gpucalib3d module for camera calibration and stereo correspondence

modules/gpu/CMakeLists.txt

@@ -5,7 +5,7 @@ endif()
 set(the_description "GPU-accelerated Computer Vision")
 
 ocv_add_module(gpu opencv_imgproc opencv_calib3d opencv_objdetect opencv_video opencv_photo opencv_legacy
-                   opencv_gpuarithm opencv_gpufilters opencv_gpuimgproc opencv_gpufeatures2d opencv_gpuvideo
+                   opencv_gpuarithm opencv_gpufilters opencv_gpuimgproc opencv_gpufeatures2d opencv_gpuvideo opencv_gpucalib3d
                    OPTIONAL opencv_gpunvidia)
 
 ocv_module_include_directories("${CMAKE_CURRENT_SOURCE_DIR}/src/cuda")

modules/gpu/doc/gpu.rst

@@ -9,4 +9,3 @@ gpu. GPU-accelerated Computer Vision
     initalization_and_information
     data_structures
     object_detection
-    camera_calibration_and_3d_reconstruction

modules/gpu/include/opencv2/gpu.hpp

@@ -55,6 +55,7 @@
 #include "opencv2/gpuimgproc.hpp"
 #include "opencv2/gpufeatures2d.hpp"
 #include "opencv2/gpuvideo.hpp"
+#include "opencv2/gpucalib3d.hpp"
 
 #include "opencv2/imgproc.hpp"
 #include "opencv2/objdetect.hpp"
@@ -68,18 +69,6 @@ namespace cv { namespace gpu {
 
 ///////////////////////////// Calibration 3D //////////////////////////////////
 
-CV_EXPORTS void transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
-                                GpuMat& dst, Stream& stream = Stream::Null());
-
-CV_EXPORTS void projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
-                              const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst,
-                              Stream& stream = Stream::Null());
-
-CV_EXPORTS void solvePnPRansac(const Mat& object, const Mat& image, const Mat& camera_mat,
-                               const Mat& dist_coef, Mat& rvec, Mat& tvec, bool use_extrinsic_guess=false,
-                               int num_iters=100, float max_dist=8.0, int min_inlier_count=100,
-                               std::vector<int>* inliers=NULL);
-
 //////////////////////////////// Image Labeling ////////////////////////////////
 
 
@@ -90,190 +79,17 @@ CV_EXPORTS void solvePnPRansac(const Mat& object, const Mat& image, const Mat& c
 
 //////////////////////////////// StereoBM_GPU ////////////////////////////////
 
-class CV_EXPORTS StereoBM_GPU
-{
-public:
-    enum { BASIC_PRESET = 0, PREFILTER_XSOBEL = 1 };
-
-    enum { DEFAULT_NDISP = 64, DEFAULT_WINSZ = 19 };
-
-    //! the default constructor
-    StereoBM_GPU();
-    //! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
-    StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ);
 
-    //! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
-    //! Output disparity has CV_8U type.
-    void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream = Stream::Null());
-
-    //! Some heuristics that tries to estmate
-    // if current GPU will be faster than CPU in this algorithm.
-    // It queries current active device.
-    static bool checkIfGpuCallReasonable();
-
-    int preset;
-    int ndisp;
-    int winSize;
-
-    // If avergeTexThreshold  == 0 => post procesing is disabled
-    // If avergeTexThreshold != 0 then disparity is set 0 in each point (x,y) where for left image
-    // SumOfHorizontalGradiensInWindow(x, y, winSize) < (winSize * winSize) * avergeTexThreshold
-    // i.e. input left image is low textured.
-    float avergeTexThreshold;
-
-private:
-    GpuMat minSSD, leBuf, riBuf;
-};
 
 ////////////////////////// StereoBeliefPropagation ///////////////////////////
-// "Efficient Belief Propagation for Early Vision"
-// P.Felzenszwalb
 
