opencv/modules/calib3d/src/stereosgbm.cpp

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/*
 This is a variation of
 "Stereo Processing by Semiglobal Matching and Mutual Information"
 by Heiko Hirschmuller.
 
 We match blocks rather than individual pixels, thus the algorithm is called
 SGBM (Semi-global block matching)
 */ 

#include "precomp.hpp"
#include <limits.h>

namespace cv
{
    
typedef uchar PixType;
typedef short CostType;
typedef short DispType;

enum { NR = 16, NR2 = NR/2 };

StereoSGBM::StereoSGBM()
{
    minDisparity = numberOfDisparities = 0;
    SADWindowSize = 0;
    P1 = P2 = 0;
    disp12MaxDiff = 0;
    preFilterCap = 0;
    uniquenessRatio = 0;
    speckleWindowSize = 0;
    speckleRange = 0;
    fullDP = false;
}


StereoSGBM::StereoSGBM( int _minDisparity, int _numDisparities, int _SADWindowSize,
                   int _P1, int _P2, int _disp12MaxDiff, int _preFilterCap,
                   int _uniquenessRatio, int _speckleWindowSize, int _speckleRange,
                   bool _fullDP )
{
    minDisparity = _minDisparity;
    numberOfDisparities = _numDisparities;
    SADWindowSize = _SADWindowSize;
    P1 = _P1;
    P2 = _P2;
    disp12MaxDiff = _disp12MaxDiff;
    preFilterCap = _preFilterCap;
    uniquenessRatio = _uniquenessRatio;
    speckleWindowSize = _speckleWindowSize;
    speckleRange = _speckleRange;
    fullDP = _fullDP;
}


StereoSGBM::~StereoSGBM()
{
}

/*
 For each pixel row1[x], max(-maxD, 0) <= minX <= x < maxX <= width - max(0, -minD),
 and for each disparity minD<=d<maxD the function
 computes the cost (cost[(x-minX)*(maxD - minD) + (d - minD)]), depending on the difference between
 row1[x] and row2[x-d]. The subpixel algorithm from
 "Depth Discontinuities by Pixel-to-Pixel Stereo" by Stan Birchfield and C. Tomasi
 is used, hence the suffix BT.
 
 the temporary buffer should contain width2*2 elements
 */
static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
                            int minD, int maxD, CostType* cost,
                            PixType* buffer, const PixType* tab,
                            int tabOfs, int )
{
    int x, c, width = img1.cols, cn = img1.channels();
    int minX1 = max(maxD, 0), maxX1 = width + min(minD, 0);
    int minX2 = max(minX1 - maxD, 0), maxX2 = min(maxX1 - minD, width);
    int D = maxD - minD, width1 = maxX1 - minX1, width2 = maxX2 - minX2;
    const PixType *row1 = img1.ptr<PixType>(y), *row2 = img2.ptr<PixType>(y);
    PixType *prow1 = buffer + width2*2, *prow2 = prow1 + width*cn*2;
    
    tab += tabOfs;
    
    for( c = 0; c < cn*2; c++ )
    {
        prow1[width*c] = prow1[width*c + width-1] = 
        prow2[width*c] = prow2[width*c + width-1] = tab[0];
    }
    
    int n1 = y > 0 ? -(int)img1.step : 0, s1 = y < img1.rows-1 ? (int)img1.step : 0;
    int n2 = y > 0 ? -(int)img2.step : 0, s2 = y < img2.rows-1 ? (int)img2.step : 0;
    
    if( cn == 1 )
    {
        for( x = 1; x < width-1; x++ )
        {
            prow1[x] = tab[(row1[x+1] - row1[x-1])*2 + row1[x+n1+1] - row1[x+n1-1] + row1[x+s1+1] - row1[x+s1-1]];
            prow2[width-1-x] = tab[(row2[x+1] - row2[x-1])*2 + row2[x+n2+1] - row2[x+n2-1] + row2[x+s2+1] - row2[x+s2-1]];
            
            prow1[x+width] = row1[x];
            prow2[width-1-x+width] = row2[x];
        }
    }
    else
    {
        for( x = 1; x < width-1; x++ )
        {
            prow1[x] = tab[(row1[x*3+3] - row1[x*3-3])*2 + row1[x*3+n1+3] - row1[x*3+n1-3] + row1[x*3+s1+3] - row1[x*3+s1-3]];
            prow1[x+width] = tab[(row1[x*3+4] - row1[x*3-2])*2 + row1[x*3+n1+4] - row1[x*3+n1-2] + row1[x*3+s1+4] - row1[x*3+s1-2]];
            prow1[x+width*2] = tab[(row1[x*3+5] - row1[x*3-1])*2 + row1[x*3+n1+5] - row1[x*3+n1-1] + row1[x*3+s1+5] - row1[x*3+s1-1]];
            
            prow2[width-1-x] = tab[(row2[x*3+3] - row2[x*3-3])*2 + row2[x*3+n2+3] - row2[x*3+n2-3] + row2[x*3+s2+3] - row2[x*3+s2-3]];
            prow2[width-1-x+width] = tab[(row2[x*3+4] - row2[x*3-2])*2 + row2[x*3+n2+4] - row2[x*3+n2-2] + row2[x*3+s2+4] - row2[x*3+s2-2]];
            prow2[width-1-x+width*2] = tab[(row2[x*3+5] - row2[x*3-1])*2 + row2[x*3+n2+5] - row2[x*3+n2-1] + row2[x*3+s2+5] - row2[x*3+s2-1]];
            
            prow1[x+width*3] = row1[x*3];
            prow1[x+width*4] = row1[x*3+1];
            prow1[x+width*5] = row1[x*3+2];
            
            prow2[width-1-x+width*3] = row2[x*3];
            prow2[width-1-x+width*4] = row2[x*3+1];
            prow2[width-1-x+width*5] = row2[x*3+2];
        }
    }
    
    memset( cost, 0, width1*D*sizeof(cost[0]) );
    
    buffer -= minX2;
    cost -= minX1*D + minD; // simplify the cost indices inside the loop
    
