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Merge pull request #6959 from LeoBras:Better_StereoBM

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This commit is contained in:
Vadim Pisarevsky 2016-08-02 14:30:02 +00:00
commit fc742da6e3
1 changed files with 35 additions and 12 deletions
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47
modules/calib3d/src/stereobm.cpp
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@ -317,7 +317,8 @@ prefilterXSobel( const Mat& src, Mat& dst, int ftzero )
} }
static const int DISPARITY_SHIFT = 4; static const int DISPARITY_SHIFT_16S = 4;
static const int DISPARITY_SHIFT_32S = 8;
#if CV_SSE2 #if CV_SSE2
static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right, static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
@ -337,7 +338,7 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
int ftzero = state.preFilterCap; int ftzero = state.preFilterCap;
int textureThreshold = state.textureThreshold; int textureThreshold = state.textureThreshold;
int uniquenessRatio = state.uniquenessRatio; int uniquenessRatio = state.uniquenessRatio;
short FILTERED = (short)((mindisp - 1) << DISPARITY_SHIFT); short FILTERED = (short)((mindisp - 1) << DISPARITY_SHIFT_16S);
ushort *sad, *hsad0, *hsad, *hsad_sub; ushort *sad, *hsad0, *hsad, *hsad_sub;
int *htext; int *htext;
@ -568,10 +569,11 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
} }
#endif #endif
template <typename mType>
static void static void
findStereoCorrespondenceBM( const Mat& left, const Mat& right, findStereoCorrespondenceBM_( const Mat& left, const Mat& right,
Mat& disp, Mat& cost, const StereoBMParams& state, Mat& disp, Mat& cost, const StereoBMParams& state,
uchar* buf, int _dy0, int _dy1 ) uchar* buf, int _dy0, int _dy1, const int disp_shift )
{ {
const int ALIGN = 16; const int ALIGN = 16;
@ -587,7 +589,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
int ftzero = state.preFilterCap; int ftzero = state.preFilterCap;
int textureThreshold = state.textureThreshold; int textureThreshold = state.textureThreshold;
int uniquenessRatio = state.uniquenessRatio; int uniquenessRatio = state.uniquenessRatio;
short FILTERED = (short)((mindisp - 1) << DISPARITY_SHIFT); mType FILTERED = (mType)((mindisp - 1) << disp_shift);
#if CV_NEON #if CV_NEON
CV_Assert (ndisp % 8 == 0); CV_Assert (ndisp % 8 == 0);
@ -603,7 +605,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
const uchar* lptr0 = left.ptr() + lofs; const uchar* lptr0 = left.ptr() + lofs;
const uchar* rptr0 = right.ptr() + rofs; const uchar* rptr0 = right.ptr() + rofs;
const uchar *lptr, *lptr_sub, *rptr; const uchar *lptr, *lptr_sub, *rptr;
short* dptr = disp.ptr<short>(); mType* dptr = disp.ptr<mType>();
int sstep = (int)left.step; int sstep = (int)left.step;
int dstep = (int)(disp.step/sizeof(dptr[0])); int dstep = (int)(disp.step/sizeof(dptr[0]));
int cstep = (height+dy0+dy1)*ndisp; int cstep = (height+dy0+dy1)*ndisp;
@ -846,13 +848,27 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
sad[ndisp] = sad[ndisp-2]; sad[ndisp] = sad[ndisp-2];
int p = sad[mind+1], n = sad[mind-1]; int p = sad[mind+1], n = sad[mind-1];
d = p + n - 2*sad[mind] + std::abs(p - n); d = p + n - 2*sad[mind] + std::abs(p - n);