-class CV_EXPORTS StereoBeliefPropagation
-{
-public:
-    enum { DEFAULT_NDISP  = 64 };
-    enum { DEFAULT_ITERS  = 5  };
-    enum { DEFAULT_LEVELS = 5  };
-
-    static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels);
-
-    //! the default constructor
-    explicit StereoBeliefPropagation(int ndisp  = DEFAULT_NDISP,
-                                     int iters  = DEFAULT_ITERS,
-                                     int levels = DEFAULT_LEVELS,
-                                     int msg_type = CV_32F);
-
-    //! the full constructor taking the number of disparities, number of BP iterations on each level,
-    //! number of levels, truncation of data cost, data weight,
-    //! truncation of discontinuity cost and discontinuity single jump
-    //! DataTerm = data_weight * min(fabs(I2-I1), max_data_term)
-    //! DiscTerm = min(disc_single_jump * fabs(f1-f2), max_disc_term)
-    //! please see paper for more details
-    StereoBeliefPropagation(int ndisp, int iters, int levels,
-        float max_data_term, float data_weight,
-        float max_disc_term, float disc_single_jump,
-        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());
-
-
-    //! version for user specified data term
-    void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream = Stream::Null());
-
-    int ndisp;
-
-    int iters;
-    int levels;
-
-    float max_data_term;
-    float data_weight;
-    float max_disc_term;
-    float disc_single_jump;
-
-    int msg_type;
-private:
-    GpuMat u, d, l, r, u2, d2, l2, r2;
-    std::vector<GpuMat> datas;
-    GpuMat out;
-};
 
 /////////////////////////// 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:
-    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());
-
-    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;
 
-    int msg_type;
 
-    bool use_local_init_data_cost;
-private:
-    GpuMat messages_buffers;
-
-    GpuMat temp;
-    GpuMat out;
-};
 
 /////////////////////////// DisparityBilateralFilter ///////////////////////////
-// Disparity map refinement using joint bilateral filtering given a single color image.
-// Qingxiong Yang, Liang Wang, Narendra Ahuja
-// http://vision.ai.uiuc.edu/~qyang6/
-
-class CV_EXPORTS DisparityBilateralFilter
-{
-public:
-    enum { DEFAULT_NDISP  = 64 };
-    enum { DEFAULT_RADIUS = 3 };
-    enum { DEFAULT_ITERS  = 1 };
-
-    //! the default constructor
-    explicit DisparityBilateralFilter(int ndisp = DEFAULT_NDISP, int radius = DEFAULT_RADIUS, int iters = DEFAULT_ITERS);
 
-    //! the full constructor taking the number of disparities, filter radius,
-    //! number of iterations, truncation of data continuity, truncation of disparity continuity
-    //! and filter range sigma
-    DisparityBilateralFilter(int ndisp, int radius, int iters, float edge_threshold, float max_disc_threshold, float sigma_range);
-
-    //! the disparity map refinement operator. Refine disparity map using joint bilateral filtering given a single color image.
-    //! disparity must have CV_8U or CV_16S type, image must have CV_8UC1 or CV_8UC3 type.
-    void operator()(const GpuMat& disparity, const GpuMat& image, GpuMat& dst, Stream& stream = Stream::Null());
-
-private:
-    int ndisp;
-    int radius;
-    int iters;
-
-    float edge_threshold;
-    float max_disc_threshold;
-    float sigma_range;
-
-    GpuMat table_color;
-    GpuMat table_space;
-};
 
 
 //////////////// HOG (Histogram-of-Oriented-Gradients) Descriptor and Object Detector //////////////

modules/gpucalib3d/CMakeLists.txt

@@ -0,0 +1,9 @@
+if(ANDROID OR IOS)
+  ocv_module_disable(gpucalib3d)
+endif()
+
+set(the_description "GPU-accelerated Camera Calibration and 3D Reconstruction")
+
+ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef -Wmissing-declarations)
+
+ocv_define_module(gpucalib3d opencv_calib3d opencv_gpuarithm)

modules/gpucalib3d/doc/gpucalib3d.rst

@@ -0,0 +1,8 @@
+*************************************************************
+gpu. GPU-accelerated Camera Calibration and 3D Reconstruction
+*************************************************************
+
+.. toctree::
+    :maxdepth: 1
+
+    camera_calibration_and_3d_reconstruction