#if CV_SSE2    
    volatile bool useSIMD = checkHardwareSupport(CV_CPU_SSE2);
#endif
    
#if 1    
    for( c = 0; c < cn*2; c++, prow1 += width, prow2 += width )
    {
        int diff_scale = c < cn ? 0 : 2;
        
        // precompute
        //   v0 = min(row2[x-1/2], row2[x], row2[x+1/2]) and
        //   v1 = max(row2[x-1/2], row2[x], row2[x+1/2]) and
        for( x = minX2; x < maxX2; x++ )
        {
            int v = prow2[x];
            int vl = x > 0 ? (v + prow2[x-1])/2 : v;
            int vr = x < width-1 ? (v + prow2[x+1])/2 : v;
            int v0 = min(vl, vr); v0 = min(v0, v);
            int v1 = max(vl, vr); v1 = max(v1, v);
            buffer[x] = (PixType)v0;
            buffer[x + width2] = (PixType)v1;
        }
        
        for( x = minX1; x < maxX1; x++ )
        {
            int u = prow1[x];
            int ul = x > 0 ? (u + prow1[x-1])/2 : u;
            int ur = x < width-1 ? (u + prow1[x+1])/2 : u;
            int u0 = min(ul, ur); u0 = min(u0, u);
            int u1 = max(ul, ur); u1 = max(u1, u);
            
        #if CV_SSE2
            if( useSIMD )
            {
                __m128i _u = _mm_set1_epi8((char)u), _u0 = _mm_set1_epi8((char)u0);
                __m128i _u1 = _mm_set1_epi8((char)u1), z = _mm_setzero_si128();
                __m128i ds = _mm_cvtsi32_si128(diff_scale);
                
                for( int d = minD; d < maxD; d += 16 )
                {
                    __m128i _v = _mm_loadu_si128((const __m128i*)(prow2 + width-x-1 + d));
                    __m128i _v0 = _mm_loadu_si128((const __m128i*)(buffer + width-x-1 + d));
                    __m128i _v1 = _mm_loadu_si128((const __m128i*)(buffer + width-x-1 + d + width2));
                    __m128i c0 = _mm_max_epu8(_mm_subs_epu8(_u, _v1), _mm_subs_epu8(_v0, _u));
                    __m128i c1 = _mm_max_epu8(_mm_subs_epu8(_v, _u1), _mm_subs_epu8(_u0, _v));
                    __m128i diff = _mm_min_epu8(c0, c1);
                    
                    c0 = _mm_load_si128((__m128i*)(cost + x*D + d));
                    c1 = _mm_load_si128((__m128i*)(cost + x*D + d + 8));
                    
                    _mm_store_si128((__m128i*)(cost + x*D + d), _mm_adds_epi16(c0, _mm_srl_epi16(_mm_unpacklo_epi8(diff,z), ds)));
                    _mm_store_si128((__m128i*)(cost + x*D + d + 8), _mm_adds_epi16(c1, _mm_srl_epi16(_mm_unpackhi_epi8(diff,z), ds)));
                }
            }
            else
        #endif
            {
                for( int d = minD; d < maxD; d++ )
                {
                    int v = prow2[width-x-1 + d];
                    int v0 = buffer[width-x-1 + d];
                    int v1 = buffer[width-x-1 + d + width2];
                    int c0 = max(0, u - v1); c0 = max(c0, v0 - u);
                    int c1 = max(0, v - u1); c1 = max(c1, u0 - v);
                    
                    cost[x*D + d] = (CostType)(cost[x*D+d] + (min(c0, c1) >> diff_scale));
                }
            }
        }
    }
#else
    for( c = 0; c < cn*2; c++, prow1 += width, prow2 += width )
    {
        for( x = minX1; x < maxX1; x++ )
        {
            int u = prow1[x];
        #if CV_SSE2
            if( useSIMD )
            {
                __m128i _u = _mm_set1_epi8(u), z = _mm_setzero_si128();
                
                for( int d = minD; d < maxD; d += 16 )
                {
                    __m128i _v = _mm_loadu_si128((const __m128i*)(prow2 + width-1-x + d));
                    __m128i diff = _mm_adds_epu8(_mm_subs_epu8(_u,_v), _mm_subs_epu8(_v,_u));
                    __m128i c0 = _mm_load_si128((__m128i*)(cost + x*D + d));
                    __m128i c1 = _mm_load_si128((__m128i*)(cost + x*D + d + 8));
                    
                    _mm_store_si128((__m128i*)(cost + x*D + d), _mm_adds_epi16(c0, _mm_unpacklo_epi8(diff,z)));
                    _mm_store_si128((__m128i*)(cost + x*D + d + 8), _mm_adds_epi16(c1, _mm_unpackhi_epi8(diff,z)));
                }
            }
            else
        #endif
            {
                for( int d = minD; d < maxD; d++ )
                {
                    int v = prow2[width-1-x + d];
                    cost[x*D + d] = (CostType)(cost[x*D + d] + (CostType)std::abs(u - v));
                }
            }
        }
    }
#endif
}


/*
 computes disparity for "roi" in img1 w.r.t. img2 and write it to disp1buf.
 that is, disp1buf(x, y)=d means that img1(x+roi.x, y+roi.y) ~ img2(x+roi.x-d, y+roi.y).
 minD <= d < maxD.
 disp2full is the reverse disparity map, that is:
 disp2full(x+roi.x,y+roi.y)=d means that img2(x+roi.x, y+roi.y) ~ img1(x+roi.x+d, y+roi.y)
 
 note that disp1buf will have the same size as the roi and
 disp2full will have the same size as img1 (or img2).
 On exit disp2buf is not the final disparity, it is an intermediate result that becomes
 final after all the tiles are processed.
 
