refactored StereoConstantSpaceBP

modules/gpustereo/include/opencv2/gpustereo.hpp

@@ -112,63 +112,30 @@ public:
 CV_EXPORTS Ptr<gpu::StereoBeliefPropagation>
     createStereoBeliefPropagation(int ndisp = 64, int iters = 5, int levels = 5, int msg_type = CV_32F);
 
+/////////////////////////////////////////
+// StereoConstantSpaceBP
 
-
-// "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
-// Qingxiong Yang, Liang Wang, Narendra Ahuja
-// http://vision.ai.uiuc.edu/~qyang6/
-class CV_EXPORTS StereoConstantSpaceBP
+//! "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
+//! Qingxiong Yang, Liang Wang, Narendra Ahuja
+//! http://vision.ai.uiuc.edu/~qyang6/
+class CV_EXPORTS StereoConstantSpaceBP : public gpu::StereoBeliefPropagation
 {
 public:
-    enum { DEFAULT_NDISP    = 128 };
-    enum { DEFAULT_ITERS    = 8   };
-    enum { DEFAULT_LEVELS   = 4   };
-    enum { DEFAULT_NR_PLANE = 4   };
-
-    static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane);
-
-    //! the default constructor
-    explicit StereoConstantSpaceBP(int ndisp    = DEFAULT_NDISP,
-                                   int iters    = DEFAULT_ITERS,
-                                   int levels   = DEFAULT_LEVELS,
-                                   int nr_plane = DEFAULT_NR_PLANE,
-                                   int msg_type = CV_32F);
-
-    //! the full constructor taking the number of disparities, number of BP iterations on each level,
-    //! number of levels, number of active disparity on the first level, truncation of data cost, data weight,
-    //! truncation of discontinuity cost, discontinuity single jump and minimum disparity threshold
-    StereoConstantSpaceBP(int ndisp, int iters, int levels, int nr_plane,
-        float max_data_term, float data_weight, float max_disc_term, float disc_single_jump,
-        int min_disp_th = 0,
-        int msg_type = CV_32F);
-
-    //! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair,
-    //! if disparity is empty output type will be CV_16S else output type will be disparity.type().
-    void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream = Stream::Null());
+    //! number of active disparity on the first level
+    virtual int getNrPlane() const = 0;
+    virtual void setNrPlane(int nr_plane) = 0;
 
-    int ndisp;
-
-    int iters;
-    int levels;
-
-    int nr_plane;
+    virtual bool getUseLocalInitDataCost() const = 0;
+    virtual void setUseLocalInitDataCost(bool use_local_init_data_cost) = 0;
 
-    float max_data_term;
-    float data_weight;
-    float max_disc_term;
-    float disc_single_jump;
+    static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane);
+};
 
-    int min_disp_th;
+CV_EXPORTS Ptr<gpu::StereoConstantSpaceBP>
+    createStereoConstantSpaceBP(int ndisp = 128, int iters = 8, int levels = 4, int nr_plane = 4, int msg_type = CV_32F);
 
-    int msg_type;
 
-    bool use_local_init_data_cost;
-private:
-    GpuMat messages_buffers;
 
-    GpuMat temp;
-    GpuMat out;
-};
 
 // Disparity map refinement using joint bilateral filtering given a single color image.
 // Qingxiong Yang, Liang Wang, Narendra Ahuja

modules/gpustereo/perf/perf_stereo.cpp

@@ -141,13 +141,13 @@ PERF_TEST_P(ImagePair, StereoConstantSpaceBP,
 
     if (PERF_RUN_GPU())
     {
-        cv::gpu::StereoConstantSpaceBP d_csbp(ndisp);
+        cv::Ptr<cv::gpu::StereoConstantSpaceBP> d_csbp = cv::gpu::createStereoConstantSpaceBP(ndisp);
 
         const cv::gpu::GpuMat d_imgLeft(imgLeft);
         const cv::gpu::GpuMat d_imgRight(imgRight);
         cv::gpu::GpuMat dst;
 
-        TEST_CYCLE() d_csbp(d_imgLeft, d_imgRight, dst);
+        TEST_CYCLE() d_csbp->compute(d_imgLeft, d_imgRight, dst);
 
         GPU_SANITY_CHECK(dst);
     }

modules/gpustereo/src/precomp.hpp

@@ -48,5 +48,6 @@
 #include "opencv2/gpustereo.hpp"
 
 #include "opencv2/core/private.gpu.hpp"
+#include "opencv2/core/utility.hpp"
 
 #endif /* __OPENCV_PRECOMP_H__ */

modules/gpustereo/test/test_stereo.cpp

@@ -155,10 +155,10 @@ GPU_TEST_P(StereoConstantSpaceBP, Regression)
     ASSERT_FALSE(right_image.empty());
     ASSERT_FALSE(disp_gold.empty());
 