modules/gpucalib3d/include/opencv2/gpucalib3d.hpp

@@ -0,0 +1,255 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_GPUCALIB3D_HPP__
+#define __OPENCV_GPUCALIB3D_HPP__
+
+#include "opencv2/core/gpumat.hpp"
+
+namespace cv { namespace gpu {
+
+class CV_EXPORTS StereoBM_GPU
+{
+public:
+    enum { BASIC_PRESET = 0, PREFILTER_XSOBEL = 1 };
+
+    enum { DEFAULT_NDISP = 64, DEFAULT_WINSZ = 19 };
+
+    //! the default constructor
+    StereoBM_GPU();
+    //! the full constructor taking the camera-specific preset, number of disparities and the SAD window size. ndisparities must be multiple of 8.
+    StereoBM_GPU(int preset, int ndisparities = DEFAULT_NDISP, int winSize = DEFAULT_WINSZ);
+
+    //! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
+    //! Output disparity has CV_8U type.
+    void operator()(const GpuMat& left, const GpuMat& right, GpuMat& disparity, Stream& stream = Stream::Null());
+
+    //! Some heuristics that tries to estmate
+    // if current GPU will be faster than CPU in this algorithm.
+    // It queries current active device.
+    static bool checkIfGpuCallReasonable();
+
+    int preset;
+    int ndisp;
+    int winSize;
+
+    // If avergeTexThreshold  == 0 => post procesing is disabled
+    // If avergeTexThreshold != 0 then disparity is set 0 in each point (x,y) where for left image
+    // SumOfHorizontalGradiensInWindow(x, y, winSize) < (winSize * winSize) * avergeTexThreshold
+    // i.e. input left image is low textured.
+    float avergeTexThreshold;
+
+private:
+    GpuMat minSSD, leBuf, riBuf;
+};
+
+// "Efficient Belief Propagation for Early Vision"
+// P.Felzenszwalb
+class CV_EXPORTS StereoBeliefPropagation
+{
+public:
+    enum { DEFAULT_NDISP  = 64 };
+    enum { DEFAULT_ITERS  = 5  };
+    enum { DEFAULT_LEVELS = 5  };
+
+    static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels);
+
+    //! the default constructor
+    explicit StereoBeliefPropagation(int ndisp  = DEFAULT_NDISP,
+                                     int iters  = DEFAULT_ITERS,
+                                     int levels = DEFAULT_LEVELS,
+                                     int msg_type = CV_32F);
+
+    //! the full constructor taking the number of disparities, number of BP iterations on each level,
+    //! number of levels, truncation of data cost, data weight,
+    //! truncation of discontinuity cost and discontinuity single jump
+    //! DataTerm = data_weight * min(fabs(I2-I1), max_data_term)
+    //! DiscTerm = min(disc_single_jump * fabs(f1-f2), max_disc_term)
+    //! please see paper for more details
+    StereoBeliefPropagation(int ndisp, int iters, int levels,
+        float max_data_term, float data_weight,
+        float max_disc_term, float disc_single_jump,
+        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());
+
+
+    //! version for user specified data term
+    void operator()(const GpuMat& data, GpuMat& disparity, Stream& stream = Stream::Null());
+
+    int ndisp;
+
+    int iters;
+    int levels;
+
+    float max_data_term;
+    float data_weight;
+    float max_disc_term;
+    float disc_single_jump;
+
+    int msg_type;
+private:
+    GpuMat u, d, l, r, u2, d2, l2, r2;
+    std::vector<GpuMat> datas;
+    GpuMat out;
+};
+
+// "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:
+    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());
+
+    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;
+
+    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
+// http://vision.ai.uiuc.edu/~qyang6/
+class CV_EXPORTS DisparityBilateralFilter
+{
+public:
+    enum { DEFAULT_NDISP  = 64 };
+    enum { DEFAULT_RADIUS = 3 };
+    enum { DEFAULT_ITERS  = 1 };
+
+    //! the default constructor
+    explicit DisparityBilateralFilter(int ndisp = DEFAULT_NDISP, int radius = DEFAULT_RADIUS, int iters = DEFAULT_ITERS);
+
+    //! the full constructor taking the number of disparities, filter radius,
+    //! number of iterations, truncation of data continuity, truncation of disparity continuity
+    //! and filter range sigma
+    DisparityBilateralFilter(int ndisp, int radius, int iters, float edge_threshold, float max_disc_threshold, float sigma_range);
+
+    //! the disparity map refinement operator. Refine disparity map using joint bilateral filtering given a single color image.
+    //! disparity must have CV_8U or CV_16S type, image must have CV_8UC1 or CV_8UC3 type.
+    void operator()(const GpuMat& disparity, const GpuMat& image, GpuMat& dst, Stream& stream = Stream::Null());
+
+private:
+    int ndisp;
+    int radius;
+    int iters;
+
+    float edge_threshold;
+    float max_disc_threshold;
+    float sigma_range;
+
+    GpuMat table_color;
+    GpuMat table_space;
+};
+
+CV_EXPORTS void transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
+                                GpuMat& dst, Stream& stream = Stream::Null());
+
+CV_EXPORTS void projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
+                              const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst,
+                              Stream& stream = Stream::Null());
+
+CV_EXPORTS void solvePnPRansac(const Mat& object, const Mat& image, const Mat& camera_mat,
+                               const Mat& dist_coef, Mat& rvec, Mat& tvec, bool use_extrinsic_guess=false,
+                               int num_iters=100, float max_dist=8.0, int min_inlier_count=100,
+                               std::vector<int>* inliers=NULL);
+
+//! Reprojects disparity image to 3D space.
+//! Supports CV_8U and CV_16S types of input disparity.
+//! The output is a 3- or 4-channel floating-point matrix.
+//! Each element of this matrix will contain the 3D coordinates of the point (x,y,z,1), computed from the disparity map.
+//! Q is the 4x4 perspective transformation matrix that can be obtained with cvStereoRectify.
+CV_EXPORTS void reprojectImageTo3D(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, int dst_cn = 4, Stream& stream = Stream::Null());
+
+//! Does coloring of disparity image: [0..ndisp) -> [0..240, 1, 1] in HSV.
+//! Supported types of input disparity: CV_8U, CV_16S.
+//! Output disparity has CV_8UC4 type in BGRA format (alpha = 255).
+CV_EXPORTS void drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp, Stream& stream = Stream::Null());
+
+}} // namespace cv { namespace gpu {
+
+#endif /* __OPENCV_GPUCALIB3D_HPP__ */