 the disparity in disp1buf is written with sub-pixel accuracy
 (4 fractional bits, see CvStereoSGBM::DISP_SCALE),
 using quadratic interpolation, while the disparity in disp2buf
 is written as is, without interpolation.
 
 disp2cost also has the same size as img1 (or img2).
 It contains the minimum current cost, used to find the best disparity, corresponding to the minimal cost.
 */ 
static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
                                 Mat& disp1, const StereoSGBM& params, 
                                 Mat& buffer )
{
#if CV_SSE2
    static const uchar LSBTab[] =
    {
        0, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
        5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
        6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
        5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
        7, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
        5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
        6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
        5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0
    };
    
    volatile bool useSIMD = checkHardwareSupport(CV_CPU_SSE2);
#endif    
    
    const int ALIGN = 16;
    const int DISP_SHIFT = StereoSGBM::DISP_SHIFT;
    const int DISP_SCALE = StereoSGBM::DISP_SCALE;
    const CostType MAX_COST = SHRT_MAX;
    
    int minD = params.minDisparity, maxD = minD + params.numberOfDisparities;
    Size SADWindowSize;
    SADWindowSize.width = SADWindowSize.height = params.SADWindowSize > 0 ? params.SADWindowSize : 5;
    int ftzero = max(params.preFilterCap, 15) | 1;
    int uniquenessRatio = params.uniquenessRatio >= 0 ? params.uniquenessRatio : 10;
    int disp12MaxDiff = params.disp12MaxDiff > 0 ? params.disp12MaxDiff : 1;
    int P1 = params.P1 > 0 ? params.P1 : 2, P2 = max(params.P2 > 0 ? params.P2 : 5, P1+1);
    int k, width = disp1.cols, height = disp1.rows;
    int minX1 = max(maxD, 0), maxX1 = width + min(minD, 0);
    int D = maxD - minD, width1 = maxX1 - minX1;
    int INVALID_DISP = minD - 1, INVALID_DISP_SCALED = INVALID_DISP*DISP_SCALE;
    int SW2 = SADWindowSize.width/2, SH2 = SADWindowSize.height/2;
    int npasses = params.fullDP ? 2 : 1;
    const int TAB_OFS = 256*4, TAB_SIZE = 256 + TAB_OFS*2;
    PixType clipTab[TAB_SIZE];
    
    for( k = 0; k < TAB_SIZE; k++ )
        clipTab[k] = (PixType)(min(max(k - TAB_OFS, -ftzero), ftzero) + ftzero);
    
    if( minX1 >= maxX1 )
    {
        disp1 = Scalar::all(INVALID_DISP_SCALED);
        return;
    }
    
    CV_Assert( D % 16 == 0 );
    
    // NR - the number of directions. the loop on x below that computes Lr assumes that NR == 8.
    // if you change NR, please, modify the loop as well.
    int D2 = D+16, NRD2 = NR2*D2;
    
    // the number of L_r(.,.) and min_k L_r(.,.) lines in the buffer:
    // for 8-way dynamic programming we need the current row and
    // the previous row, i.e. 2 rows in total
    const int NLR = 2;
    const int LrBorder = NLR - 1;
    
    // for each possible stereo match (img1(x,y) <=> img2(x-d,y))
    // we keep pixel difference cost (C) and the summary cost over NR directions (S).
    // we also keep all the partial costs for the previous line L_r(x,d) and also min_k L_r(x, k)
    size_t costBufSize = width1*D;
    size_t CSBufSize = costBufSize*(params.fullDP ? height : 1);
    size_t minLrSize = (width1 + LrBorder*2)*NR2, LrSize = minLrSize*D2;
    int hsumBufNRows = SH2*2 + 2;
    size_t totalBufSize = (LrSize + minLrSize)*NLR*sizeof(CostType) + // minLr[] and Lr[]
    costBufSize*(hsumBufNRows + 1)*sizeof(CostType) + // hsumBuf, pixdiff
    CSBufSize*2*sizeof(CostType) + // C, S
    width*16*img1.channels()*sizeof(PixType) + // temp buffer for computing per-pixel cost
    width*(sizeof(CostType) + sizeof(DispType)) + 1024; // disp2cost + disp2
    
    if( !buffer.data || !buffer.isContinuous() ||
        buffer.cols*buffer.rows*buffer.elemSize() < totalBufSize )
        buffer.create(1, (int)totalBufSize, CV_8U);
    
    // summary cost over different (nDirs) directions
    CostType* Cbuf = (CostType*)alignPtr(buffer.data, ALIGN);
    CostType* Sbuf = Cbuf + CSBufSize;
    CostType* hsumBuf = Sbuf + CSBufSize;
    CostType* pixDiff = hsumBuf + costBufSize*hsumBufNRows;
    
    CostType* disp2cost = pixDiff + costBufSize + (LrSize + minLrSize)*NLR;
    DispType* disp2ptr = (DispType*)(disp2cost + width);
    PixType* tempBuf = (PixType*)(disp2ptr + width);
    
    // add P2 to every C(x,y). it saves a few operations in the inner loops
    for( k = 0; k < width1*D; k++ )
        Cbuf[k] = (CostType)P2;
    
    for( int pass = 1; pass <= npasses; pass++ )
    {
        int x1, y1, x2, y2, dx, dy;
        
        if( pass == 1 )
        {
            y1 = 0; y2 = height; dy = 1;
            x1 = 0; x2 = width1; dx = 1;
        }
        else
        {
            y1 = height-1; y2 = -1; dy = -1;
            x1 = width1-1; x2 = -1; dx = -1;
        }
        
