2010-07-14 23:55:16 +08:00
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/*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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#include <limits>
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using namespace cv;
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using namespace cv::gpu;
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StereoBM_GPU::StereoBM_GPU() : preset(BASIC_PRESET), ndisp(64) {}
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StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_) : preset(preset_), ndisp(ndisparities_)
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{
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2010-07-15 17:13:15 +08:00
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const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
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CV_Assert(ndisp <= max_supported_ndisp);
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2010-07-14 23:55:16 +08:00
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}
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void StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity) const
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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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if (preset == PREFILTER_XSOBEL)
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{
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CV_Assert(!"Not implemented");
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}
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DevMem2D disp = disparity;
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DevMem2D_<uint> mssd = minSSD;
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impl::stereoBM_GPU(left, right, disp, ndisp, mssd);
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}
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