modules/gpucalib3d/perf/perf_main.cpp

@@ -0,0 +1,47 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "perf_precomp.hpp"
+
+using namespace perf;
+
+CV_PERF_TEST_MAIN(gpuarithm, printCudaInfo())

modules/gpucalib3d/perf/perf_precomp.cpp

@@ -0,0 +1,43 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "perf_precomp.hpp"

modules/gpucalib3d/perf/perf_precomp.hpp

@@ -0,0 +1,65 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __GNUC__
+#  pragma GCC diagnostic ignored "-Wmissing-declarations"
+#  if defined __clang__ || defined __APPLE__
+#    pragma GCC diagnostic ignored "-Wmissing-prototypes"
+#    pragma GCC diagnostic ignored "-Wextra"
+#  endif
+#endif
+
+#ifndef __OPENCV_PERF_PRECOMP_HPP__
+#define __OPENCV_PERF_PRECOMP_HPP__
+
+#include "opencv2/ts.hpp"
+#include "opencv2/ts/gpu_perf.hpp"
+
+#include "opencv2/gpucalib3d.hpp"
+
+#include "opencv2/calib3d.hpp"
+
+#ifdef GTEST_CREATE_SHARED_LIBRARY
+#error no modules except ts should have GTEST_CREATE_SHARED_LIBRARY defined
+#endif
+
+#endif

modules/gpucalib3d/src/calib3d.cpp

@@ -48,10 +48,10 @@ using namespace cv::gpu;
 #if !defined HAVE_CUDA || defined(CUDA_DISABLER)
 
 void cv::gpu::transformPoints(const GpuMat&, const Mat&, const Mat&, GpuMat&, Stream&) { throw_no_cuda(); }
-
 void cv::gpu::projectPoints(const GpuMat&, const Mat&, const Mat&, const Mat&, const Mat&, GpuMat&, Stream&) { throw_no_cuda(); }
-
 void cv::gpu::solvePnPRansac(const Mat&, const Mat&, const Mat&, const Mat&, Mat&, Mat&, bool, int, float, int, std::vector<int>*) { throw_no_cuda(); }
+void cv::gpu::reprojectImageTo3D(const GpuMat&, GpuMat&, const Mat&, int, Stream&) { throw_no_cuda(); }
+void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int, Stream&) { throw_no_cuda(); }
 
 #else
 
@@ -150,7 +150,7 @@ namespace
     }
 
     // Computes rotation, translation pair for small subsets if the input data
-    class TransformHypothesesGenerator
+    class TransformHypothesesGenerator : public cv::ParallelLoopBody
     {
     public:
         TransformHypothesesGenerator(const Mat& object_, const Mat& image_, const Mat& dist_coef_,
@@ -160,7 +160,7 @@ namespace
                   num_points(num_points_), subset_size(subset_size_), rot_matrices(rot_matrices_),
                   transl_vectors(transl_vectors_) {}
 
