Variable winSize for StereoBP_GPU

Fixed StereoBM_GPU kernel crash
Textureness threshold added

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

@@ -335,6 +335,7 @@ namespace cv
             //! the full constructor taking the camera-specific preset, number of disparities and the SAD window size
             //! ndisparities should be multiple of 8. SSD WindowsSize is fixed to 19 now
             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
             //! Output disparity has CV_8U type.
             void operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity);
@@ -350,9 +351,14 @@ namespace cv
             int ndisp;
             int winSize;
             int preset;
+            
+            // If avergeTexThreshold  == 0 => post procesing is disabled
+            // If avergeTexThreshold != 0 then disparity is set 0 in each point (x,y) where for left image
+            // SumOfHorizontalGradiensInWindow(x, y, winSize) < (winSize * winSize) * avergeTexThreshold
+            // i.e. input left image is low textured.                       
+            float avergeTexThreshold;
         private:
             GpuMat minSSD, leBuf, riBuf;
-                        
         };
     }
 }

modules/gpu/src/cuda/cuda_shared.hpp

@@ -80,7 +80,7 @@ namespace cv
     static inline void ___cudaSafeCall(cudaError_t err, const char *file, const int line, const char *func = "")
     {
         if( cudaSuccess != err)
-            cv::gpu::error(cudaGetErrorString(err), __FILE__, __LINE__, func);
+            cv::gpu::error(cudaGetErrorString(err), file, line, func);
     }
 
 #endif /* __OPENCV_CUDA_SHARED_HPP__ */

modules/gpu/src/stereobm_gpu.cpp

@@ -48,12 +48,11 @@ using namespace cv::gpu;
 #if !defined (HAVE_CUDA)
 
 cv::gpu::StereoBM_GPU::StereoBM_GPU() { throw_nogpu(); }
-cv::gpu::StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_) { 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& left, const GpuMat& right, GpuMat& disparity) { throw_nogpu(); }
-void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, const CudaStream& stream) { throw_nogpu(); }
-
+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 CudaStream&) { throw_nogpu(); }
 
 #else /* !defined (HAVE_CUDA) */
 
@@ -61,17 +60,24 @@ namespace cv { namespace gpu
 {  
     namespace impl 
     {
-        extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int maxdisp, 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);
         extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap = 31);
+        extern "C" void postfilter_textureness(const DevMem2D& input, int winsz, float avergeTexThreshold, const DevMem2D& disp);
     }
 }}
+
+const float defaultAvgTexThreshold = 3;
    
-cv::gpu::StereoBM_GPU::StereoBM_GPU() : preset(BASIC_PRESET), ndisp(DEFAULT_NDISP), winSize(DEFAULT_WINSZ)  {}
-cv::gpu::StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_, int winSize_) : preset(preset_), ndisp(ndisparities_), winSize(winSize_) 
+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()
@@ -87,7 +93,7 @@ bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable()
 
     if (major > 1 || numSM > 16)
         return true;        
-
+    
     return false;
 }
   
@@ -102,19 +108,22 @@ void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right
 
     GpuMat le_for_bm =  left;
     GpuMat ri_for_bm = right;
-        
+
     if (preset == PREFILTER_XSOBEL)
     {
         leBuf.create( left.size(),  left.type());
         riBuf.create(right.size(), right.type());
-            
+
         impl::prefilter_xsobel( left, leBuf);
         impl::prefilter_xsobel(right, riBuf);        
 
         le_for_bm = leBuf;
         ri_for_bm = riBuf;
     }  
-    impl::stereoBM_GPU(le_for_bm, ri_for_bm, disparity, ndisp, winSize, minSSD);     
+    impl::stereoBM_GPU(le_for_bm, ri_for_bm, disparity, ndisp, winSize, minSSD);    
+
+    if (avergeTexThreshold)
+        impl::postfilter_textureness(le_for_bm, winSize, avergeTexThreshold, disparity);
 }
 
 void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, const CudaStream& stream)