refactored StereoBeliefPropagation

modules/gpustereo/include/opencv2/gpustereo.hpp

@@ -65,61 +65,55 @@ public:
 
 CV_EXPORTS Ptr<gpu::StereoBM> createStereoBM(int numDisparities = 64, int blockSize = 19);
 
+/////////////////////////////////////////
+// StereoBeliefPropagation
 
-
-// "Efficient Belief Propagation for Early Vision"
-// P.Felzenszwalb
-class CV_EXPORTS StereoBeliefPropagation
+//! "Efficient Belief Propagation for Early Vision" P.Felzenszwalb
+class CV_EXPORTS StereoBeliefPropagation : public cv::StereoMatcher
 {
 public:
-    enum { DEFAULT_NDISP  = 64 };
-    enum { DEFAULT_ITERS  = 5  };
-    enum { DEFAULT_LEVELS = 5  };
+    using cv::StereoMatcher::compute;
 
-    static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels);
+    virtual void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream) = 0;
 
-    //! the default constructor
-    explicit StereoBeliefPropagation(int ndisp  = DEFAULT_NDISP,
-                                     int iters  = DEFAULT_ITERS,
-                                     int levels = DEFAULT_LEVELS,
-                                     int msg_type = CV_32F);
+    //! version for user specified data term
+    virtual void compute(InputArray data, OutputArray disparity, Stream& stream = Stream::Null()) = 0;
 
-    //! the full constructor taking the number of disparities, number of BP iterations on each level,
-    //! number of levels, truncation of data cost, data weight,
-    //! truncation of discontinuity cost and discontinuity single jump
-    //! DataTerm = data_weight * min(fabs(I2-I1), max_data_term)
-    //! DiscTerm = min(disc_single_jump * fabs(f1-f2), max_disc_term)
-    //! please see paper for more details
-    StereoBeliefPropagation(int ndisp, int iters, int levels,
-        float max_data_term, float data_weight,
-        float max_disc_term, float disc_single_jump,
-        int msg_type = CV_32F);
+    //! number of BP iterations on each level
+    virtual int getNumIters() const = 0;
+    virtual void setNumIters(int iters) = 0;
 
-    //! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair,
-    //! if disparity is empty output type will be CV_16S else output type will be disparity.type().
-    void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream = Stream::Null());
+    //! number of levels
+    virtual int getNumLevels() const = 0;
+    virtual void setNumLevels(int levels) = 0;
 
+    //! truncation of data cost
+    virtual double getMaxDataTerm() const = 0;
+    virtual void setMaxDataTerm(double max_data_term) = 0;
 
-    //! version for user specified data term
-    void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream = Stream::Null());
+    //! data weight
+    virtual double getDataWeight() const = 0;
+    virtual void setDataWeight(double data_weight) = 0;
 
-    int ndisp;
+    //! truncation of discontinuity cost
+    virtual double getMaxDiscTerm() const = 0;
+    virtual void setMaxDiscTerm(double max_disc_term) = 0;
 
-    int iters;
-    int levels;
+    //! discontinuity single jump
+    virtual double getDiscSingleJump() const = 0;
+    virtual void setDiscSingleJump(double disc_single_jump) = 0;
 
-    float max_data_term;
-    float data_weight;
-    float max_disc_term;
-    float disc_single_jump;
+    virtual int getMsgType() const = 0;
+    virtual void setMsgType(int msg_type) = 0;
 
-    int msg_type;
-private:
-    GpuMat u, d, l, r, u2, d2, l2, r2;
-    std::vector<GpuMat> datas;
-    GpuMat out;
+    static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels);
 };
 
+CV_EXPORTS Ptr<gpu::StereoBeliefPropagation>
+    createStereoBeliefPropagation(int ndisp = 64, int iters = 5, int levels = 5, int msg_type = CV_32F);
+
+
+
 // "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
 // Qingxiong Yang, Liang Wang, Narendra Ahuja
 // http://vision.ai.uiuc.edu/~qyang6/

modules/gpustereo/perf/perf_stereo.cpp

@@ -107,13 +107,13 @@ PERF_TEST_P(ImagePair, StereoBeliefPropagation,
 
     if (PERF_RUN_GPU())
     {
-        cv::gpu::StereoBeliefPropagation d_bp(ndisp);
+        cv::Ptr<cv::gpu::StereoBeliefPropagation> d_bp = cv::gpu::createStereoBeliefPropagation(ndisp);
 
         const cv::gpu::GpuMat d_imgLeft(imgLeft);
         const cv::gpu::GpuMat d_imgRight(imgRight);
         cv::gpu::GpuMat dst;
 
-        TEST_CYCLE() d_bp(d_imgLeft, d_imgRight, dst);
+        TEST_CYCLE() d_bp->compute(d_imgLeft, d_imgRight, dst);
 
         GPU_SANITY_CHECK(dst);
     }

modules/gpustereo/test/test_stereo.cpp

@@ -106,10 +106,15 @@ GPU_TEST_P(StereoBeliefPropagation, Regression)
     ASSERT_FALSE(right_image.empty());
     ASSERT_FALSE(disp_gold.empty());
 