-        void operator()(const BlockedRange& range) const
+        void operator()(const Range& range) const
         {
             // Input data for generation of the current hypothesis
             std::vector<int> subset_indices(subset_size);
@@ -172,7 +172,7 @@ namespace
             Mat rot_mat(3, 3, CV_64F);
             Mat transl_vec(1, 3, CV_64F);
 
-            for (int iter = range.begin(); iter < range.end(); ++iter)
+            for (int iter = range.start; iter < range.end; ++iter)
             {
                 selectRandom(subset_size, num_points, subset_indices);
                 for (int i = 0; i < subset_size; ++i)
@@ -238,7 +238,7 @@ void cv::gpu::solvePnPRansac(const Mat& object, const Mat& image, const Mat& cam
     // Generate set of hypotheses using small subsets of the input data
     TransformHypothesesGenerator body(object, image_normalized, empty_dist_coef, eye_camera_mat,
                                       num_points, subset_size, rot_matrices, transl_vectors);
-    parallel_for(BlockedRange(0, num_iters), body);
+    parallel_for_(Range(0, num_iters), body);
 
     // Compute scores (i.e. number of inliers) for each hypothesis
     GpuMat d_object(object);
@@ -252,7 +252,7 @@ void cv::gpu::solvePnPRansac(const Mat& object, const Mat& image, const Mat& cam
     // Find the best hypothesis index
     Point best_idx;
     double best_score;
-    minMaxLoc(d_hypothesis_scores, NULL, &best_score, NULL, &best_idx);
+    gpu::minMaxLoc(d_hypothesis_scores, NULL, &best_score, NULL, &best_idx);
     int num_inliers = static_cast<int>(best_score);
 
     // Extract the best hypothesis data
@@ -289,6 +289,66 @@ void cv::gpu::solvePnPRansac(const Mat& object, const Mat& image, const Mat& cam
     }
 }
 
-#endif
+////////////////////////////////////////////////////////////////////////
+// reprojectImageTo3D
+
+namespace cv { namespace gpu { namespace cudev
+{
+    template <typename T, typename D>
+    void reprojectImageTo3D_gpu(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
+}}}
+
+void cv::gpu::reprojectImageTo3D(const GpuMat& disp, GpuMat& xyz, const Mat& Q, int dst_cn, Stream& stream)
+{
+    using namespace cv::gpu::cudev;
 
+    typedef void (*func_t)(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
+    static const func_t funcs[2][4] =
+    {
+        {reprojectImageTo3D_gpu<uchar, float3>, 0, 0, reprojectImageTo3D_gpu<short, float3>},
+        {reprojectImageTo3D_gpu<uchar, float4>, 0, 0, reprojectImageTo3D_gpu<short, float4>}
+    };
+
+    CV_Assert(disp.type() == CV_8U || disp.type() == CV_16S);
+    CV_Assert(Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4 && Q.isContinuous());
+    CV_Assert(dst_cn == 3 || dst_cn == 4);
 
+    xyz.create(disp.size(), CV_MAKE_TYPE(CV_32F, dst_cn));
+
+    funcs[dst_cn == 4][disp.type()](disp, xyz, Q.ptr<float>(), StreamAccessor::getStream(stream));
+}
+
+////////////////////////////////////////////////////////////////////////
+// drawColorDisp
+
+namespace cv { namespace gpu { namespace cudev
+{
+    void drawColorDisp_gpu(const PtrStepSzb& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
+    void drawColorDisp_gpu(const PtrStepSz<short>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
+}}}
+
+namespace
+{
+    template <typename T>
+    void drawColorDisp_caller(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream)
+    {
+        using namespace ::cv::gpu::cudev;
+
+        dst.create(src.size(), CV_8UC4);
+
+        drawColorDisp_gpu((PtrStepSz<T>)src, dst, ndisp, stream);
+    }
+
+    typedef void (*drawColorDisp_caller_t)(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream);
+
+    const drawColorDisp_caller_t drawColorDisp_callers[] = {drawColorDisp_caller<unsigned char>, 0, 0, drawColorDisp_caller<short>, 0, 0, 0, 0};
+}
+
+void cv::gpu::drawColorDisp(const GpuMat& src, GpuMat& dst, int ndisp, Stream& stream)
+{
+    CV_Assert(src.type() == CV_8U || src.type() == CV_16S);
+
+    drawColorDisp_callers[src.type()](src, dst, ndisp, StreamAccessor::getStream(stream));
+}
+
+#endif

