refactored StereoBM

modules/gpustereo/include/opencv2/gpustereo.hpp

@@ -48,44 +48,25 @@
 #endif
 
 #include "opencv2/core/gpu.hpp"
+#include "opencv2/calib3d.hpp"
 
 namespace cv { namespace gpu {
 
-class CV_EXPORTS StereoBM_GPU
+/////////////////////////////////////////
+// StereoBM
+
+class CV_EXPORTS StereoBM : public cv::StereoBM
 {
 public:
-    enum { BASIC_PRESET = 0, PREFILTER_XSOBEL = 1 };
+    using cv::StereoBM::compute;
 
-    enum { DEFAULT_NDISP = 64, DEFAULT_WINSZ = 19 };
+    virtual void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream) = 0;
-
-    //! the default constructor
-    StereoBM_GPU();
-    //! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
-    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, Stream& stream = Stream::Null());
-
-    //! Some heuristics that tries to estmate
-    // if current GPU will be faster than 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:
-    GpuMat minSSD, leBuf, riBuf;
 };
 
+CV_EXPORTS Ptr<gpu::StereoBM> createStereoBM(int numDisparities = 64, int blockSize = 19);
+
+
+
 // "Efficient Belief Propagation for Early Vision"
 // P.Felzenszwalb
 class CV_EXPORTS StereoBeliefPropagation

modules/gpustereo/perf/perf_stereo.cpp

@@ -63,18 +63,17 @@ PERF_TEST_P(ImagePair, StereoBM,
     const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
     ASSERT_FALSE(imgRight.empty());
 
-    const int preset = 0;
     const int ndisp = 256;
 
     if (PERF_RUN_GPU())
     {
-        cv::gpu::StereoBM_GPU d_bm(preset, ndisp);
+        cv::Ptr<cv::StereoBM> d_bm = cv::gpu::createStereoBM(ndisp);
 
         const cv::gpu::GpuMat d_imgLeft(imgLeft);
         const cv::gpu::GpuMat d_imgRight(imgRight);
         cv::gpu::GpuMat dst;
 
-        TEST_CYCLE() d_bm(d_imgLeft, d_imgRight, dst);
+        TEST_CYCLE() d_bm->compute(d_imgLeft, d_imgRight, dst);
 
         GPU_SANITY_CHECK(dst);
     }

modules/gpustereo/src/stereobm.cpp

@@ -47,11 +47,7 @@ using namespace cv::gpu;
 
 #if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
 
-cv::gpu::StereoBM_GPU::StereoBM_GPU() { throw_no_cuda(); }
+Ptr<gpu::StereoBM> cv::gpu::createStereoBM(int, int) { throw_no_cuda(); return Ptr<gpu::StereoBM>(); }
-cv::gpu::StereoBM_GPU::StereoBM_GPU(int, int, int) { throw_no_cuda(); }
-
-bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable() { throw_no_cuda(); return false; }
-void cv::gpu::StereoBM_GPU::operator() ( const GpuMat&, const GpuMat&, GpuMat&, Stream&) { throw_no_cuda(); }
 
 #else /* !defined (HAVE_CUDA) */
 
@@ -67,74 +63,123 @@ namespace cv { namespace gpu { namespace cudev
 
 namespace
 {
-    const float defaultAvgTexThreshold = 3;
+    class StereoBMImpl : public gpu::StereoBM
-}
+    {
+    public:
+        StereoBMImpl(int numDisparities, int blockSize);
 
-cv::gpu::StereoBM_GPU::StereoBM_GPU()
+        void compute(InputArray left, InputArray right, OutputArray disparity);
-    : preset(BASIC_PRESET), ndisp(DEFAULT_NDISP), winSize(DEFAULT_WINSZ), avergeTexThreshold(defaultAvgTexThreshold)
+        void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream);
-{
-}
 
-cv::gpu::StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_, int winSize_)
+        int getMinDisparity() const { return 0; }
-    : preset(preset_), ndisp(ndisparities_), winSize(winSize_), avergeTexThreshold(defaultAvgTexThreshold)
+        void setMinDisparity(int /*minDisparity*/) {}
-{
-    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()
+        int getNumDisparities() const { return ndisp_; }
-{
+        void setNumDisparities(int numDisparities) { ndisp_ = numDisparities; }
-    if (0 == getCudaEnabledDeviceCount())
-        return false;
 
-    DeviceInfo device_info;
+        int getBlockSize() const { return winSize_; }
+        void setBlockSize(int blockSize) { winSize_ = blockSize; }
 
-    if (device_info.major() > 1 || device_info.multiProcessorCount() > 16)
+        int getSpeckleWindowSize() const { return 0; }
-        return true;
+        void setSpeckleWindowSize(int /*speckleWindowSize*/) {}
 