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4); dptr[y*dstep] = (mType)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15)
>> (DISPARITY_SHIFT_32S - disp_shift));
costptr[y*coststep] = sad[mind]; costptr[y*coststep] = sad[mind];
} }
} }
} }
} }
static void
findStereoCorrespondenceBM( const Mat& left, const Mat& right,
Mat& disp, Mat& cost, const StereoBMParams& state,
uchar* buf, int _dy0, int _dy1 )
{
if(disp.type() == CV_16S)
findStereoCorrespondenceBM_<short>(left, right, disp, cost, state,
buf, _dy0, _dy1, DISPARITY_SHIFT_16S );
else
findStereoCorrespondenceBM_<int>(left, right, disp, cost, state,
buf, _dy0, _dy1, DISPARITY_SHIFT_32S );
}
#ifdef HAVE_OPENCL #ifdef HAVE_OPENCL
static bool ocl_prefiltering(InputArray left0, InputArray right0, OutputArray left, OutputArray right, StereoBMParams* state) static bool ocl_prefiltering(InputArray left0, InputArray right0, OutputArray left, OutputArray right, StereoBMParams* state)
{ {
@ -1080,7 +1096,14 @@ public:
if( params.uniquenessRatio < 0 ) if( params.uniquenessRatio < 0 )
CV_Error( Error::StsOutOfRange, "uniqueness ratio must be non-negative" ); CV_Error( Error::StsOutOfRange, "uniqueness ratio must be non-negative" );
int FILTERED = (params.minDisparity - 1) << DISPARITY_SHIFT; int disp_shift;
if (dtype == CV_16SC1)
disp_shift = DISPARITY_SHIFT_16S;
else
disp_shift = DISPARITY_SHIFT_32S;
int FILTERED = (params.minDisparity - 1) << disp_shift;
#ifdef HAVE_OPENCL #ifdef HAVE_OPENCL
if(ocl::useOpenCL() && disparr.isUMat() && params.textureThreshold == 0) if(ocl::useOpenCL() && disparr.isUMat() && params.textureThreshold == 0)
@ -1093,7 +1116,7 @@ public:
if( params.speckleRange >= 0 && params.speckleWindowSize > 0 ) if( params.speckleRange >= 0 && params.speckleWindowSize > 0 )
filterSpeckles(disparr.getMat(), FILTERED, params.speckleWindowSize, params.speckleRange, slidingSumBuf); filterSpeckles(disparr.getMat(), FILTERED, params.speckleWindowSize, params.speckleRange, slidingSumBuf);
if (dtype == CV_32F) if (dtype == CV_32F)
disparr.getUMat().convertTo(disparr, CV_32FC1, 1./(1 << DISPARITY_SHIFT), 0); disparr.getUMat().convertTo(disparr, CV_32FC1, 1./(1 << disp_shift), 0);
CV_IMPL_ADD(CV_IMPL_OCL); CV_IMPL_ADD(CV_IMPL_OCL);
return; return;
} }
@ -1122,14 +1145,14 @@ public:
if( lofs >= width || rofs >= width || width1 < 1 ) if( lofs >= width || rofs >= width || width1 < 1 )
{ {
disp0 = Scalar::all( FILTERED * ( disp0.type() < CV_32F ? 1 : 1./(1 << DISPARITY_SHIFT) ) ); disp0 = Scalar::all( FILTERED * ( disp0.type() < CV_32F ? 1 : 1./(1 << disp_shift) ) );
return; return;
} }
Mat disp = disp0; Mat disp = disp0;
if( dtype == CV_32F ) if( dtype == CV_32F )
{ {
dispbuf.create(disp0.size(), CV_16S); dispbuf.create(disp0.size(), CV_32S);
disp = dispbuf; disp = dispbuf;
} }
@ -1178,7 +1201,7 @@ public:
filterSpeckles(disp, FILTERED, params.speckleWindowSize, params.speckleRange, slidingSumBuf); filterSpeckles(disp, FILTERED, params.speckleWindowSize, params.speckleRange, slidingSumBuf);
if (disp0.data != disp.data) if (disp0.data != disp.data)
disp.convertTo(disp0, disp0.type(), 1./(1 << DISPARITY_SHIFT), 0); disp.convertTo(disp0, disp0.type(), 1./(1 << disp_shift), 0);
} }
int getMinDisparity() const { return params.minDisparity; } int getMinDisparity() const { return params.minDisparity; }