modules/gpucalib3d/src/cuda/calib3d.cu

@@ -187,6 +187,189 @@ namespace cv { namespace gpu { namespace cudev
             cudaSafeCall( cudaDeviceSynchronize() );
         }
     } // namespace solvepnp_ransac
+
+
+
+    /////////////////////////////////// reprojectImageTo3D ///////////////////////////////////////////////
+
+    __constant__ float cq[16];
+
+    template <typename T, typename D>
+    __global__ void reprojectImageTo3D(const PtrStepSz<T> disp, PtrStep<D> xyz)
+    {
+        const int x = blockIdx.x * blockDim.x + threadIdx.x;
+        const int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+        if (y >= disp.rows || x >= disp.cols)
+            return;
+
+        const float qx = x * cq[ 0] + y * cq[ 1] + cq[ 3];
+        const float qy = x * cq[ 4] + y * cq[ 5] + cq[ 7];
+        const float qz = x * cq[ 8] + y * cq[ 9] + cq[11];
+        const float qw = x * cq[12] + y * cq[13] + cq[15];
+
+        const T d = disp(y, x);
+
+        const float iW = 1.f / (qw + cq[14] * d);
+
+        D v = VecTraits<D>::all(1.0f);
+        v.x = (qx + cq[2] * d) * iW;
+        v.y = (qy + cq[6] * d) * iW;
+        v.z = (qz + cq[10] * d) * iW;
+
+        xyz(y, x) = v;
+    }
+
+    template <typename T, typename D>
+    void reprojectImageTo3D_gpu(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream)
+    {
+        dim3 block(32, 8);
+        dim3 grid(divUp(disp.cols, block.x), divUp(disp.rows, block.y));
+
+        cudaSafeCall( cudaMemcpyToSymbol(cq, q, 16 * sizeof(float)) );
+
+        reprojectImageTo3D<T, D><<<grid, block, 0, stream>>>((PtrStepSz<T>)disp, (PtrStepSz<D>)xyz);
+        cudaSafeCall( cudaGetLastError() );
+
+        if (stream == 0)
+            cudaSafeCall( cudaDeviceSynchronize() );
+    }
+
+    template void reprojectImageTo3D_gpu<uchar, float3>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
+    template void reprojectImageTo3D_gpu<uchar, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
+    template void reprojectImageTo3D_gpu<short, float3>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
+    template void reprojectImageTo3D_gpu<short, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
+
+    /////////////////////////////////// drawColorDisp ///////////////////////////////////////////////
+
+    template <typename T>
+    __device__ unsigned int cvtPixel(T d, int ndisp, float S = 1, float V = 1)
+    {
+        unsigned int H = ((ndisp-d) * 240)/ndisp;
+
+        unsigned int hi = (H/60) % 6;
+        float f = H/60.f - H/60;
+        float p = V * (1 - S);
+        float q = V * (1 - f * S);
+        float t = V * (1 - (1 - f) * S);
+
+        float3 res;
+
+        if (hi == 0) //R = V,	G = t,	B = p
+        {
+            res.x = p;
+            res.y = t;
+            res.z = V;
+        }
+
+        if (hi == 1) // R = q,	G = V,	B = p
+        {
+            res.x = p;
+            res.y = V;
+            res.z = q;
+        }
+
+        if (hi == 2) // R = p,	G = V,	B = t
+        {
+            res.x = t;
+            res.y = V;
+            res.z = p;
+        }
+
+        if (hi == 3) // R = p,	G = q,	B = V
+        {
+            res.x = V;
+            res.y = q;
+            res.z = p;
+        }
+
+        if (hi == 4) // R = t,	G = p,	B = V
+        {
+            res.x = V;
+            res.y = p;
+            res.z = t;
+        }
+
+        if (hi == 5) // R = V,	G = p,	B = q
+        {
+            res.x = q;
+            res.y = p;
+            res.z = V;
+        }
+        const unsigned int b = (unsigned int)(::max(0.f, ::min(res.x, 1.f)) * 255.f);
+        const unsigned int g = (unsigned int)(::max(0.f, ::min(res.y, 1.f)) * 255.f);
+        const unsigned int r = (unsigned int)(::max(0.f, ::min(res.z, 1.f)) * 255.f);
+        const unsigned int a = 255U;
+
+        return (a << 24) + (r << 16) + (g << 8) + b;
+    }
+
+    __global__ void drawColorDisp(uchar* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
+    {
+        const int x = (blockIdx.x * blockDim.x + threadIdx.x) << 2;
+        const int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+        if(x < width && y < height)
+        {
+            uchar4 d4 = *(uchar4*)(disp + y * disp_step + x);
+
+            uint4 res;
+            res.x = cvtPixel(d4.x, ndisp);
+            res.y = cvtPixel(d4.y, ndisp);
+            res.z = cvtPixel(d4.z, ndisp);
+            res.w = cvtPixel(d4.w, ndisp);
+
+            uint4* line = (uint4*)(out_image + y * out_step);
+            line[x >> 2] = res;
+        }
+    }
+
+    __global__ void drawColorDisp(short* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
+    {
+        const int x = (blockIdx.x * blockDim.x + threadIdx.x) << 1;
+        const int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+        if(x < width && y < height)
+        {
+            short2 d2 = *(short2*)(disp + y * disp_step + x);
+
+            uint2 res;
+            res.x = cvtPixel(d2.x, ndisp);
+            res.y = cvtPixel(d2.y, ndisp);
+
+            uint2* line = (uint2*)(out_image + y * out_step);
+            line[x >> 1] = res;
+        }
+    }
+
+
+    void drawColorDisp_gpu(const PtrStepSzb& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream)
+    {
+        dim3 threads(16, 16, 1);
+        dim3 grid(1, 1, 1);
+        grid.x = divUp(src.cols, threads.x << 2);
+        grid.y = divUp(src.rows, threads.y);
+
+        drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step, dst.data, dst.step, src.cols, src.rows, ndisp);
+        cudaSafeCall( cudaGetLastError() );
+
+        if (stream == 0)
+            cudaSafeCall( cudaDeviceSynchronize() );
+    }
+
+    void drawColorDisp_gpu(const PtrStepSz<short>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream)
+    {
+        dim3 threads(32, 8, 1);
+        dim3 grid(1, 1, 1);
+        grid.x = divUp(src.cols, threads.x << 1);
+        grid.y = divUp(src.rows, threads.y);
+
+        drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step / sizeof(short), dst.data, dst.step, src.cols, src.rows, ndisp);
+        cudaSafeCall( cudaGetLastError() );
+
+        if (stream == 0)
+            cudaSafeCall( cudaDeviceSynchronize() );
+    }
 }}} // namespace cv { namespace gpu { namespace cudev
 