        CostType *Lr[NLR]={0}, *minLr[NLR]={0};
        
        for( k = 0; k < NLR; k++ )
        {
            // shift Lr[k] and minLr[k] pointers, because we allocated them with the borders,
            // and will occasionally use negative indices with the arrays
            // we need to shift Lr[k] pointers by 1, to give the space for d=-1.
            // however, then the alignment will be imperfect, i.e. bad for SSE,
            // thus we shift the pointers by 8 (8*sizeof(short) == 16 - ideal alignment)
            Lr[k] = pixDiff + costBufSize + LrSize*k + NRD2*LrBorder + 8;
            memset( Lr[k] - LrBorder*NRD2 - 8, 0, LrSize*sizeof(CostType) );
            minLr[k] = pixDiff + costBufSize + LrSize*NLR + minLrSize*k + NR2*2;
            memset( minLr[k] - LrBorder*NR2, 0, minLrSize*sizeof(CostType) );
        }
        
        for( int y = y1; y != y2; y += dy )
        {
            int x, d;
            DispType* disp1ptr = disp1.ptr<DispType>(y);
            CostType* C = Cbuf + (!params.fullDP ? 0 : y*costBufSize);
            CostType* S = Sbuf + (!params.fullDP ? 0 : y*costBufSize);
            
            if( pass == 1 ) // compute C on the first pass, and reuse it on the second pass, if any.
            {
                int dy1 = y == 0 ? 0 : y + SH2, dy2 = y == 0 ? SH2 : dy1;
                
                for( k = dy1; k <= dy2; k++ )
                {
                    CostType* hsumAdd = hsumBuf + (min(k, height-1) % hsumBufNRows)*costBufSize;
                    
                    if( k < height )
                    {
                        calcPixelCostBT( img1, img2, k, minD, maxD, pixDiff, tempBuf, clipTab, TAB_OFS, ftzero );
                        
                        memset(hsumAdd, 0, D*sizeof(CostType));
                        for( x = 0; x <= SW2*D; x += D )
                        {
                            int scale = x == 0 ? SW2 + 1 : 1;
                            for( d = 0; d < D; d++ )
                                hsumAdd[d] = (CostType)(hsumAdd[d] + pixDiff[x + d]*scale);
                        }
                        
                        if( y > 0 )
                        {
                            const CostType* hsumSub = hsumBuf + (max(y - SH2 - 1, 0) % hsumBufNRows)*costBufSize;
                            const CostType* Cprev = !params.fullDP || y == 0 ? C : C - costBufSize;
                            
                            for( x = D; x < width1*D; x += D )
                            {
                                const CostType* pixAdd = pixDiff + min(x + SW2*D, (width1-1)*D);
                                const CostType* pixSub = pixDiff + max(x - (SW2+1)*D, 0);
                                
                            #if CV_SSE2
                                if( useSIMD )
                                {
                                    for( d = 0; d < D; d += 8 )
                                    {
                                        __m128i hv = _mm_load_si128((const __m128i*)(hsumAdd + x - D + d));
                                        __m128i Cx = _mm_load_si128((__m128i*)(Cprev + x + d));
                                        hv = _mm_adds_epi16(_mm_subs_epi16(hv,
                                                                           _mm_load_si128((const __m128i*)(pixSub + d))),
                                                            _mm_load_si128((const __m128i*)(pixAdd + d)));
                                        Cx = _mm_adds_epi16(_mm_subs_epi16(Cx,
                                                                           _mm_load_si128((const __m128i*)(hsumSub + x + d))),
                                                            hv);
                                        _mm_store_si128((__m128i*)(hsumAdd + x + d), hv);
                                        _mm_store_si128((__m128i*)(C + x + d), Cx);
                                    }
                                }
                                else
                            #endif
                                {
                                    for( d = 0; d < D; d++ )
                                    {
                                        int hv = hsumAdd[x + d] = (CostType)(hsumAdd[x - D + d] + pixAdd[d] - pixSub[d]);
                                        C[x + d] = (CostType)(Cprev[x + d] + hv - hsumSub[x + d]);
                                    }
                                }
                            }
                        }
                        else
                        {
                            for( x = D; x < width1*D; x += D )
                            {
                                const CostType* pixAdd = pixDiff + min(x + SW2*D, (width1-1)*D);
                                const CostType* pixSub = pixDiff + max(x - (SW2+1)*D, 0);
                                
                                for( d = 0; d < D; d++ )
                                    hsumAdd[x + d] = (CostType)(hsumAdd[x - D + d] + pixAdd[d] - pixSub[d]);
                            }
                        }
                    }
                    
                    if( y == 0 )
                    {
                        int scale = k == 0 ? SH2 + 1 : 1;
                        for( x = 0; x < width1*D; x++ )
                            C[x] = (CostType)(C[x] + hsumAdd[x]*scale);
                    }
                }
                
                // also, clear the S buffer
                for( k = 0; k < width1*D; k++ )
                    S[k] = 0;
            }
            
            // clear the left and the right borders
            memset( Lr[0] - NRD2*LrBorder - 8, 0, NRD2*LrBorder*sizeof(CostType) );
            memset( Lr[0] + width1*NRD2 - 8, 0, NRD2*LrBorder*sizeof(CostType) );
            memset( minLr[0] - NR2*LrBorder, 0, NR2*LrBorder*sizeof(CostType) );
            memset( minLr[0] + width1*NR2, 0, NR2*LrBorder*sizeof(CostType) );
            
            /*
             [formula 13 in the paper]
             compute L_r(p, d) = C(p, d) +
             min(L_r(p-r, d),
             L_r(p-r, d-1) + P1,
             L_r(p-r, d+1) + P1,
             min_k L_r(p-r, k) + P2) - min_k L_r(p-r, k)
             where p = (x,y), r is one of the directions.
             we process all the directions at once:
             0: r=(-dx, 0)
             1: r=(-1, -dy)
             2: r=(0, -dy)
             3: r=(1, -dy)
             4: r=(-2, -dy)
             5: r=(-1, -dy*2)
             6: r=(1, -dy*2)
             7: r=(2, -dy)
             */
            for( x = x1; x != x2; x += dx )
            {
                int xm = x*NR2, xd = xm*D2;
                
                int delta0 = minLr[0][xm - dx*NR2] + P2, delta1 = minLr[1][xm - NR2 + 1] + P2;
                int delta2 = minLr[1][xm + 2] + P2, delta3 = minLr[1][xm + NR2 + 3] + P2;
                
