Merge pull request #631 from bitwangyaoyao:2.4_stereo

modules/ocl/include/opencv2/ocl/ocl.hpp

@@ -1806,6 +1806,40 @@ namespace cv
 
         //! computes moments of the rasterized shape or a vector of points
         CV_EXPORTS Moments ocl_moments(InputArray _array, bool binaryImage);
+
+        class CV_EXPORTS StereoBM_OCL
+        {
+        public:
+            enum { BASIC_PRESET = 0, PREFILTER_XSOBEL = 1 };
+
+            enum { DEFAULT_NDISP = 64, DEFAULT_WINSZ = 19 };
+
+            //! the default constructor
+            StereoBM_OCL();
+            //! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
+            StereoBM_OCL(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 oclMat &left, const oclMat &right, oclMat &disparity);
+
+            //! Some heuristics that tries to estmate
+            // if current GPU will be faster then CPU in this algorithm.
+            // It queries current active device.
+            static bool checkIfGpuCallReasonable();
+
+            int preset;
+            int ndisp;
+            int winSize;
+
+            // 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:
+            oclMat minSSD, leBuf, riBuf;
+        };
     }
 }
 #if defined _MSC_VER && _MSC_VER >= 1200

modules/ocl/test/test_calib3d.cpp

+///////////////////////////////////////////////////////////////////////////////////////
+//
+//  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) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
+// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// @Authors
+
+//
+// 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 oclMaterials 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"
+#include <iomanip>
+
+#ifdef HAVE_OPENCL
+
+using namespace cv;
+
+extern std::string workdir;
+PARAM_TEST_CASE(StereoMatchBM, int, int)
+{
+    int n_disp;
+    int winSize;
+
+    virtual void SetUp()
+    {
+        n_disp  = GET_PARAM(0);
+		winSize = GET_PARAM(1);
+    }
+};
+
+TEST_P(StereoMatchBM, Accuracy)
+{
+
+    Mat left_image  = readImage(workdir + "../ocl/aloe-L.png", IMREAD_GRAYSCALE);
+    Mat right_image = readImage(workdir + "../ocl/aloe-R.png", IMREAD_GRAYSCALE);
+    Mat disp_gold   = readImage(workdir + "../ocl/aloe-disp.png", IMREAD_GRAYSCALE);
+	ocl::oclMat d_left, d_right;
+	ocl::oclMat d_disp(left_image.size(), CV_8U);
+	Mat  disp;
+
+    ASSERT_FALSE(left_image.empty());
+    ASSERT_FALSE(right_image.empty());
+    ASSERT_FALSE(disp_gold.empty());
+	d_left.upload(left_image);
+	d_right.upload(right_image);
+
+    ocl::StereoBM_OCL bm(0, n_disp, winSize);
+
+
+    bm(d_left, d_right, d_disp);
+	d_disp.download(disp);
+
+    EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3);
+}
+
+INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
+	                                   testing::Values(19)));
+
+#endif // HAVE_OPENCL