 

modules/gpucalib3d/src/precomp.cpp

@@ -0,0 +1,43 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"

modules/gpucalib3d/src/precomp.hpp

@@ -0,0 +1,56 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_PRECOMP_H__
+#define __OPENCV_PRECOMP_H__
+
+#include <limits>
+
+#include "opencv2/gpucalib3d.hpp"
+#include "opencv2/gpuarithm.hpp"
+
+#include "opencv2/calib3d.hpp"
+#include "opencv2/imgproc.hpp"
+
+#include "opencv2/core/gpu_private.hpp"
+
+#endif /* __OPENCV_PRECOMP_H__ */

modules/gpucalib3d/test/test_main.cpp

@@ -0,0 +1,45 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+
+CV_GPU_TEST_MAIN("gpu")

modules/gpucalib3d/test/test_precomp.cpp

@@ -0,0 +1,43 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"

modules/gpucalib3d/test/test_precomp.hpp

@@ -0,0 +1,61 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifdef __GNUC__
+#  pragma GCC diagnostic ignored "-Wmissing-declarations"
+#  if defined __clang__ || defined __APPLE__
+#    pragma GCC diagnostic ignored "-Wmissing-prototypes"
+#    pragma GCC diagnostic ignored "-Wextra"
+#  endif
+#endif
+
+#ifndef __OPENCV_TEST_PRECOMP_HPP__
+#define __OPENCV_TEST_PRECOMP_HPP__
+
+#include "opencv2/ts.hpp"
+#include "opencv2/ts/gpu_test.hpp"
+
+#include "opencv2/gpucalib3d.hpp"
+
+#include "opencv2/calib3d.hpp"
+
+#endif

modules/gpuimgproc/include/opencv2/gpuimgproc.hpp

@@ -80,18 +80,6 @@ CV_EXPORTS void meanShiftProc(const GpuMat& src, GpuMat& dstr, GpuMat& dstsp, in
 CV_EXPORTS void meanShiftSegmentation(const GpuMat& src, Mat& dst, int sp, int sr, int minsize,
                                       TermCriteria criteria = TermCriteria(TermCriteria::MAX_ITER + TermCriteria::EPS, 5, 1));
 