-    cv::gpu::StereoConstantSpaceBP csbp(128, 16, 4, 4);
+    cv::Ptr<cv::gpu::StereoConstantSpaceBP> csbp = cv::gpu::createStereoConstantSpaceBP(128, 16, 4, 4);
     cv::gpu::GpuMat disp;
 
-    csbp(loadMat(left_image), loadMat(right_image), disp);
+    csbp->compute(loadMat(left_image), loadMat(right_image), disp);
 
     cv::Mat h_disp(disp);
     h_disp.convertTo(h_disp, disp_gold.depth());

samples/gpu/stereo_match.cpp

@@ -67,7 +67,7 @@ private:
 
     Ptr<gpu::StereoBM> bm;
     Ptr<gpu::StereoBeliefPropagation> bp;
-    gpu::StereoConstantSpaceBP csbp;
+    Ptr<gpu::StereoConstantSpaceBP> csbp;
 
     int64 work_begin;
     double work_fps;
@@ -174,7 +174,7 @@ void App::run()
     // Set common parameters
     bm = gpu::createStereoBM(p.ndisp);
     bp = gpu::createStereoBeliefPropagation(p.ndisp);
-    csbp.ndisp = p.ndisp;
+    csbp = cv::gpu::createStereoConstantSpaceBP(p.ndisp);
 
     // Prepare disparity map of specified type
     Mat disp(left.size(), CV_8U);
@@ -204,7 +204,7 @@ void App::run()
             bm->compute(d_left, d_right, d_disp);
             break;
         case Params::BP: bp->compute(d_left, d_right, d_disp); break;
-        case Params::CSBP: csbp(d_left, d_right, d_disp); break;
+        case Params::CSBP: csbp->compute(d_left, d_right, d_disp); break;
         }
         workEnd();
 
@@ -236,8 +236,8 @@ void App::printParams() const
         cout << "level_count: " << bp->getNumLevels() << endl;
         break;
     case Params::CSBP:
-        cout << "iter_count: " << csbp.iters << endl;
-        cout << "level_count: " << csbp.levels << endl;
+        cout << "iter_count: " << csbp->getNumIters() << endl;
+        cout << "level_count: " << csbp->getNumLevels() << endl;
         break;
     }
     cout << endl;
@@ -306,14 +306,14 @@ void App::handleKey(char key)
         cout << "ndisp: " << p.ndisp << endl;
         bm->setNumDisparities(p.ndisp);
         bp->setNumDisparities(p.ndisp);
-        csbp.ndisp = p.ndisp;
+        csbp->setNumDisparities(p.ndisp);
         break;
     case 'q': case 'Q':
         p.ndisp = max(p.ndisp - 8, 1);
         cout << "ndisp: " << p.ndisp << endl;
         bm->setNumDisparities(p.ndisp);
         bp->setNumDisparities(p.ndisp);
-        csbp.ndisp = p.ndisp;
+        csbp->setNumDisparities(p.ndisp);
         break;
     case '2':
         if (p.method == Params::BM)
@@ -337,8 +337,8 @@ void App::handleKey(char key)
         }
         else if (p.method == Params::CSBP)
         {
-            csbp.iters += 1;
-            cout << "iter_count: " << csbp.iters << endl;
+            csbp->setNumIters(csbp->getNumIters() + 1);
+            cout << "iter_count: " << csbp->getNumIters() << endl;
         }
         break;
     case 'e': case 'E':
@@ -349,8 +349,8 @@ void App::handleKey(char key)
         }
         else if (p.method == Params::CSBP)
         {
-            csbp.iters = max(csbp.iters - 1, 1);
-            cout << "iter_count: " << csbp.iters << endl;
+            csbp->setNumIters(max(csbp->getNumIters() - 1, 1));
+            cout << "iter_count: " << csbp->getNumIters() << endl;
         }
         break;
     case '4':
@@ -361,8 +361,8 @@ void App::handleKey(char key)
         }
         else if (p.method == Params::CSBP)
         {
-            csbp.levels += 1;
-            cout << "level_count: " << csbp.levels << endl;
+            csbp->setNumLevels(csbp->getNumLevels() + 1);
+            cout << "level_count: " << csbp->getNumLevels() << endl;
         }
         break;
     case 'r': case 'R':
@@ -373,8 +373,8 @@ void App::handleKey(char key)
         }
         else if (p.method == Params::CSBP)
         {
-            csbp.levels = max(csbp.levels - 1, 1);
-            cout << "level_count: " << csbp.levels << endl;
+            csbp->setNumLevels(max(csbp->getNumLevels() - 1, 1));
+            cout << "level_count: " << csbp->getNumLevels() << endl;
         }
         break;
     }