-    return false;
+        int getSpeckleRange() const { return 0; }
-}
+        void setSpeckleRange(int /*speckleRange*/) {}
 
-namespace
+        int getDisp12MaxDiff() const { return 0; }
-{
+        void setDisp12MaxDiff(int /*disp12MaxDiff*/) {}
-    void stereo_bm_gpu_operator( GpuMat& minSSD,  GpuMat& leBuf, GpuMat&  riBuf,  int preset, int ndisp, int winSize, float avergeTexThreshold, const GpuMat& left, const GpuMat& right, GpuMat& disparity, cudaStream_t stream)
+
+        int getPreFilterType() const { return preset_; }
+        void setPreFilterType(int preFilterType) { preset_ = preFilterType; }
+
+        int getPreFilterSize() const { return 0; }
+        void setPreFilterSize(int /*preFilterSize*/) {}
+
+        int getPreFilterCap() const { return preFilterCap_; }
+        void setPreFilterCap(int preFilterCap) { preFilterCap_ = preFilterCap; }
+
+        int getTextureThreshold() const { return avergeTexThreshold_; }
+        void setTextureThreshold(int textureThreshold) { avergeTexThreshold_ = textureThreshold; }
+
+        int getUniquenessRatio() const { return 0; }
+        void setUniquenessRatio(int /*uniquenessRatio*/) {}
+
+        int getSmallerBlockSize() const { return 0; }
+        void setSmallerBlockSize(int /*blockSize*/){}
+
+        Rect getROI1() const { return Rect(); }
+        void setROI1(Rect /*roi1*/) {}
+
+        Rect getROI2() const { return Rect(); }
+        void setROI2(Rect /*roi2*/) {}
+
+    private:
+        int preset_;
+        int ndisp_;
+        int winSize_;
+        int preFilterCap_;
+        float avergeTexThreshold_;
+
+        GpuMat minSSD_, leBuf_, riBuf_;
+    };
+
+    StereoBMImpl::StereoBMImpl(int numDisparities, int blockSize)
+        : preset_(0), ndisp_(numDisparities), winSize_(blockSize), preFilterCap_(31), avergeTexThreshold_(3)
+    {
+    }
+
+    void StereoBMImpl::compute(InputArray left, InputArray right, OutputArray disparity)
+    {
+        compute(left, right, disparity, Stream::Null());
+    }
+
+    void StereoBMImpl::compute(InputArray _left, InputArray _right, OutputArray _disparity, Stream& _stream)
     {
         using namespace ::cv::gpu::cudev::stereobm;
 
-        CV_Assert(left.rows == right.rows && left.cols == right.cols);
+        const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
-        CV_Assert(left.type() == CV_8UC1);
+        CV_Assert( 0 < ndisp_ && ndisp_ <= max_supported_ndisp );
-        CV_Assert(right.type() == CV_8UC1);
+        CV_Assert( ndisp_ % 8 == 0 );
+        CV_Assert( winSize_ % 2 == 1 );
 
-        disparity.create(left.size(), CV_8U);
+        GpuMat left = _left.getGpuMat();
-        minSSD.create(left.size(), CV_32S);
+        GpuMat right = _right.getGpuMat();
 
-        GpuMat le_for_bm =  left;
+        CV_Assert( left.type() == CV_8UC1 );
-        GpuMat ri_for_bm = right;
+        CV_Assert( left.size() == right.size() && left.type() == right.type() );
 
-        if (preset == StereoBM_GPU::PREFILTER_XSOBEL)
+        _disparity.create(left.size(), CV_8UC1);
+        GpuMat disparity = _disparity.getGpuMat();
+
+        cudaStream_t stream = StreamAccessor::getStream(_stream);
+
+        gpu::ensureSizeIsEnough(left.size(), CV_32SC1, minSSD_);
+
+        PtrStepSzb le_for_bm =  left;
+        PtrStepSzb ri_for_bm = right;
+
+        if (preset_ == cv::StereoBM::PREFILTER_XSOBEL)
         {
-            leBuf.create( left.size(),  left.type());
+            gpu::ensureSizeIsEnough(left.size(), left.type(), leBuf_);
-            riBuf.create(right.size(), right.type());
+            gpu::ensureSizeIsEnough(right.size(), right.type(), riBuf_);
 
-            prefilter_xsobel( left, leBuf, 31, stream);
+            prefilter_xsobel( left, leBuf_, preFilterCap_, stream);
-            prefilter_xsobel(right, riBuf, 31, stream);
+            prefilter_xsobel(right, riBuf_, preFilterCap_, stream);
 
-            le_for_bm = leBuf;
+            le_for_bm = leBuf_;
-            ri_for_bm = riBuf;
+            ri_for_bm = riBuf_;
         }
 