                CostType* Lr_p0 = Lr[0] + xd - dx*NRD2;
                CostType* Lr_p1 = Lr[1] + xd - NRD2 + D2;
                CostType* Lr_p2 = Lr[1] + xd + D2*2;
                CostType* Lr_p3 = Lr[1] + xd + NRD2 + D2*3;
                
                Lr_p0[-1] = Lr_p0[D] = Lr_p1[-1] = Lr_p1[D] =
                Lr_p2[-1] = Lr_p2[D] = Lr_p3[-1] = Lr_p3[D] = MAX_COST;
                
                CostType* Lr_p = Lr[0] + xd;
                const CostType* Cp = C + x*D;
                CostType* Sp = S + x*D;
                
            #if CV_SSE2
                if( useSIMD )
                {
                    __m128i _P1 = _mm_set1_epi16((short)P1);
                    
                    __m128i _delta0 = _mm_set1_epi16((short)delta0);
                    __m128i _delta1 = _mm_set1_epi16((short)delta1);
                    __m128i _delta2 = _mm_set1_epi16((short)delta2);
                    __m128i _delta3 = _mm_set1_epi16((short)delta3);
                    __m128i _minL0 = _mm_set1_epi16((short)MAX_COST);
                    
                    for( d = 0; d < D; d += 8 )
                    {
                        __m128i Cpd = _mm_load_si128((const __m128i*)(Cp + d));
                        __m128i L0, L1, L2, L3;
                        
                        L0 = _mm_load_si128((const __m128i*)(Lr_p0 + d));
                        L1 = _mm_load_si128((const __m128i*)(Lr_p1 + d));
                        L2 = _mm_load_si128((const __m128i*)(Lr_p2 + d));
                        L3 = _mm_load_si128((const __m128i*)(Lr_p3 + d));
                        
                        L0 = _mm_min_epi16(L0, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p0 + d - 1)), _P1));
                        L0 = _mm_min_epi16(L0, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p0 + d + 1)), _P1));
                        
                        L1 = _mm_min_epi16(L1, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p1 + d - 1)), _P1));
                        L1 = _mm_min_epi16(L1, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p1 + d + 1)), _P1));
                        
                        L2 = _mm_min_epi16(L2, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p2 + d - 1)), _P1));
                        L2 = _mm_min_epi16(L2, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p2 + d + 1)), _P1));
                        
                        L3 = _mm_min_epi16(L3, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p3 + d - 1)), _P1));
                        L3 = _mm_min_epi16(L3, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p3 + d + 1)), _P1));
                        
                        L0 = _mm_min_epi16(L0, _delta0);
                        L0 = _mm_adds_epi16(_mm_subs_epi16(L0, _delta0), Cpd);
                        
                        L1 = _mm_min_epi16(L1, _delta1);
                        L1 = _mm_adds_epi16(_mm_subs_epi16(L1, _delta1), Cpd);
                        
                        L2 = _mm_min_epi16(L2, _delta2);
                        L2 = _mm_adds_epi16(_mm_subs_epi16(L2, _delta2), Cpd);
                        
                        L3 = _mm_min_epi16(L3, _delta3);
                        L3 = _mm_adds_epi16(_mm_subs_epi16(L3, _delta3), Cpd);
                        
                        _mm_store_si128( (__m128i*)(Lr_p + d), L0);
                        _mm_store_si128( (__m128i*)(Lr_p + d + D2), L1);
                        _mm_store_si128( (__m128i*)(Lr_p + d + D2*2), L2);
                        _mm_store_si128( (__m128i*)(Lr_p + d + D2*3), L3);
                        
                        __m128i t0 = _mm_min_epi16(_mm_unpacklo_epi16(L0, L2), _mm_unpackhi_epi16(L0, L2));
                        __m128i t1 = _mm_min_epi16(_mm_unpacklo_epi16(L1, L3), _mm_unpackhi_epi16(L1, L3));
                        t0 = _mm_min_epi16(_mm_unpacklo_epi16(t0, t1), _mm_unpackhi_epi16(t0, t1));
                        _minL0 = _mm_min_epi16(_minL0, t0);
                        
                        __m128i Sval = _mm_load_si128((const __m128i*)(Sp + d));
                        
                        L0 = _mm_adds_epi16(L0, L1);
                        L2 = _mm_adds_epi16(L2, L3);
                        Sval = _mm_adds_epi16(Sval, L0);
                        Sval = _mm_adds_epi16(Sval, L2);
                        
                        _mm_store_si128((__m128i*)(Sp + d), Sval);
                    }
                    
                    _minL0 = _mm_min_epi16(_minL0, _mm_srli_si128(_minL0, 8));
                    _mm_storel_epi64((__m128i*)&minLr[0][xm], _minL0);
                }
                else
            #endif
                {
                    int minL0 = MAX_COST, minL1 = MAX_COST, minL2 = MAX_COST, minL3 = MAX_COST;
                    
                    for( d = 0; d < D; d++ )
                    {
                        int Cpd = Cp[d], L0, L1, L2, L3;
                        
                        L0 = Cpd + min((int)Lr_p0[d], min(Lr_p0[d-1] + P1, min(Lr_p0[d+1] + P1, delta0))) - delta0;
                        L1 = Cpd + min((int)Lr_p1[d], min(Lr_p1[d-1] + P1, min(Lr_p1[d+1] + P1, delta1))) - delta1;                    
                        L2 = Cpd + min((int)Lr_p2[d], min(Lr_p2[d-1] + P1, min(Lr_p2[d+1] + P1, delta2))) - delta2;
                        L3 = Cpd + min((int)Lr_p3[d], min(Lr_p3[d-1] + P1, min(Lr_p3[d+1] + P1, delta3))) - delta3;
                        
