gcpustereo.cpp
2.96 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
//
// Copyright (C) 2021 Intel Corporation
#include <opencv2/gapi/stereo.hpp>
#include <opencv2/gapi/cpu/stereo.hpp>
#include <opencv2/gapi/cpu/gcpukernel.hpp>
#ifdef HAVE_OPENCV_CALIB3D
#include <opencv2/calib3d.hpp>
#endif // HAVE_OPENCV_CALIB3D
#ifdef HAVE_OPENCV_CALIB3D
/** @brief Structure for the Stereo operation setup parameters.*/
struct GAPI_EXPORTS StereoSetup {
double baseline;
double focus;
cv::Ptr<cv::StereoBM> stereoBM;
};
namespace {
cv::Mat calcDepth(const cv::Mat &left, const cv::Mat &right,
const StereoSetup &ss) {
constexpr int DISPARITY_SHIFT_16S = 4;
cv::Mat disp;
ss.stereoBM->compute(left, right, disp);
disp.convertTo(disp, CV_32FC1, 1./(1 << DISPARITY_SHIFT_16S), 0);
return (ss.focus * ss.baseline) / disp;
}
} // anonymous namespace
GAPI_OCV_KERNEL_ST(GCPUStereo, cv::gapi::calib3d::GStereo, StereoSetup)
{
static void setup(const cv::GMatDesc&, const cv::GMatDesc&,
const cv::gapi::StereoOutputFormat,
std::shared_ptr<StereoSetup> &stereoSetup,
const cv::GCompileArgs &compileArgs) {
auto stereoInit = cv::gapi::getCompileArg<cv::gapi::calib3d::cpu::StereoInitParam>(compileArgs)
.value_or(cv::gapi::calib3d::cpu::StereoInitParam{});
StereoSetup ss{stereoInit.baseline,
stereoInit.focus,
cv::StereoBM::create(stereoInit.numDisparities,
stereoInit.blockSize)};
stereoSetup = std::make_shared<StereoSetup>(ss);
}
static void run(const cv::Mat& left,
const cv::Mat& right,
const cv::gapi::StereoOutputFormat oF,
cv::Mat& out_mat,
const StereoSetup &stereoSetup) {
switch(oF){
case cv::gapi::StereoOutputFormat::DEPTH_FLOAT16:
calcDepth(left, right, stereoSetup).convertTo(out_mat, CV_16FC1);
break;
case cv::gapi::StereoOutputFormat::DEPTH_FLOAT32:
calcDepth(left, right, stereoSetup).copyTo(out_mat);
break;
case cv::gapi::StereoOutputFormat::DISPARITY_FIXED16_12_4:
stereoSetup.stereoBM->compute(left, right, out_mat);
break;
case cv::gapi::StereoOutputFormat::DISPARITY_FIXED16_11_5:
GAPI_Assert(false && "This case may be supported in future.");
default:
GAPI_Assert(false && "Unknown output format!");
}
}
};
cv::gapi::GKernelPackage cv::gapi::calib3d::cpu::kernels() {
static auto pkg = cv::gapi::kernels<GCPUStereo>();
return pkg;
}
#else
cv::gapi::GKernelPackage cv::gapi::calib3d::cpu::kernels()
{
return GKernelPackage();
}
#endif // HAVE_OPENCV_CALIB3D