-        stereoBM_GPU(le_for_bm, ri_for_bm, disparity, ndisp, winSize, minSSD, stream);
+        stereoBM_GPU(le_for_bm, ri_for_bm, disparity, ndisp_, winSize_, minSSD_, stream);
 
-        if (avergeTexThreshold)
+        if (avergeTexThreshold_ > 0)
-            postfilter_textureness(le_for_bm, winSize, avergeTexThreshold, disparity, stream);
+            postfilter_textureness(le_for_bm, winSize_, avergeTexThreshold_, disparity, stream);
     }
 }
 
-void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream)
+Ptr<gpu::StereoBM> cv::gpu::createStereoBM(int numDisparities, int blockSize)
 {
-    stereo_bm_gpu_operator(minSSD, leBuf, riBuf, preset, ndisp, winSize, avergeTexThreshold, left, right, disparity, StreamAccessor::getStream(stream));
+    return new StereoBMImpl(numDisparities, blockSize);
 }
 
 #endif /* !defined (HAVE_CUDA) */

modules/gpustereo/test/test_stereo.cpp

@@ -71,10 +71,10 @@ GPU_TEST_P(StereoBM, Regression)
     ASSERT_FALSE(right_image.empty());
     ASSERT_FALSE(disp_gold.empty());
 
-    cv::gpu::StereoBM_GPU bm(0, 128, 19);
+    cv::Ptr<cv::StereoBM> bm = cv::gpu::createStereoBM(128, 19);
     cv::gpu::GpuMat disp;
 
-    bm(loadMat(left_image), loadMat(right_image), disp);
+    bm->compute(loadMat(left_image), loadMat(right_image), disp);
 
     EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
 }

samples/gpu/driver_api_stereo_multi.cpp

@@ -85,7 +85,7 @@ void inline contextOff()
 // GPUs data
 GpuMat d_left[2];
 GpuMat d_right[2];
-StereoBM_GPU* bm[2];
+Ptr<gpu::StereoBM> bm[2];
 GpuMat d_result[2];
 
 static void printHelp()
@@ -162,14 +162,14 @@ int main(int argc, char** argv)
     contextOn(0);
     d_left[0].upload(left.rowRange(0, left.rows / 2));
     d_right[0].upload(right.rowRange(0, right.rows / 2));
-    bm[0] = new StereoBM_GPU();
+    bm[0] = gpu::createStereoBM();
     contextOff();
 
     // Split source images for processing on the GPU #1
     contextOn(1);
     d_left[1].upload(left.rowRange(left.rows / 2, left.rows));
     d_right[1].upload(right.rowRange(right.rows / 2, right.rows));
-    bm[1] = new StereoBM_GPU();
+    bm[1] = gpu::createStereoBM();
     contextOff();
 
     // Execute calculation in two threads using two GPUs
@@ -182,7 +182,7 @@ int main(int argc, char** argv)
     d_left[0].release();
     d_right[0].release();
     d_result[0].release();
-    delete bm[0];
+    bm[0].release();
     contextOff();
 
     // Release the second GPU resources
@@ -191,7 +191,7 @@ int main(int argc, char** argv)
     d_left[1].release();
     d_right[1].release();
     d_result[1].release();
-    delete bm[1];
+    bm[1].release();
     contextOff();
 
     waitKey();
@@ -204,8 +204,7 @@ void Worker::operator()(int device_id) const
 {
     contextOn(device_id);
 
-    bm[device_id]->operator()(d_left[device_id], d_right[device_id],
+    bm[device_id]->compute(d_left[device_id], d_right[device_id], d_result[device_id]);
-                              d_result[device_id]);
 
     std::cout << "GPU #" << device_id << " (" << DeviceInfo().name()
         << "): finished\n";

samples/gpu/stereo_match.cpp

@@ -65,7 +65,7 @@ private:
     Mat left, right;
     gpu::GpuMat d_left, d_right;
 
-    gpu::StereoBM_GPU bm;
+    Ptr<gpu::StereoBM> bm;
     gpu::StereoBeliefPropagation bp;
     gpu::StereoConstantSpaceBP csbp;
 
@@ -172,7 +172,7 @@ void App::run()
     imshow("right", right);
 
     // Set common parameters
-    bm.ndisp = p.ndisp;
+    bm = gpu::createStereoBM(p.ndisp);
     bp.ndisp = p.ndisp;
     csbp.ndisp = p.ndisp;
 