                        Lr_p[d] = (CostType)L0;
                        minL0 = min(minL0, L0);
                        
                        Lr_p[d + D2] = (CostType)L1;
                        minL1 = min(minL1, L1);
                        
                        Lr_p[d + D2*2] = (CostType)L2;
                        minL2 = min(minL2, L2);
                        
                        Lr_p[d + D2*3] = (CostType)L3;
                        minL3 = min(minL3, L3);
                        
                        Sp[d] = saturate_cast<CostType>(Sp[d] + L0 + L1 + L2 + L3);
                    }
                    minLr[0][xm] = (CostType)minL0;
                    minLr[0][xm+1] = (CostType)minL1;
                    minLr[0][xm+2] = (CostType)minL2;
                    minLr[0][xm+3] = (CostType)minL3;
                }
            }
            
            if( pass == npasses )
            {
                for( x = 0; x < width; x++ )
                {
                    disp1ptr[x] = disp2ptr[x] = (DispType)INVALID_DISP_SCALED;
                    disp2cost[x] = MAX_COST;
                }
                
                for( x = width1 - 1; x >= 0; x-- )
                {
                    CostType* Sp = S + x*D;
                    int minS = MAX_COST, bestDisp = -1;
                    
                    if( npasses == 1 )
                    {
                        int xm = x*NR2, xd = xm*D2;
                        
                        int minL0 = MAX_COST;
                        int delta0 = minLr[0][xm + NR2] + P2;
                        CostType* Lr_p0 = Lr[0] + xd + NRD2;
                        Lr_p0[-1] = Lr_p0[D] = MAX_COST;
                        CostType* Lr_p = Lr[0] + xd;
                        
                        const CostType* Cp = C + x*D;
                        
                    #if CV_SSE2
                        if( useSIMD )
                        {
                            __m128i _P1 = _mm_set1_epi16((short)P1);
                            __m128i _delta0 = _mm_set1_epi16((short)delta0);
                            
                            __m128i _minL0 = _mm_set1_epi16((short)minL0);
                            __m128i _minS = _mm_set1_epi16(MAX_COST), _bestDisp = _mm_set1_epi16(-1);
                            __m128i _d8 = _mm_setr_epi16(0, 1, 2, 3, 4, 5, 6, 7), _8 = _mm_set1_epi16(8);
                            
                            for( d = 0; d < D; d += 8 )
                            {
                                __m128i Cpd = _mm_load_si128((const __m128i*)(Cp + d)), L0;
                                
                                L0 = _mm_load_si128((const __m128i*)(Lr_p0 + d));
                                L0 = _mm_min_epi16(L0, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p0 + d - 1)), _P1));
                                L0 = _mm_min_epi16(L0, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p0 + d + 1)), _P1));
                                L0 = _mm_min_epi16(L0, _delta0);
                                L0 = _mm_adds_epi16(_mm_subs_epi16(L0, _delta0), Cpd);
                                
                                _mm_store_si128((__m128i*)(Lr_p + d), L0);
                                _minL0 = _mm_min_epi16(_minL0, L0);
                                L0 = _mm_adds_epi16(L0, *(__m128i*)(Sp + d));
                                _mm_store_si128((__m128i*)(Sp + d), L0);
                                
                                __m128i mask = _mm_cmpgt_epi16(_minS, L0);
                                _minS = _mm_min_epi16(_minS, L0);
                                _bestDisp = _mm_xor_si128(_bestDisp, _mm_and_si128(_mm_xor_si128(_bestDisp,_d8), mask));
                                _d8 = _mm_adds_epi16(_d8, _8);
                            }
                            
                            short CV_DECL_ALIGNED(16) bestDispBuf[8];
                            _mm_store_si128((__m128i*)bestDispBuf, _bestDisp);
                            
                            _minL0 = _mm_min_epi16(_minL0, _mm_srli_si128(_minL0, 8));
                            _minL0 = _mm_min_epi16(_minL0, _mm_srli_si128(_minL0, 4));
                            _minL0 = _mm_min_epi16(_minL0, _mm_srli_si128(_minL0, 2));
                            
                            __m128i qS = _mm_min_epi16(_minS, _mm_srli_si128(_minS, 8));
                            qS = _mm_min_epi16(qS, _mm_srli_si128(qS, 4));
                            qS = _mm_min_epi16(qS, _mm_srli_si128(qS, 2));
                            
                            minLr[0][xm] = (CostType)_mm_cvtsi128_si32(_minL0);
                            minS = (CostType)_mm_cvtsi128_si32(qS);
                            
                            qS = _mm_shuffle_epi32(_mm_unpacklo_epi16(qS, qS), 0);
                            qS = _mm_cmpeq_epi16(_minS, qS);
                            int idx = _mm_movemask_epi8(_mm_packs_epi16(qS, qS)) & 255;
                            
                            bestDisp = bestDispBuf[LSBTab[idx]];
                        }
                        else
                    #endif
                        {
                            for( d = 0; d < D; d++ )
                            {
                                int L0 = Cp[d] + min((int)Lr_p0[d], min(Lr_p0[d-1] + P1, min(Lr_p0[d+1] + P1, delta0))) - delta0;
                                
                                Lr_p[d] = (CostType)L0;
                                minL0 = min(minL0, L0);
                                
