stereo: get rid of imageMeanKernelSize, replace with blur()

modules/stereo/src/descriptor.cpp

@@ -239,18 +239,5 @@ namespace cv
                     CombinedDescriptor<1,1,1,1,ModifiedCsCensus<1> >(img1.cols, img1.rows,stride,n2,date,ModifiedCsCensus<1>(images,n2),1));
             }
         }
-        //integral image computation used in the Mean Variation Census Transform
-        void imageMeanKernelSize(const Mat &image, int windowSize, Mat &cost)
-        {
-            CV_Assert(!image.empty());
-            CV_Assert(!cost.empty());
-            CV_Assert(windowSize % 2 != 0);
-            int win = windowSize / 2;
-            float scalling = ((float) 1) / (windowSize * windowSize);
-            int height = image.rows;
-            cost.setTo(0);
-            int *c = (int *)cost.data;
-            parallel_for_(Range(0, height), MeanKernelIntegralImage(image, win, scalling, c));
-        }
     }
 }

modules/stereo/src/descriptor.hpp

@@ -245,42 +245,6 @@ namespace cv
                 }
             }
         };
-        //!calculate the mean of every windowSizexWindwoSize block from the integral Image
-        //!this is a preprocessing for MV kernel
-        class MeanKernelIntegralImage : public ParallelLoopBody
-        {
-        private:
-            const Mat& img;
-            int windowSize;
-            float scalling;
-            int *c;
-        public:
-            MeanKernelIntegralImage(const cv::Mat &image, int window,float scale, int *cost):
-                img(image),windowSize(window), scalling(scale), c(cost)
-            {}
-            void operator()(const cv::Range &r) const CV_OVERRIDE
-            {
-                const int width = img.cols;
-                const int height = img.rows;
-                for (int i = r.start; i < r.end; i++)
-                {
-                    int y0 = std::max(0, i - windowSize + 1);
-                    int y1 = std::min(height - 1, i + windowSize);
-                    int iw = i * width;
-                    for (int j = 0; j < width; j++)
-                    {
-                        int x0 = std::max(0, j - windowSize + 1);
-                        int x1 = std::min(height - 1, j + windowSize);
-
-                        c[iw + j] = (int)(
-                                (
-                                    img.at<int>(y0, x0) + img.at<int>(y0, x0) -
-                                    img.at<int>(y1, x0) - img.at<int>(y0, x1)
-                                ) * scalling);
-                    }
-                }
-            }
-        };
         //!implementation for the star kernel descriptor
         template<int num_images>
         class StarKernelCensus:public ParallelLoopBody
@@ -441,8 +405,6 @@ namespace cv
                 }
             }
         };
-        //integral image computation used in the Mean Variation Census Transform
-        void imageMeanKernelSize(const cv::Mat &img, int windowSize, cv::Mat &c);
     }
 }
 #endif

modules/stereo/src/stereo_binary_bm.cpp

@@ -384,15 +384,10 @@ namespace cv
                 }
                 else if(params.kernelType == CV_MEAN_VARIATION)
                 {
-                    parSumsIntensityImage[0].create(left0.rows, left0.cols,CV_32SC4);
-                    parSumsIntensityImage[1].create(left0.rows, left0.cols,CV_32SC4);
-                    Integral[0].create(left0.rows,left0.cols,CV_32SC4);
-                    Integral[1].create(left0.rows,left0.cols,CV_32SC4);
-                    integral(left, parSumsIntensityImage[0],CV_32S);
-                    integral(right, parSumsIntensityImage[1],CV_32S);
-                    imageMeanKernelSize(parSumsIntensityImage[0], params.kernelSize,Integral[0]);
-                    imageMeanKernelSize(parSumsIntensityImage[1], params.kernelSize, Integral[1]);
-                    modifiedCensusTransform(left,right,params.kernelSize,censusImage[0],censusImage[1],CV_MEAN_VARIATION,0,Integral[0], Integral[1]);
+                    Mat blurLeft; blur(left, blurLeft, Size(params.kernelSize, params.kernelSize));
+                    Mat blurRight; blur(right, blurRight, Size(params.kernelSize, params.kernelSize));
+                    modifiedCensusTransform(left, right, params.kernelSize, censusImage[0], censusImage[1], CV_MEAN_VARIATION, 0,
+                            blurLeft, blurRight);
                 }
                 else if(params.kernelType == CV_STAR_KERNEL)
                 {
@@ -502,8 +497,6 @@ namespace cv
             StereoBinaryBMParams params;
             Mat preFilteredImg0, preFilteredImg1, cost, dispbuf;
             Mat slidingSumBuf;
-            Mat parSumsIntensityImage[2];
-            Mat Integral[2];
             Mat censusImage[2];
             Mat hammingDistance;
             Mat partialSumsLR;

modules/stereo/src/stereo_binary_sgbm.cpp

@@ -669,15 +669,10 @@ namespace cv
                 }
                 else if(params.kernelType == CV_MEAN_VARIATION)
                 {
-                    parSumsIntensityImage[0].create(left.rows, left.cols,CV_32SC4);
-                    parSumsIntensityImage[1].create(left.rows, left.cols,CV_32SC4);
-                    Integral[0].create(left.rows,left.cols,CV_32SC4);
-                    Integral[1].create(left.rows,left.cols,CV_32SC4);
-                    integral(left, parSumsIntensityImage[0],CV_32S);
-                    integral(right, parSumsIntensityImage[1],CV_32S);
-                    imageMeanKernelSize(parSumsIntensityImage[0], params.kernelSize,Integral[0]);
-                    imageMeanKernelSize(parSumsIntensityImage[1], params.kernelSize, Integral[1]);
-                    modifiedCensusTransform(left,right,params.kernelSize,censusImageLeft,censusImageRight,CV_MEAN_VARIATION,0,Integral[0], Integral[1]);
+                    Mat blurLeft; blur(left, blurLeft, Size(params.kernelSize, params.kernelSize));
+                    Mat blurRight; blur(right, blurRight, Size(params.kernelSize, params.kernelSize));
+                    modifiedCensusTransform(left, right, params.kernelSize, censusImageLeft, censusImageRight, CV_MEAN_VARIATION, 0,
+                        blurLeft, blurRight);
                 }
                 else if(params.kernelType == CV_STAR_KERNEL)
                 {
@@ -800,8 +795,6 @@ namespace cv
             Mat partialSumsLR;
             Mat agregatedHammingLRCost;
             Mat hamDist;
-            Mat parSumsIntensityImage[2];
-            Mat Integral[2];
         };
 
         const char* StereoBinarySGBMImpl::name_ = "StereoBinaryMatcher.SGBM";