@@ -201,7 +201,7 @@ void App::run()
                 imshow("left", left);
                 imshow("right", right);
             }
-            bm(d_left, d_right, d_disp);
+            bm->compute(d_left, d_right, d_disp);
             break;
         case Params::BP: bp(d_left, d_right, d_disp); break;
         case Params::CSBP: csbp(d_left, d_right, d_disp); break;
@@ -228,8 +228,8 @@ void App::printParams() const
     switch (p.method)
     {
     case Params::BM:
-        cout << "win_size: " << bm.winSize << endl;
+        cout << "win_size: " << bm->getBlockSize() << endl;
-        cout << "prefilter_sobel: " << bm.preset << endl;
+        cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
         break;
     case Params::BP:
         cout << "iter_count: " << bp.iters << endl;
@@ -289,44 +289,44 @@ void App::handleKey(char key)
     case 's': case 'S':
         if (p.method == Params::BM)
         {
-            switch (bm.preset)
+            switch (bm->getPreFilterType())
             {
-            case gpu::StereoBM_GPU::BASIC_PRESET:
+            case 0:
-                bm.preset = gpu::StereoBM_GPU::PREFILTER_XSOBEL;
+                bm->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
                 break;
-            case gpu::StereoBM_GPU::PREFILTER_XSOBEL:
+            case cv::StereoBM::PREFILTER_XSOBEL:
-                bm.preset = gpu::StereoBM_GPU::BASIC_PRESET;
+                bm->setPreFilterType(0);
                 break;
             }
-            cout << "prefilter_sobel: " << bm.preset << endl;
+            cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
         }
         break;
     case '1':
         p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
         cout << "ndisp: " << p.ndisp << endl;
-        bm.ndisp = p.ndisp;
+        bm->setNumDisparities(p.ndisp);
         bp.ndisp = p.ndisp;
         csbp.ndisp = p.ndisp;
         break;
     case 'q': case 'Q':
         p.ndisp = max(p.ndisp - 8, 1);
         cout << "ndisp: " << p.ndisp << endl;
-        bm.ndisp = p.ndisp;
+        bm->setNumDisparities(p.ndisp);
         bp.ndisp = p.ndisp;
         csbp.ndisp = p.ndisp;
         break;
     case '2':
         if (p.method == Params::BM)
         {
-            bm.winSize = min(bm.winSize + 1, 51);
+            bm->setBlockSize(min(bm->getBlockSize() + 1, 51));
-            cout << "win_size: " << bm.winSize << endl;
+            cout << "win_size: " << bm->getBlockSize() << endl;
         }
         break;
     case 'w': case 'W':
         if (p.method == Params::BM)
         {
-            bm.winSize = max(bm.winSize - 1, 2);
+            bm->setBlockSize(max(bm->getBlockSize() - 1, 2));
-            cout << "win_size: " << bm.winSize << endl;
+            cout << "win_size: " << bm->getBlockSize() << endl;
         }
         break;
     case '3':

samples/gpu/stereo_multi.cpp

@@ -51,7 +51,7 @@ struct Worker { void operator()(int device_id) const; };
 // GPUs data
 GpuMat d_left[2];
 GpuMat d_right[2];
-StereoBM_GPU* bm[2];
+Ptr<gpu::StereoBM> bm[2];
 GpuMat d_result[2];
 
 static void printHelp()
@@ -112,13 +112,13 @@ int main(int argc, char** argv)
     setDevice(0);
     d_left[0].upload(left.rowRange(0, left.rows / 2));
     d_right[0].upload(right.rowRange(0, right.rows / 2));
-    bm[0] = new StereoBM_GPU();
+    bm[0] = gpu::createStereoBM();
 
     // Split source images for processing on the GPU #1
     setDevice(1);
     d_left[1].upload(left.rowRange(left.rows / 2, left.rows));
     d_right[1].upload(right.rowRange(right.rows / 2, right.rows));
-    bm[1] = new StereoBM_GPU();
+    bm[1] = gpu::createStereoBM();
 
     // Execute calculation in two threads using two GPUs
     int devices[] = {0, 1};
@@ -130,7 +130,7 @@ int main(int argc, char** argv)
     d_left[0].release();
     d_right[0].release();
     d_result[0].release();
-    delete bm[0];
+    bm[0].release();
 
     // Release the second GPU resources
     setDevice(1);
@@ -138,7 +138,7 @@ int main(int argc, char** argv)
     d_left[1].release();
     d_right[1].release();
     d_result[1].release();
-    delete bm[1];
+    bm[1].release();
 
     waitKey();
     return 0;
@@ -149,8 +149,7 @@ void Worker::operator()(int device_id) const
 {
     setDevice(device_id);
 
-    bm[device_id]->operator()(d_left[device_id], d_right[device_id],
+    bm[device_id]->compute(d_left[device_id], d_right[device_id], d_result[device_id]);
-                              d_result[device_id]);
 
     std::cout << "GPU #" << device_id << " (" << DeviceInfo().name()
         << "): finished\n";