132 lines
5.6 KiB
C++
132 lines
5.6 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other GpuMaterials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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using namespace cv;
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using namespace cv::gpu;
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#if !defined (HAVE_CUDA)
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cv::gpu::StereoBM_GPU::StereoBM_GPU() { throw_nogpu(); }
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cv::gpu::StereoBM_GPU::StereoBM_GPU(int, int, int) { throw_nogpu(); }
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bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable() { throw_nogpu(); return false; }
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void cv::gpu::StereoBM_GPU::operator() ( const GpuMat&, const GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
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#else /* !defined (HAVE_CUDA) */
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namespace cv { namespace gpu
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{
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namespace bm
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{
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//extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int ndisp, int winsz, const DevMem2D_<uint>& minSSD_buf);
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extern "C" void stereoBM_GPU(const DevMem2D& left, const DevMem2D& right, const DevMem2D& disp, int ndisp, int winsz, const DevMem2D_<uint>& minSSD_buf, cudaStream_t & stream);
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extern "C" void prefilter_xsobel(const DevMem2D& input, const DevMem2D& output, int prefilterCap /*= 31*/, cudaStream_t & stream);
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extern "C" void postfilter_textureness(const DevMem2D& input, int winsz, float avgTexturenessThreshold, const DevMem2D& disp, cudaStream_t & stream);
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}
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}}
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const float defaultAvgTexThreshold = 3;
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cv::gpu::StereoBM_GPU::StereoBM_GPU()
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: preset(BASIC_PRESET), ndisp(DEFAULT_NDISP), winSize(DEFAULT_WINSZ), avergeTexThreshold(defaultAvgTexThreshold) {}
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cv::gpu::StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_, int winSize_)
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: preset(preset_), ndisp(ndisparities_), winSize(winSize_), avergeTexThreshold(defaultAvgTexThreshold)
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{
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const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
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CV_Assert(0 < ndisp && ndisp <= max_supported_ndisp);
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CV_Assert(ndisp % 8 == 0);
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CV_Assert(winSize % 2 == 1);
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}
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bool cv::gpu::StereoBM_GPU::checkIfGpuCallReasonable()
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{
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if (0 == getCudaEnabledDeviceCount())
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return false;
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DeviceInfo device_info;
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if (device_info.majorVersion() > 1 || device_info.multiProcessorCount() > 16)
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return true;
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return false;
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}
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static 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)
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{
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CV_DbgAssert(left.rows == right.rows && left.cols == right.cols);
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CV_DbgAssert(left.type() == CV_8UC1);
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CV_DbgAssert(right.type() == CV_8UC1);
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disparity.create(left.size(), CV_8U);
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minSSD.create(left.size(), CV_32S);
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GpuMat le_for_bm = left;
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GpuMat ri_for_bm = right;
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if (preset == StereoBM_GPU::PREFILTER_XSOBEL)
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{
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leBuf.create( left.size(), left.type());
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riBuf.create(right.size(), right.type());
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bm::prefilter_xsobel( left, leBuf, 31, stream);
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bm::prefilter_xsobel(right, riBuf, 31, stream);
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le_for_bm = leBuf;
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ri_for_bm = riBuf;
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}
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bm::stereoBM_GPU(le_for_bm, ri_for_bm, disparity, ndisp, winSize, minSSD, stream);
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if (avergeTexThreshold)
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bm::postfilter_textureness(le_for_bm, winSize, avergeTexThreshold, disparity, stream);
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}
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void cv::gpu::StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream)
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{
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::stereo_bm_gpu_operator(minSSD, leBuf, riBuf, preset, ndisp, winSize, avergeTexThreshold, left, right, disparity, StreamAccessor::getStream(stream));
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}
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#endif /* !defined (HAVE_CUDA) */
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