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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other GpuMaterials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
using namespace cv;
using namespace cv::gpu;
#if !defined (HAVE_CUDA)
cv::gpu::StereoBM_GPU::StereoBM_GPU() { throw_nogpu(); }
cv::gpu::StereoBM_GPU::StereoBM_GPU(int, int, int) { throw_nogpu(); }
bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable() { throw_nogpu(); return false; }
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat&, const GpuMat&, GpuMat&, const Stream&) { throw_nogpu(); }
#else /* !defined (HAVE_CUDA) */
namespace cv { namespace gpu
{
namespace bm
{
//extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int ndisp, int winsz, const DevMem2D_<uint>& minSSD_buf);
extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int ndisp, int winsz, const DevMem2D_<uint>& minSSD_buf, cudaStream_t & stream);
extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap /*= 31*/, cudaStream_t & stream);
extern "C" void postfilter_textureness(const DevMem2D& input, int winsz, float avgTexturenessThreshold, const DevMem2D& disp, cudaStream_t & stream);
}
}}
const float defaultAvgTexThreshold = 3;
cv::gpu::StereoBM_GPU::StereoBM_GPU()
: preset(BASIC_PRESET), ndisp(DEFAULT_NDISP), winSize(DEFAULT_WINSZ), avergeTexThreshold(defaultAvgTexThreshold) {}
cv::gpu::StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_, int winSize_)
: preset(preset_), ndisp(ndisparities_), winSize(winSize_), avergeTexThreshold(defaultAvgTexThreshold)
{
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);
}
bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable()
{
if (0 == getCudaEnabledDeviceCount())
return false;
DeviceInfo device_info;
if (device_info.majorVersion() > 1 || device_info.multiProcessorCount() > 16)
return true;
return false;
}
static void stereo_bm_gpu_operator ( GpuMat& minSSD, GpuMat& leBuf, GpuMat& riBuf, int preset, int ndisp, int winSize, float avergeTexThreshold, const GpuMat& left, const GpuMat& right, GpuMat& disparity, cudaStream_t stream)
{
CV_DbgAssert(left.rows == right.rows && left.cols == right.cols);
CV_DbgAssert(left.type() == CV_8UC1);
CV_DbgAssert(right.type() == CV_8UC1);
disparity.create(left.size(), CV_8U);
minSSD.create(left.size(), CV_32S);
GpuMat le_for_bm = left;
GpuMat ri_for_bm = right;
if (preset == StereoBM_GPU::PREFILTER_XSOBEL)
{
leBuf.create( left.size(), left.type());
riBuf.create(right.size(), right.type());
bm::prefilter_xsobel( left, leBuf, 31, stream);
bm::prefilter_xsobel(right, riBuf, 31, stream);
le_for_bm = leBuf;
ri_for_bm = riBuf;
}
bm::stereoBM_GPU(le_for_bm, ri_for_bm, disparity, ndisp, winSize, minSSD, stream);
if (avergeTexThreshold)
bm::postfilter_textureness(le_for_bm, winSize, avergeTexThreshold, disparity, stream);
}
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity)
{
::stereo_bm_gpu_operator(minSSD, leBuf, riBuf, preset, ndisp, winSize, avergeTexThreshold, left, right, disparity, 0);
}
void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, const Stream& stream)
{
::stereo_bm_gpu_operator(minSSD, leBuf, riBuf, preset, ndisp, winSize, avergeTexThreshold, left, right, disparity, StreamAccessor::getStream(stream));
}
#endif /* !defined (HAVE_CUDA) */