                                int Sval = Sp[d] = saturate_cast<CostType>(Sp[d] + L0);
                                if( Sval < minS )
                                {
                                    minS = Sval;
                                    bestDisp = d;
                                }
                            }
                            minLr[0][xm] = (CostType)minL0;
                        }
                    }
                    else
                    {
                        for( d = 0; d < D; d++ )
                        {
                            int Sval = Sp[d];
                            if( Sval < minS )
                            {
                                minS = Sval;
                                bestDisp = d;
                            }
                        }
                    }
                    
                    for( d = 0; d < D; d++ )
                    {
                        if( Sp[d]*(100 - uniquenessRatio) < minS*100 && std::abs(bestDisp - d) > 1 )
                            break;
                    }
                    if( d < D )
                        continue;
                    d = bestDisp;
                    int x2 = x + minX1 - d - minD;
                    if( disp2cost[x2] > minS )
                    {
                        disp2cost[x2] = (CostType)minS;
                        disp2ptr[x2] = (DispType)(d + minD);
                    }
                    
                    if( 0 < d && d < D-1 )
                    {
                        // do subpixel quadratic interpolation:
                        //   fit parabola into (x1=d-1, y1=Sp[d-1]), (x2=d, y2=Sp[d]), (x3=d+1, y3=Sp[d+1])
                        //   then find minimum of the parabola.
                        int denom2 = max(Sp[d-1] + Sp[d+1] - 2*Sp[d], 1);
                        d = d*DISP_SCALE + ((Sp[d-1] - Sp[d+1])*DISP_SCALE + denom2)/(denom2*2);
                    }
                    else
                        d *= DISP_SCALE;
                    disp1ptr[x + minX1] = (DispType)(d + minD*DISP_SCALE);
                }
                
                for( x = minX1; x < maxX1; x++ )
                {
                    // we round the computed disparity both towards -inf and +inf and check
                    // if either of the corresponding disparities in disp2 is consistent.
                    // This is to give the computed disparity a chance to look valid if it is.
                    int d = disp1ptr[x];
                    if( d == INVALID_DISP_SCALED )
                        continue;
                    int _d = d >> DISP_SHIFT;
                    int d_ = (d + DISP_SCALE-1) >> DISP_SHIFT;
                    int _x = x - _d, x_ = x - d_;
                    if( 0 <= _x && _x < width && disp2ptr[_x] >= minD && std::abs(disp2ptr[_x] - _d) > disp12MaxDiff &&
                       0 <= x_ && x_ < width && disp2ptr[x_] >= minD && std::abs(disp2ptr[x_] - d_) > disp12MaxDiff )
                        disp1ptr[x] = (DispType)INVALID_DISP_SCALED;
                }
            }
            
            // now shift the cyclic buffers
            std::swap( Lr[0], Lr[1] );
            std::swap( minLr[0], minLr[1] );
        }
    }
}

typedef cv::Point_<short> Point2s;

void StereoSGBM::operator ()( const InputArray& _left, const InputArray& _right,
                             OutputArray _disp )
{
    Mat left = _left.getMat(), right = _right.getMat();
    CV_Assert( left.size() == right.size() && left.type() == right.type() &&
              left.depth() == DataType<PixType>::depth );
    
    _disp.create( left.size(), CV_16S );
    Mat disp = _disp.getMat();
    
    computeDisparitySGBM( left, right, disp, *this, buffer );
    medianBlur(disp, disp, 3);
    
    if( speckleWindowSize > 0 )
        filterSpeckles(disp, (minDisparity - 1)*DISP_SCALE, speckleWindowSize, DISP_SCALE*speckleRange, buffer);
}


Rect getValidDisparityROI( Rect roi1, Rect roi2,
                          int minDisparity,
                          int numberOfDisparities,
                          int SADWindowSize )
{
    int SW2 = SADWindowSize/2;
    int minD = minDisparity, maxD = minDisparity + numberOfDisparities - 1;
    
    int xmin = max(roi1.x, roi2.x + maxD) + SW2;
    int xmax = min(roi1.x + roi1.width, roi2.x + roi2.width - minD) - SW2;
    int ymin = max(roi1.y, roi2.y) + SW2;
    int ymax = min(roi1.y + roi1.height, roi2.y + roi2.height) - SW2;
    
    Rect r(xmin, ymin, xmax - xmin, ymax - ymin);
    
    return r.width > 0 && r.height > 0 ? r : Rect();
}    
    
}
    
void cv::filterSpeckles( InputOutputArray _img, double _newval, int maxSpeckleSize,
                         double _maxDiff, InputOutputArray __buf )
{
    Mat img = _img.getMat();
    Mat temp, &_buf = __buf.needed() ? __buf.getMatRef() : temp;
    CV_Assert( img.type() == CV_16SC1 );
    
    int newVal = cvRound(_newval);
    int maxDiff = cvRound(_maxDiff);
    int width = img.cols, height = img.rows, npixels = width*height;
    size_t bufSize = npixels*(int)(sizeof(Point2s) + sizeof(int) + sizeof(uchar));
    if( !_buf.isContinuous() || !_buf.data || _buf.cols*_buf.rows*_buf.elemSize() < bufSize )
        _buf.create(1, (int)bufSize, CV_8U);
    
    uchar* buf = _buf.data;
    int i, j, dstep = (int)(img.step/sizeof(short));
    int* labels = (int*)buf;
    buf += npixels*sizeof(labels[0]);
    Point2s* wbuf = (Point2s*)buf;
    buf += npixels*sizeof(wbuf[0]);
    uchar* rtype = (uchar*)buf;
    int curlabel = 0;
    
    // clear out label assignments
    memset(labels, 0, npixels*sizeof(labels[0]));
    
    for( i = 0; i < height; i++ )
    {
        short* ds = img.ptr<short>(i);
        int* ls = labels + width*i;
        
        for( j = 0; j < width; j++ )
        {
            if( ds[j] != newVal )	// not a bad disparity
            {
                if( ls[j] )		// has a label, check for bad label
                {  
                    if( rtype[ls[j]] ) // small region, zero out disparity
                        ds[j] = (short)newVal;
                }
                // no label, assign and propagate
                else
                {
                    Point2s* ws = wbuf;	// initialize wavefront
                    Point2s p((short)j, (short)i);	// current pixel
                    curlabel++;	// next label
                    int count = 0;	// current region size
                    ls[j] = curlabel;
                    
