1793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler/*M/////////////////////////////////////////////////////////////////////////////////////// 2793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 3793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 5793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// By downloading, copying, installing or using the software you agree to this license. 6793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// If you do not agree to this license, do not download, install, 7793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// copy or use the software. 8793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 9793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 10793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// License Agreement 11793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// For Open Source Computer Vision Library 12793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 13793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// Third party copyrights are property of their respective owners. 16793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 17793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// Redistribution and use in source and binary forms, with or without modification, 18793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// are permitted provided that the following conditions are met: 19793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 20793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// * Redistribution's of source code must retain the above copyright notice, 21793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// this list of conditions and the following disclaimer. 22793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 23793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// * Redistribution's in binary form must reproduce the above copyright notice, 24793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// this list of conditions and the following disclaimer in the documentation 25793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// and/or other materials provided with the distribution. 26793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 27793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// * The name of the copyright holders may not be used to endorse or promote products 28793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// derived from this software without specific prior written permission. 29793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 30793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// This software is provided by the copyright holders and contributors "as is" and 31793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// any express or implied warranties, including, but not limited to, the implied 32793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// warranties of merchantability and fitness for a particular purpose are disclaimed. 33793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// In no event shall the Intel Corporation or contributors be liable for any direct, 34793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// indirect, incidental, special, exemplary, or consequential damages 35793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// (including, but not limited to, procurement of substitute goods or services; 36793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// loss of use, data, or profits; or business interruption) however caused 37793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// and on any theory of liability, whether in contract, strict liability, 38793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// or tort (including negligence or otherwise) arising in any way out of 39793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// the use of this software, even if advised of the possibility of such damage. 40793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler// 41793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler//M*/ 42793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 43793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler#include "precomp.hpp" 44793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 45793ee12c6df9cad3806238d32528c49a3ff9331dNoah Preslerusing namespace cv; 46793ee12c6df9cad3806238d32528c49a3ff9331dNoah Preslerusing namespace cv::cuda; 47793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 48793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) 49793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 50793ee12c6df9cad3806238d32528c49a3ff9331dNoah Preslervoid cv::cuda::StereoConstantSpaceBP::estimateRecommendedParams(int, int, int&, int&, int&, int&) { throw_no_cuda(); } 51793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 52793ee12c6df9cad3806238d32528c49a3ff9331dNoah PreslerPtr<cuda::StereoConstantSpaceBP> cv::cuda::createStereoConstantSpaceBP(int, int, int, int, int) { throw_no_cuda(); return Ptr<cuda::StereoConstantSpaceBP>(); } 53793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 54793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler#else /* !defined (HAVE_CUDA) */ 55793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 56793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler#include "cuda/stereocsbp.hpp" 57793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 58793ee12c6df9cad3806238d32528c49a3ff9331dNoah Preslernamespace 59793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler{ 60793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler class StereoCSBPImpl : public cuda::StereoConstantSpaceBP 61793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 62793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler public: 63793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler StereoCSBPImpl(int ndisp, int iters, int levels, int nr_plane, int msg_type); 64793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 65793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void compute(InputArray left, InputArray right, OutputArray disparity); 66793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream); 67793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void compute(InputArray data, OutputArray disparity, Stream& stream); 68793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 69793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getMinDisparity() const { return min_disp_th_; } 70793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setMinDisparity(int minDisparity) { min_disp_th_ = minDisparity; } 71793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 72793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getNumDisparities() const { return ndisp_; } 73793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setNumDisparities(int numDisparities) { ndisp_ = numDisparities; } 74793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 75793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getBlockSize() const { return 0; } 76793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setBlockSize(int /*blockSize*/) {} 77793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 78793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getSpeckleWindowSize() const { return 0; } 79793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setSpeckleWindowSize(int /*speckleWindowSize*/) {} 80793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 81793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getSpeckleRange() const { return 0; } 82793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setSpeckleRange(int /*speckleRange*/) {} 83793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 84793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getDisp12MaxDiff() const { return 0; } 85793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setDisp12MaxDiff(int /*disp12MaxDiff*/) {} 86793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 87793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getNumIters() const { return iters_; } 88793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setNumIters(int