added first version of stereo match sample on gpu

samples/gpu/hog.cpp

@@ -91,7 +91,7 @@ int main(int argc, char** argv)
     {
         if (argc < 2)
         {
-            cout << "Usage:\nsample_hog\n"
+            cout << "Usage:\nhog_gpu\n"
                 << "  -src <path_to_the_source>\n"
                 << "  [-src_is_video <true/false>] # says to interp. src as img or as video\n"
                 << "  [-make_gray <true/false>] # convert image to gray one or not\n"

samples/gpu/stereo_match.cpp

@@ -0,0 +1,221 @@
+#include <iostream>
+#include <string>
+#include <sstream>
+#include <iomanip>
+#include <stdexcept>
+#include "opencv2/gpu/gpu.hpp"
+#include "opencv2/highgui/highgui.hpp"
+
+using namespace cv;
+using namespace std;
+
+
+struct Params
+{
+    Params();
+    static Params read(int argc, char** argv);
+
+    string left;
+    string right;
+    string method_str;
+    enum {BM, BP, CSBP} method;
+    int ndisp; // Max disparity + 1
+};
+
+
+struct App
+{
+    App(const Params& p);
+    void run();
+    void handleKey(char key);
+
+    void workBegin() { work_begin = getTickCount(); }
+    void workEnd() 
+    {
+        int64 d = getTickCount() - work_begin;
+        double f = getTickFrequency();
+        work_fps = f / d;
+    }
+
+    string text() const
+    {
+        stringstream ss;
+        ss << "(" << p.method_str << ") FPS: " << setiosflags(ios::left) << setprecision(4) << work_fps;
+        return ss.str();
+    }
+private:
+    Params p;
+    bool running;
+
+    gpu::StereoBM_GPU bm;
+    gpu::StereoBeliefPropagation bp;
+    gpu::StereoConstantSpaceBP csbp;
+
+    int64 work_begin;
+    double work_fps;
+};
+
+
+int main(int argc, char** argv)
+{
+    try
+    {
+        if (argc < 2)
+        {
+            cout << "Usage: stereo_match_gpu\n"
+                << "\t-l <left_view> -r <right_view> # must be rectified\n"
+                << "\t-m <stereo_match_method> # bm | bp | csbp\n";
+            return 1;
+        }
+        App app(Params::read(argc, argv));
+        app.run();
+    }
+    catch (const exception& e)
+    {
+        cout << "error: " << e.what() << endl;
+    }
+    return 0;
+}
+
+
+Params::Params()
+{
+    ndisp = 64;
+}
+
+
+Params Params::read(int argc, char** argv)
+{
+    Params p;
+
+    for (int i = 1; i < argc - 1; i += 2)
+    {
+        string key = argv[i];
+        string val = argv[i + 1];
+        if (key == "-l") p.left = val;
+        else if (key == "-r") p.right = val;
+        else if (key == "-m") 
+        {
+            if (val == "BM") p.method = BM;
+            else if (val == "BP") p.method = BP;
+            else if (val == "CSBP") p.method = CSBP;
+            else throw runtime_error("unknown stereo match method: " + val);
+            p.method_str = val;
+        }
+        else if (key == "-ndisp") p.ndisp = atoi(val.c_str());
+        else throw runtime_error("unknown key: " + key);
+    }
+
+    return p;
+}
+
+
+App::App(const Params& p)
+    : p(p), running(false) 
+{
+    cout << "stereo_match_gpu sample\n";
+    cout << "\nControls:\n"
+        << "\tesc - exit\n"
+        << "\tm - change stereo match method\n"
+        << "\t1/q - increase/decrease max disprity\n";
+}
+
+
+void App::run()
+{
+    Mat left, right;
+    Mat left_aux, right_aux;
+    gpu::GpuMat d_left, d_right;
+
+    // Load images
+    left_aux = imread(p.left);
+    right_aux = imread(p.right);
+    if (left_aux.empty()) throw runtime_error("can't open file \"" + p.left + "\"");
+    if (right_aux.empty()) throw runtime_error("can't open file \"" + p.right + "\"");
+    cvtColor(left_aux, left, CV_BGR2GRAY);
+    cvtColor(right_aux, right, CV_BGR2GRAY);
+    d_left = left;
+    d_right = right;
+
+    imshow("left", left);
+    imshow("right", right);
+
+    // Create stero method descriptors
+    bm.ndisp = p.ndisp;
+    bp.ndisp = p.ndisp;
+    csbp.ndisp = p.ndisp;
+
+    // Prepare disparity map of specified type
+    Mat disp(left.size(), CV_8U);
+    gpu::GpuMat d_disp(left.size(), CV_8U);
+
+    // Show initial parameters
+    cout << "\nInitial Params:\n"
+        << "\timage_size: (" << left.cols << ", " << left.rows << ")\n"
+        << "\tmethod: " << p.method_str << endl
+        << "\tndisp: " << p.ndisp << endl << endl;
+
+    running = true;
+    while (running)
+    {
+        workBegin();
+        switch (p.method)
+        {
+        case Params::BM: bm(d_left, d_right, d_disp); break;
+        case Params::BP: bp(d_left, d_right, d_disp); break;
+        case Params::CSBP: csbp(d_left, d_right, d_disp); break;
+        }
+        workEnd();
+
+        // Show results
+        disp = d_disp;
+        putText(disp, text(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar::all(255));
+        imshow("disparity", disp);
+
+        handleKey((char)waitKey(3));
+    }
+}
+
+
+void App::handleKey(char key)
+{
+    switch (key)
+    {
+    case 27:
+        running = false;
+        break;
+    case 'm': case 'M':
+        switch (p.method)
+        {
+        case Params::BM:
+            p.method = Params::BP;
+            p.method_str = "BP";
+            break;
+        case Params::BP:
+            p.method = Params::CSBP;
+            p.method_str = "CSBP";
+            break;
+        case Params::CSBP:
+            p.method = Params::BM;
+            p.method_str = "BM";
+            break;
+        }
+        cout << "method: " << p.method_str << endl;
+        break;
+    case '1':
+        p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
+        bm.ndisp = p.ndisp;
+        bp.ndisp = p.ndisp;
+        csbp.ndisp = p.ndisp;
+        cout << "ndisp: " << p.ndisp << endl;
+        break;
+    case 'q': case 'Q':
+        p.ndisp = max(p.ndisp - 8, 1);
+        bm.ndisp = p.ndisp;
+        bp.ndisp = p.ndisp;
+        csbp.ndisp = p.ndisp;
+        cout << "ndisp: " << p.ndisp << endl;
+        break;
+    }
+}
+