                    // wavefront propagation
                    while( ws >= wbuf ) // wavefront not empty
                    {
                        count++;
                        // put neighbors onto wavefront
                        short* dpp = &img.at<short>(p.y, p.x);
                        short dp = *dpp;
                        int* lpp = labels + width*p.y + p.x;
                        
                        if( p.x < width-1 && !lpp[+1] && dpp[+1] != newVal && std::abs(dp - dpp[+1]) <= maxDiff )
                        {
                            lpp[+1] = curlabel;
                            *ws++ = Point2s(p.x+1, p.y);
                        }
                        
                        if( p.x > 0 && !lpp[-1] && dpp[-1] != newVal && std::abs(dp - dpp[-1]) <= maxDiff )
                        {
                            lpp[-1] = curlabel;
                            *ws++ = Point2s(p.x-1, p.y);
                        }
                        
                        if( p.y < height-1 && !lpp[+width] && dpp[+dstep] != newVal && std::abs(dp - dpp[+dstep]) <= maxDiff )
                        {
                            lpp[+width] = curlabel;
                            *ws++ = Point2s(p.x, p.y+1);
                        }
                        
                        if( p.y > 0 && !lpp[-width] && dpp[-dstep] != newVal && std::abs(dp - dpp[-dstep]) <= maxDiff )
                        {
                            lpp[-width] = curlabel;
                            *ws++ = Point2s(p.x, p.y-1);
                        }
                        
                        // pop most recent and propagate
                        // NB: could try least recent, maybe better convergence
                        p = *--ws;
                    }
                    
                    // assign label type
                    if( count <= maxSpeckleSize )	// speckle region
                    {
                        rtype[ls[j]] = 1;	// small region label
                        ds[j] = (short)newVal;
                    }
                    else
                        rtype[ls[j]] = 0;	// large region label
                }
            }
        }
    }
}    
    
void cv::validateDisparity( InputOutputArray _disp, const InputArray& _cost, int minDisparity,
                            int numberOfDisparities, int disp12MaxDiff )
{
    Mat disp = _disp.getMat(), cost = _cost.getMat();
    int cols = disp.cols, rows = disp.rows;
    int minD = minDisparity, maxD = minDisparity + numberOfDisparities;
    int x, minX1 = max(maxD, 0), maxX1 = cols + min(minD, 0);
    AutoBuffer<int> _disp2buf(cols*2);
    int* disp2buf = _disp2buf;
    int* disp2cost = disp2buf + cols;
    const int DISP_SHIFT = 4, DISP_SCALE = 1 << DISP_SHIFT;
    int INVALID_DISP = minD - 1, INVALID_DISP_SCALED = INVALID_DISP*DISP_SCALE;
    int costType = cost.type();
    
    disp12MaxDiff *= DISP_SCALE;
    
    CV_Assert( numberOfDisparities > 0 && disp.type() == CV_16S &&
              (costType == CV_16S || costType == CV_32S) &&
              disp.size() == cost.size() );
    
    for( int y = 0; y < rows; y++ )
    {
        short* dptr = disp.ptr<short>(y);
        
        for( x = 0; x < cols; x++ )
        {
            disp2buf[x] = INVALID_DISP;
            disp2cost[x] = INT_MAX;
        }
        
        if( costType == CV_16S )
        {
            const short* cptr = cost.ptr<short>(y);
            
            for( x = minX1; x < maxX1; x++ )
            {
                int d = dptr[x], c = cptr[x];
                int x2 = x - ((d + DISP_SCALE/2) >> DISP_SHIFT);
                
                if( disp2cost[x2] > c )
                {
                    disp2cost[x2] = c;
                    disp2buf[x2] = d;
                }
            }
        }
        else
        {
            const int* cptr = cost.ptr<int>(y);
            
            for( x = minX1; x < maxX1; x++ )
            {
                int d = dptr[x], c = cptr[x];
                int x2 = x - ((d + DISP_SCALE/2) >> DISP_SHIFT);
                
                if( disp2cost[x2] < c )
                {
                    disp2cost[x2] = c;
                    disp2buf[x2] = d;
                }
            }
        }
        
        for( x = minX1; x < maxX1; x++ )
        {
            // we round the computed disparity both towards -inf and +inf and check
            // if either of the corresponding disparities in disp2 is consistent.
            // This is to give the computed disparity a chance to look valid if it is.
            int d = dptr[x];
            if( d == INVALID_DISP_SCALED )
                continue;
            int d0 = d >> DISP_SHIFT;
            int d1 = (d + DISP_SCALE-1) >> DISP_SHIFT;
            int x0 = x - d0, x1 = x - d1;
            if( (0 <= x0 && x0 < cols && disp2buf[x0] > INVALID_DISP && std::abs(disp2buf[x0] - d) > disp12MaxDiff) &&
                (0 <= x1 && x1 < cols && disp2buf[x1] > INVALID_DISP && std::abs(disp2buf[x1] - d) > disp12MaxDiff) )
                dptr[x] = (short)INVALID_DISP_SCALED;
        }
    }
}

CvRect cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
                               int numberOfDisparities, int SADWindowSize )
{
    return (CvRect)cv::getValidDisparityROI( roi1, roi2, minDisparity,
                                             numberOfDisparities, SADWindowSize );
}

void cvValidateDisparity( CvArr* _disp, const CvArr* _cost, int minDisparity,
                          int numberOfDisparities, int disp12MaxDiff )
{
    cv::Mat disp = cv::cvarrToMat(_disp), cost = cv::cvarrToMat(_cost);
    cv::validateDisparity( disp, cost, minDisparity, numberOfDisparities, disp12MaxDiff );
}