iters) { iters_ = iters; } 89793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 90793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getNumLevels() const { return levels_; } 91793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setNumLevels(int levels) { levels_ = levels; } 92793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 93793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler double getMaxDataTerm() const { return max_data_term_; } 94793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setMaxDataTerm(double max_data_term) { max_data_term_ = (float) max_data_term; } 95793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 96793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler double getDataWeight() const { return data_weight_; } 97793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setDataWeight(double data_weight) { data_weight_ = (float) data_weight; } 98793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 99793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler double getMaxDiscTerm() const { return max_disc_term_; } 100793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setMaxDiscTerm(double max_disc_term) { max_disc_term_ = (float) max_disc_term; } 101793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 102793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler double getDiscSingleJump() const { return disc_single_jump_; } 103793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setDiscSingleJump(double disc_single_jump) { disc_single_jump_ = (float) disc_single_jump; } 104793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 105793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getMsgType() const { return msg_type_; } 106793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setMsgType(int msg_type) { msg_type_ = msg_type; } 107793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 108793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int getNrPlane() const { return nr_plane_; } 109793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setNrPlane(int nr_plane) { nr_plane_ = nr_plane; } 110793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 111793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler bool getUseLocalInitDataCost() const { return use_local_init_data_cost_; } 112793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void setUseLocalInitDataCost(bool use_local_init_data_cost) { use_local_init_data_cost_ = use_local_init_data_cost; } 113793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 114793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler private: 115793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int min_disp_th_; 116793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int ndisp_; 117793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int iters_; 118793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int levels_; 119793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler float max_data_term_; 120793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler float data_weight_; 121793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler float max_disc_term_; 122793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler float disc_single_jump_; 123793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int msg_type_; 124793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int nr_plane_; 125793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler bool use_local_init_data_cost_; 126793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 127793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat mbuf_; 128793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat temp_; 129793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat outBuf_; 130793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler }; 131793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 132793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler const float DEFAULT_MAX_DATA_TERM = 30.0f; 133793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler const float DEFAULT_DATA_WEIGHT = 1.0f; 134793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler const float DEFAULT_MAX_DISC_TERM = 160.0f; 135793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler const float DEFAULT_DISC_SINGLE_JUMP = 10.0f; 136793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 137793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler StereoCSBPImpl::StereoCSBPImpl(int ndisp, int iters, int levels, int nr_plane, int msg_type) : 138793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler min_disp_th_(0), ndisp_(ndisp), iters_(iters), levels_(levels), 139793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler max_data_term_(DEFAULT_MAX_DATA_TERM), data_weight_(DEFAULT_DATA_WEIGHT), 140793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler max_disc_term_(DEFAULT_MAX_DISC_TERM), disc_single_jump_(DEFAULT_DISC_SINGLE_JUMP), 141793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler msg_type_(msg_type), nr_plane_(nr_plane), use_local_init_data_cost_(true) 142793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 143793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 144793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 145793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void StereoCSBPImpl::compute(InputArray left, InputArray right, OutputArray disparity) 146793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 147793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler compute(left, right, disparity, Stream::Null()); 148793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 149793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 150793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void StereoCSBPImpl::compute(InputArray _left, InputArray _right, OutputArray disp, Stream& _stream) 151793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 152793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler using namespace cv::cuda::device::stereocsbp; 153793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 154793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler CV_Assert( msg_type_ == CV_32F || msg_type_ == CV_16S ); 155793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler CV_Assert( 0 < ndisp_ && 0 < iters_ && 0 < levels_ && 0 < nr_plane_ && levels_ <= 8 ); 156793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 157793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat left = _left.getGpuMat(); 158793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat right = _right.getGpuMat(); 159793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 160793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler CV_Assert( left.type() == CV_8UC1 || left.type() == CV_8UC3 || left.type() == CV_8UC4 ); 161793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler CV_Assert( left.size() == right.size() && left.type() == right.type() ); 162793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 163793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler cudaStream_t stream = StreamAccessor::getStream(_stream); 164793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 165793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler //////////////////////////////////////////////////////////////////////////////////////////// 166793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler // Init 167793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 168793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int rows = left.rows; 169793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int cols = left.cols; 170793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 171793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler levels_ = std::min(levels_, int(log((double)ndisp_) / log(2.0))); 172793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 173793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler // compute sizes 174793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler AutoBuffer<int> buf(levels_ * 3); 175793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int* cols_pyr = buf; 