-    cv::gpu::StereoBeliefPropagation bp(64, 8, 2, 25, 0.1f, 15, 1, CV_16S);
+    cv::Ptr<cv::gpu::StereoBeliefPropagation> bp = cv::gpu::createStereoBeliefPropagation(64, 8, 2, CV_16S);
+    bp->setMaxDataTerm(25.0);
+    bp->setDataWeight(0.1);
+    bp->setMaxDiscTerm(15.0);
+    bp->setDiscSingleJump(1.0);
+
     cv::gpu::GpuMat disp;
 
-    bp(loadMat(left_image), loadMat(right_image), disp);
+    bp->compute(loadMat(left_image), loadMat(right_image), disp);
 
     cv::Mat h_disp(disp);
     h_disp.convertTo(h_disp, disp_gold.depth());

samples/gpu/stereo_match.cpp

@@ -66,7 +66,7 @@ private:
     gpu::GpuMat d_left, d_right;
 
     Ptr<gpu::StereoBM> bm;
-    gpu::StereoBeliefPropagation bp;
+    Ptr<gpu::StereoBeliefPropagation> bp;
     gpu::StereoConstantSpaceBP csbp;
 
     int64 work_begin;
@@ -173,7 +173,7 @@ void App::run()
 
     // Set common parameters
     bm = gpu::createStereoBM(p.ndisp);
-    bp.ndisp = p.ndisp;
+    bp = gpu::createStereoBeliefPropagation(p.ndisp);
     csbp.ndisp = p.ndisp;
 
     // Prepare disparity map of specified type
@@ -203,7 +203,7 @@ void App::run()
             }
             bm->compute(d_left, d_right, d_disp);
             break;
-        case Params::BP: bp(d_left, d_right, d_disp); break;
+        case Params::BP: bp->compute(d_left, d_right, d_disp); break;
         case Params::CSBP: csbp(d_left, d_right, d_disp); break;
         }
         workEnd();
@@ -232,8 +232,8 @@ void App::printParams() const
         cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
         break;
     case Params::BP:
-        cout << "iter_count: " << bp.iters << endl;
-        cout << "level_count: " << bp.levels << endl;
+        cout << "iter_count: " << bp->getNumIters() << endl;
+        cout << "level_count: " << bp->getNumLevels() << endl;
         break;
     case Params::CSBP:
         cout << "iter_count: " << csbp.iters << endl;
@@ -305,14 +305,14 @@ void App::handleKey(char key)
         p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
         cout << "ndisp: " << p.ndisp << endl;
         bm->setNumDisparities(p.ndisp);
-        bp.ndisp = p.ndisp;
+        bp->setNumDisparities(p.ndisp);
         csbp.ndisp = p.ndisp;
         break;
     case 'q': case 'Q':
         p.ndisp = max(p.ndisp - 8, 1);
         cout << "ndisp: " << p.ndisp << endl;
         bm->setNumDisparities(p.ndisp);
-        bp.ndisp = p.ndisp;
+        bp->setNumDisparities(p.ndisp);
         csbp.ndisp = p.ndisp;
         break;
     case '2':
@@ -332,8 +332,8 @@ void App::handleKey(char key)
     case '3':
         if (p.method == Params::BP)
         {
-            bp.iters += 1;
-            cout << "iter_count: " << bp.iters << endl;
+            bp->setNumIters(bp->getNumIters() + 1);
+            cout << "iter_count: " << bp->getNumIters() << endl;
         }
         else if (p.method == Params::CSBP)
         {
@@ -344,8 +344,8 @@ void App::handleKey(char key)
     case 'e': case 'E':
         if (p.method == Params::BP)
         {
-            bp.iters = max(bp.iters - 1, 1);
-            cout << "iter_count: " << bp.iters << endl;
+            bp->setNumIters(max(bp->getNumIters() - 1, 1));
+            cout << "iter_count: " << bp->getNumIters() << endl;
         }
         else if (p.method == Params::CSBP)
         {
@@ -356,8 +356,8 @@ void App::handleKey(char key)
     case '4':
         if (p.method == Params::BP)
         {
-            bp.levels += 1;
-            cout << "level_count: " << bp.levels << endl;
+            bp->setNumLevels(bp->getNumLevels() + 1);
+            cout << "level_count: " << bp->getNumLevels() << endl;
         }
         else if (p.method == Params::CSBP)
         {
@@ -368,8 +368,8 @@ void App::handleKey(char key)
     case 'r': case 'R':
         if (p.method == Params::BP)
         {
-            bp.levels = max(bp.levels - 1, 1);
-            cout << "level_count: " << bp.levels << endl;
+            bp->setNumLevels(max(bp->getNumLevels() - 1, 1));
+            cout << "level_count: " << bp->getNumLevels() << endl;
         }
         else if (p.method == Params::CSBP)
         {