modified matching class such that parameters are added at runtime

Removed the matching cpp file as it is no longer usefull

removed warnings

header for some used functions

fixed the popcnt issue

changes according to comments

modules/stereo/include/opencv2/stereo.hpp

@@ -147,12 +147,6 @@ namespace cv
             virtual int getSmallerBlockSize() const = 0;
             virtual void setSmallerBlockSize(int blockSize) = 0;
 
-            virtual Rect getROI1() const = 0;
-            virtual void setROI1(Rect roi1) = 0;
-
-            virtual Rect getROI2() const = 0;
-            virtual void setROI2(Rect roi2) = 0;
-
             virtual int getScalleFactor() const = 0 ;
             virtual void setScalleFactor(int factor) = 0;
 
@@ -233,9 +227,9 @@ namespace cv
             zero. In the current implementation, this parameter must be divisible by 16.
             @param blockSize Matched block size. It must be an odd number \>=1 . Normally, it should be
             somewhere in the 3..11 range.
-            @param P1 The first parameter controlling the disparity smoothness. See below.
-            @param P2 The second parameter controlling the disparity smoothness. The larger the values are,
-            the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1
+            @param P1 The first parameter controlling the disparity smoothness.This parameter is used for the case of slanted surfaces (not fronto parallel).
+            @param P2 The second parameter controlling the disparity smoothness.This parameter is used for "solving" the depth discontinuities problem.
+            The larger the values are, the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1
             between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor
             pixels. The algorithm requires P2 \> P1 . See stereo_match.cpp sample where some reasonably good
             P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and
@@ -263,7 +257,7 @@ namespace cv
             to a custom value.
             */
             CV_EXPORTS static Ptr<cv::stereo::StereoBinarySGBM> create(int minDisparity, int numDisparities, int blockSize,
-                int P1 = 0, int P2 = 0, int disp12MaxDiff = 0,
+                int P1 = 100, int P2 = 1000, int disp12MaxDiff = 0,
                 int preFilterCap = 0, int uniquenessRatio = 0,
                 int speckleWindowSize = 0, int speckleRange = 0,
                 int mode = StereoBinarySGBM::MODE_SGBM);

modules/stereo/src/stereo_binary_bm.cpp

@@ -69,7 +69,6 @@ namespace cv
                 textureThreshold = 10;
                 uniquenessRatio = 15;
                 speckleRange = speckleWindowSize = 0;
-                roi1 = roi2 = Rect(0, 0, 0, 0);
                 disp12MaxDiff = -1;
                 dispType = CV_16S;
                 usePrefilter = false;
@@ -89,7 +88,6 @@ namespace cv
             int uniquenessRatio;
             int speckleRange;
             int speckleWindowSize;
-            Rect roi1, roi2;
             int disp12MaxDiff;
             int dispType;
             int scalling;
@@ -268,7 +266,7 @@ namespace cv
             StereoBinaryBMParams* state;
         };
 
-        class StereoBinaryBMImpl : public StereoBinaryBM,public Matching
+        class StereoBinaryBMImpl : public StereoBinaryBM, public Matching
         {
         public:
             StereoBinaryBMImpl()
@@ -279,6 +277,7 @@ namespace cv
             StereoBinaryBMImpl(int _numDisparities, int _kernelSize) : Matching(_numDisparities)
             {
                 params = StereoBinaryBMParams(_numDisparities, _kernelSize);
+                previous_size = 0;
             }
 
             void compute(InputArray leftarr, InputArray rightarr, OutputArray disparr)
@@ -340,6 +339,14 @@ namespace cv
                 int width = left0.cols;
                 int height = left0.rows;
 
+                if(previous_size != width * height)
+                {
+                    previous_size = width * height;
+                    specklePointX = new int[width * height];
+                    specklePointY = new int[width * height];
+                    pus = new long long[width * height];
+                }
+
                 int wsz = params.kernelSize;
                 int bufSize0 = (int)((ndisp + 2)*sizeof(int));
                 bufSize0 += (int)((height + wsz + 2)*ndisp*sizeof(int));
@@ -462,12 +469,6 @@ namespace cv
             int getSmallerBlockSize() const { return 0; }
             void setSmallerBlockSize(int) {}
 
-            Rect getROI1() const { return params.roi1; }
-            void setROI1(Rect roi1) { params.roi1 = roi1; }
-
-            Rect getROI2() const { return params.roi2; }
-            void setROI2(Rect roi2) { params.roi2 = roi2; }
-
             void write(FileStorage& fs) const
             {
                 fs << "name" << name_
@@ -499,7 +500,6 @@ namespace cv
                 params.preFilterCap = (int)fn["preFilterCap"];
                 params.textureThreshold = (int)fn["textureThreshold"];
                 params.uniquenessRatio = (int)fn["uniquenessRatio"];
-                params.roi1 = params.roi2 = Rect();
             }
 
             StereoBinaryBMParams params;
@@ -511,7 +511,7 @@ namespace cv
             Mat partialSumsLR;
             Mat agregatedHammingLRCost;
             Mat Integral[2];
-
+            int previous_size;
             static const char* name_;
         };