176793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int* rows_pyr = cols_pyr + levels_; 177793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int* nr_plane_pyr = rows_pyr + levels_; 178793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 179793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler cols_pyr[0] = cols; 180793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler rows_pyr[0] = rows; 181793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler nr_plane_pyr[0] = nr_plane_; 182793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 183793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler for (int i = 1; i < levels_; i++) 184793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 185793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler cols_pyr[i] = cols_pyr[i-1] / 2; 186793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler rows_pyr[i] = rows_pyr[i-1] / 2; 187793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler nr_plane_pyr[i] = nr_plane_pyr[i-1] * 2; 188793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 189793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 190793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat u[2], d[2], l[2], r[2], disp_selected_pyr[2], data_cost, data_cost_selected; 191793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 192793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler //allocate buffers 193793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int buffers_count = 10; // (up + down + left + right + disp_selected_pyr) * 2 194793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler buffers_count += 2; // data_cost has twice more rows than other buffers, what's why +2, not +1; 195793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler buffers_count += 1; // data_cost_selected 196793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler mbuf_.create(rows * nr_plane_ * buffers_count, cols, msg_type_); 197793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 198793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost = mbuf_.rowRange(0, rows * nr_plane_ * 2); 199793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost_selected = mbuf_.rowRange(data_cost.rows, data_cost.rows + rows * nr_plane_); 200793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 201793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler for(int k = 0; k < 2; ++k) // in/out 202793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 203793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat sub1 = mbuf_.rowRange(data_cost.rows + data_cost_selected.rows, mbuf_.rows); 204793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat sub2 = sub1.rowRange((k+0)*sub1.rows/2, (k+1)*sub1.rows/2); 205793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 206793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat *buf_ptrs[] = { &u[k], &d[k], &l[k], &r[k], &disp_selected_pyr[k] }; 207793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler for(int _r = 0; _r < 5; ++_r) 208793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 209793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler *buf_ptrs[_r] = sub2.rowRange(_r * sub2.rows/5, (_r+1) * sub2.rows/5); 210793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler CV_DbgAssert( buf_ptrs[_r]->cols == cols && buf_ptrs[_r]->rows == rows * nr_plane_ ); 211793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 212793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler }; 213793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 214793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler size_t elem_step = mbuf_.step / mbuf_.elemSize(); 215793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 216793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler Size temp_size = data_cost.size(); 217793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler if ((size_t)temp_size.area() < elem_step * rows_pyr[levels_ - 1] * ndisp_) 218793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler temp_size = Size(static_cast<int>(elem_step), rows_pyr[levels_ - 1] * ndisp_); 219793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 220793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler temp_.create(temp_size, msg_type_); 221793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 222793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler //////////////////////////////////////////////////////////////////////////// 223793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler // Compute 224793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 225793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler l[0].setTo(0, _stream); 226793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler d[0].setTo(0, _stream); 227793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler r[0].setTo(0, _stream); 228793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler u[0].setTo(0, _stream); 229793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 230793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler l[1].setTo(0, _stream); 231793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler d[1].setTo(0, _stream); 232793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler r[1].setTo(0, _stream); 233793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler u[1].setTo(0, _stream); 234793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 235793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost.setTo(0, _stream); 236793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost_selected.setTo(0, _stream); 237793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 238793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int cur_idx = 0; 239793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 240793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler if (msg_type_ == CV_32F) 241793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 242793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler for (int i = levels_ - 1; i >= 0; i--) 243793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 244793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler if (i == levels_ - 1) 245793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 246793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 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>(), 247793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 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); 248793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 249793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler else 250793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 251793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<float>(), data_cost.ptr<float>(), elem_step, 252793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 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); 253793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 254793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int new_idx = (cur_idx + 1) & 1; 255793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 256793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler init_message(temp_.ptr<uchar>(), 257793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler u[new_idx].ptr<float>(), d[new_idx].ptr<float>(), l[new_idx].ptr<float>(), r[new_idx].ptr<float>(), 258793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(), 259793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler disp_selected_pyr[new_idx].ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(), 260793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost_selected.ptr<float>(), data_cost.ptr<float>(), elem_step, rows_pyr[i], 261793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler cols_pyr[i], nr_plane_pyr[i], rows_pyr[i+1], cols_pyr[i+1], nr_plane_pyr[i+1], stream); 262793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 263793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler cur_idx = new_idx; 264793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 265793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 266793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 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>(), 267793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost_selected.ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(), elem_step, 268793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, max_disc_term_, disc_single_jump_, stream); 269793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 270793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 271793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler else 272793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 273793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler for (int i = levels_ - 1; i >= 0; i--) 274793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 275793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler if (i == levels_ - 1) 276793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 277793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 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>(), 278793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 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); 279793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 280793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler else 281793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 282793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<short>(), data_cost.ptr<short>(), elem_step, 283793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 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); 284793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 285793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int new_idx = (cur_idx + 1) & 1; 286793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 287793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler init_message(temp_.ptr<uchar>(), 288793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler u[new_idx].ptr<short>(), d[new_idx].ptr<short>(), l[new_idx].ptr<short>(), r[new_idx].ptr<short>(), 289793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(), 290793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler disp_selected_pyr[new_idx].ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(), 291793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost_selected.ptr<short>(), data_cost.ptr<short>(), elem_step, rows_pyr[i], 292793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler cols_pyr[i], nr_plane_pyr[i], rows_pyr[i+1], cols_pyr[i+1], nr_plane_pyr[i+1], stream); 293793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 294793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler cur_idx = new_idx; 295793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 296793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 297793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 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>(), 298793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost_selected.ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(), elem_step, 299793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, max_disc_term_, disc_single_jump_, stream); 300793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 301793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 302793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 303793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler const int dtype = disp.fixedType() ? disp.type() : CV_16SC1; 304793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 305793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler disp.create(rows, cols, dtype); 306793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler GpuMat out = disp.getGpuMat(); 307793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 308793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler if (dtype != CV_16SC1) 309793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 310793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler outBuf_.create(rows, cols, CV_16SC1); 311793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler out = outBuf_; 312793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 313793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 314793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler out.setTo(0, _stream); 315793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 316793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler if (msg_type_ == CV_32F) 317793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 318793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler compute_disp(u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(), 319793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost_selected.ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(), elem_step, out, nr_plane_pyr[0], stream); 320793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 321793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler else 322793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 323793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler compute_disp(u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(), 324793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler data_cost_selected.ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(), elem_step, out, nr_plane_pyr[0], stream); 325793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 326793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 327793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler if (dtype != CV_16SC1) 328793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler out.convertTo(disp, dtype, _stream); 329793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 330793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 331793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler void StereoCSBPImpl::compute(InputArray /*data*/, OutputArray /*disparity*/, Stream& /*stream*/) 332793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler { 333793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler CV_Error(Error::StsNotImplemented, "Not implemented"); 334793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler } 335793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler} 336793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 337793ee12c6df9cad3806238d32528c49a3ff9331dNoah PreslerPtr<cuda::StereoConstantSpaceBP> cv::cuda::createStereoConstantSpaceBP(int ndisp, int iters, int levels, int nr_plane, int msg_type) 338793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler{ 339793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler return makePtr<StereoCSBPImpl>(ndisp, iters, levels, nr_plane, msg_type); 340793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler} 341793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 342793ee12c6df9cad3806238d32528c49a3ff9331dNoah Preslervoid cv::cuda::StereoConstantSpaceBP::estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane) 343793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler{ 344793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler ndisp = (int) ((float) width / 3.14f); 345793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler if ((ndisp & 1) != 0) 346793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler ndisp++; 347793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 348793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler int mm = std::max(width, height); 349793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler iters = mm / 100 + ((mm > 1200)? - 4 : 4); 350793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 351793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler levels = (int)::log(static_cast<double>(mm)) * 2 / 3; 352793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler if (levels == 0) levels++; 353793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 354793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler nr_plane = (int) ((float) ndisp / std::pow(2.0, levels + 1)); 355793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler} 356793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler 357793ee12c6df9cad3806238d32528c49a3ff9331dNoah Presler#endif /* !defined (HAVE_CUDA) */ 358