added methods estimateRecopmmendedParams for StereoBP and StereoCSBP

modules/gpu/include/opencv2/gpu/gpu.hpp

@@ -235,7 +235,7 @@ namespace cv
 
         class CV_EXPORTS CudaMem
         {
-        public:            
+        public:
             enum  { ALLOC_PAGE_LOCKED = 1, ALLOC_ZEROCOPY = 2, ALLOC_WRITE_COMBINED = 4 };
 
             CudaMem();
@@ -266,7 +266,7 @@ namespace cv
             Mat createMatHeader() const;
             operator Mat() const;
 
-            //! maps host memory into device address space and returns GpuMat header for it. Throws exception if not supported by hardware.            
+            //! maps host memory into device address space and returns GpuMat header for it. Throws exception if not supported by hardware.
             GpuMat createGpuMatHeader() const;
             operator GpuMat() const;
 
@@ -342,7 +342,7 @@ namespace cv
         };
 
         ////////////////////////////// Image processing //////////////////////////////
-        // DST[x,y] = SRC[xmap[x,y],ymap[x,y]] with bilinear interpolation. 
+        // DST[x,y] = SRC[xmap[x,y],ymap[x,y]] with bilinear interpolation.
         // xymap.type() == xymap.type() == CV_32FC1
         CV_EXPORTS void remap(const GpuMat& src, const GpuMat& xmap, const GpuMat& ymap, GpuMat& dst);
 
@@ -376,7 +376,7 @@ namespace cv
 
             //! the default constructor
             StereoBM_GPU();
-            //! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8. 
+            //! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
             StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ);
 
             //! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
@@ -405,7 +405,7 @@ namespace cv
         };
 
         ////////////////////////// StereoBeliefPropagation ///////////////////////////
-        // "Efficient Belief Propagation for Early Vision" 
+        // "Efficient Belief Propagation for Early Vision"
         // P.Felzenszwalb
 
         class CV_EXPORTS StereoBeliefPropagation
@@ -415,6 +415,8 @@ namespace cv
             enum { DEFAULT_ITERS  = 5  };
             enum { DEFAULT_LEVELS = 5  };
 
+            static void estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels);
+
             //! the default constructor
             explicit StereoBeliefPropagation(int ndisp  = DEFAULT_NDISP,
                                              int iters  = DEFAULT_ITERS,
@@ -436,7 +438,7 @@ namespace cv
             //! Acync version
             void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream);
 
-            
+
             //! version for user specified data term
             void operator()(const GpuMat& data, GpuMat& disparity);
             void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream);
@@ -460,7 +462,7 @@ namespace cv
 
         /////////////////////////// StereoConstantSpaceBP ///////////////////////////
         // "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
-        // Qingxiong Yang, Liang Wang†, Narendra Ahuja         
+        // Qingxiong Yang, Liang Wang†, Narendra Ahuja
         // http://vision.ai.uiuc.edu/~qyang6/
 
         class CV_EXPORTS StereoConstantSpaceBP
@@ -471,6 +473,8 @@ namespace cv
             enum { DEFAULT_LEVELS   = 4   };
             enum { DEFAULT_NR_PLANE = 4   };
 
+            static void estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels, int & nr_plane);
+
             //! the default constructor
             explicit StereoConstantSpaceBP(int ndisp    = DEFAULT_NDISP,
                                            int iters    = DEFAULT_ITERS,
@@ -524,7 +528,7 @@ namespace cv
 
         /////////////////////////// DisparityBilateralFilter ///////////////////////////
         // Disparity map refinement using joint bilateral filtering given a single color image.
-        // Qingxiong Yang, Liang Wang†, Narendra Ahuja         
+        // Qingxiong Yang, Liang Wang†, Narendra Ahuja
         // http://vision.ai.uiuc.edu/~qyang6/
 
         class CV_EXPORTS DisparityBilateralFilter

modules/gpu/src/beliefpropagation_gpu.cpp

@@ -77,6 +77,19 @@ namespace
     const float DEFAULT_DISC_SINGLE_JUMP = 1.0f;
 }
 
+
+void cv::gpu::StereoBeliefPropagation::estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels)
+{
+    ndisp = width / 4;
+    if (ndisp & 1 != 0) ndisp++;
+
+    int mm =::max(width, height);
+    iters = mm / 100 + 2;
+
+    levels = (int)(log(mm) + 1) * 4 / 5;
+    if (levels == 0) levels++;
+}
+
 cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int ndisp_, int iters_, int levels_, int msg_type_)
     : ndisp(ndisp_), iters(iters_), levels(levels_),
       max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
@@ -117,7 +130,7 @@ namespace
             CV_DbgAssert(left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
             CV_Assert(left.type() == CV_8UC1 || left.type() == CV_8UC3);
 
-            rows = left.rows; 
+            rows = left.rows;
             cols = left.cols;
 
             int divisor = (int)pow(2.f, rthis.levels - 1.0f);
@@ -134,14 +147,14 @@ namespace
 
             calcBP(disp, stream);
         }
-        
+
         void operator()(const GpuMat& data, GpuMat& disp, const cudaStream_t& stream)
         {
             CV_Assert((data.type() == rthis.msg_type) && (data.rows % rthis.ndisp == 0));
-            
+
             rows = data.rows / rthis.ndisp;
             cols = data.cols;
-            
+
             int divisor = (int)pow(2.f, rthis.levels - 1.0f);
             int lowest_cols = cols / divisor;
             int lowest_rows = rows / divisor;
@@ -198,7 +211,7 @@ namespace
             rows_all.resize(rthis.levels);
 
             cols_all[0] = cols;
-            rows_all[0] = rows;           
+            rows_all[0] = rows;
         }
 
         void calcBP(GpuMat& disp, const cudaStream_t& stream)
@@ -279,14 +292,14 @@ void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& left, const GpuM
     impl(left, right, disp, StreamAccessor::getStream(stream));
 }
 
-void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp) 
-{ 
+void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp)
+{
     ::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
     impl(data, disp, 0);
 }
 
-void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp, Stream& stream) 
-{ 
+void cv::gpu::StereoBeliefPropagation::operator()(const GpuMat& data, GpuMat& disp, Stream& stream)
+{
     ::StereoBeliefPropagationImpl impl(*this, u, d, l, r, u2, d2, l2, r2, datas, out);
     impl(data, disp, StreamAccessor::getStream(stream));
 }

modules/gpu/src/constantspacebp_gpu.cpp

@@ -105,6 +105,20 @@ namespace
     const float DEFAULT_DISC_SINGLE_JUMP = 10.0f;
 }
 
+void cv::gpu::StereoConstantSpaceBP::estimateRecopmmendedParams( 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 = ::max(width, height);
+    iters = mm / 100 + ((mm > 1200)? - 4 : 4);
+
+    levels = (int)log(mm) * 2 / 3;
+    if (levels == 0) levels++;
+
+    nr_plane = (int) ((float) ndisp / pow(2.0, levels + 1));
+}
+
 cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
                                                       int msg_type_)