPreFilterCap(int preFilterCap) { preFilterCap_ = preFilterCap; }
100
101        int getTextureThreshold() const { return static_cast<int>(avergeTexThreshold_); }
102        void setTextureThreshold(int textureThreshold) { avergeTexThreshold_ = static_cast<float>(textureThreshold); }
103
104        int getUniquenessRatio() const { return 0; }
105        void setUniquenessRatio(int /*uniquenessRatio*/) {}
106
107        int getSmallerBlockSize() const { return 0; }
108        void setSmallerBlockSize(int /*blockSize*/){}
109
110        Rect getROI1() const { return Rect(); }
111        void setROI1(Rect /*roi1*/) {}
112
113        Rect getROI2() const { return Rect(); }
114        void setROI2(Rect /*roi2*/) {}
115
116    private:
117        int preset_;
118        int ndisp_;
119        int winSize_;
120        int preFilterCap_;
121        float avergeTexThreshold_;
122
123        GpuMat minSSD_, leBuf_, riBuf_;
124    };
125
126    StereoBMImpl::StereoBMImpl(int numDisparities, int blockSize)
127        : preset_(0), ndisp_(numDisparities), winSize_(blockSize), preFilterCap_(31), avergeTexThreshold_(3)
128    {
129    }
130
131    void StereoBMImpl::compute(InputArray left, InputArray right, OutputArray disparity)
132    {
133        compute(left, right, disparity, Stream::Null());
134    }
135
136    void StereoBMImpl::compute(InputArray _left, InputArray _right, OutputArray _disparity, Stream& _stream)
137    {
138        using namespace ::cv::cuda::device::stereobm;
139
140        const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
141        CV_Assert( 0 < ndisp_ && ndisp_ <= max_supported_ndisp );
142        CV_Assert( ndisp_ % 8 == 0 );
143        CV_Assert( winSize_ % 2 == 1 );
144
145        GpuMat left = _left.getGpuMat();
146        GpuMat right = _right.getGpuMat();
147
148        CV_Assert( left.type() == CV_8UC1 );
149        CV_Assert( left.size() == right.size() && left.type() == right.type() );
150
151        _disparity.create(left.size(), CV_8UC1);
152        GpuMat disparity = _disparity.getGpuMat();
153
154        cudaStream_t stream = StreamAccessor::getStream(_stream);
155
156        cuda::ensureSizeIsEnough(left.size(), CV_32SC1, minSSD_);
157
158        PtrStepSzb le_for_bm =  left;
159        PtrStepSzb ri_for_bm = right;
160
161        if (preset_ == cv::StereoBM::PREFILTER_XSOBEL)
162        {
163            cuda::ensureSizeIsEnough(left.size(), left.type(), leBuf_);
164            cuda::ensureSizeIsEnough(right.size(), right.type(), riBuf_);
165
166            prefilter_xsobel( left, leBuf_, preFilterCap_, stream);
167            prefilter_xsobel(right, riBuf_, preFilterCap_, stream);
168
169            le_for_bm = leBuf_;
170            ri_for_bm = riBuf_;
171        }
172
173        stereoBM_CUDA(le_for_bm, ri_for_bm, disparity, ndisp_, winSize_, minSSD_, stream);
174
175        if (avergeTexThreshold_ > 0)
176            postfilter_textureness(le_for_bm, winSize_, avergeTexThreshold_, disparity, stream);
177    }
178}
179
180Ptr<cuda::StereoBM> cv::cuda::createStereoBM(int numDisparities, int blockSize)
181{
182    return makePtr<StereoBMImpl>(numDisparities, blockSize);
183}
184
185#endif /* !defined (HAVE_CUDA) */
186