-//! Does coloring of disparity image: [0..ndisp) -> [0..240, 1, 1] in HSV.
-//! Supported types of input disparity: CV_8U, CV_16S.
-//! Output disparity has CV_8UC4 type in BGRA format (alpha = 255).
-CV_EXPORTS void drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp, Stream& stream = Stream::Null());
-
-//! Reprojects disparity image to 3D space.
-//! Supports CV_8U and CV_16S types of input disparity.
-//! The output is a 3- or 4-channel floating-point matrix.
-//! Each element of this matrix will contain the 3D coordinates of the point (x,y,z,1), computed from the disparity map.
-//! Q is the 4x4 perspective transformation matrix that can be obtained with cvStereoRectify.
-CV_EXPORTS void reprojectImageTo3D(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, int dst_cn = 4, Stream& stream = Stream::Null());
-
 //! converts image from one color space to another
 CV_EXPORTS void cvtColor(const GpuMat& src, GpuMat& dst, int code, int dcn = 0, Stream& stream = Stream::Null());
 

modules/gpuimgproc/src/cuda/imgproc.cu

@@ -183,187 +183,6 @@ namespace cv { namespace gpu { namespace cudev
             //cudaSafeCall( cudaUnbindTexture( tex_meanshift ) );
         }
 
-        /////////////////////////////////// drawColorDisp ///////////////////////////////////////////////
-
-        template <typename T>
-        __device__ unsigned int cvtPixel(T d, int ndisp, float S = 1, float V = 1)
-        {
-            unsigned int H = ((ndisp-d) * 240)/ndisp;
-
-            unsigned int hi = (H/60) % 6;
-            float f = H/60.f - H/60;
-            float p = V * (1 - S);
-            float q = V * (1 - f * S);
-            float t = V * (1 - (1 - f) * S);
-
-            float3 res;
-
-            if (hi == 0) //R = V,	G = t,	B = p
-            {
-                res.x = p;
-                res.y = t;
-                res.z = V;
-            }
-
-            if (hi == 1) // R = q,	G = V,	B = p
-            {
-                res.x = p;
-                res.y = V;
-                res.z = q;
-            }
-
-            if (hi == 2) // R = p,	G = V,	B = t
-            {
-                res.x = t;
-                res.y = V;
-                res.z = p;
-            }
-
-            if (hi == 3) // R = p,	G = q,	B = V
-            {
-                res.x = V;
-                res.y = q;
-                res.z = p;
-            }
-
-            if (hi == 4) // R = t,	G = p,	B = V
-            {
-                res.x = V;
-                res.y = p;
-                res.z = t;
-            }
-
-            if (hi == 5) // R = V,	G = p,	B = q
-            {
-                res.x = q;
-                res.y = p;
-                res.z = V;
-            }
-            const unsigned int b = (unsigned int)(::max(0.f, ::min(res.x, 1.f)) * 255.f);
-            const unsigned int g = (unsigned int)(::max(0.f, ::min(res.y, 1.f)) * 255.f);
-            const unsigned int r = (unsigned int)(::max(0.f, ::min(res.z, 1.f)) * 255.f);
-            const unsigned int a = 255U;
-
-            return (a << 24) + (r << 16) + (g << 8) + b;
-        }
-
-        __global__ void drawColorDisp(uchar* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
-        {
-            const int x = (blockIdx.x * blockDim.x + threadIdx.x) << 2;
-            const int y = blockIdx.y * blockDim.y + threadIdx.y;
-
-            if(x < width && y < height)
-            {
-                uchar4 d4 = *(uchar4*)(disp + y * disp_step + x);
-
-                uint4 res;
-                res.x = cvtPixel(d4.x, ndisp);
-                res.y = cvtPixel(d4.y, ndisp);
-                res.z = cvtPixel(d4.z, ndisp);
-                res.w = cvtPixel(d4.w, ndisp);
-
-                uint4* line = (uint4*)(out_image + y * out_step);
-                line[x >> 2] = res;
-            }
-        }
-
-        __global__ void drawColorDisp(short* disp, size_t disp_step, uchar* out_image, size_t out_step, int width, int height, int ndisp)
-        {
-            const int x = (blockIdx.x * blockDim.x + threadIdx.x) << 1;
-            const int y = blockIdx.y * blockDim.y + threadIdx.y;
-
-            if(x < width && y < height)
-            {
-                short2 d2 = *(short2*)(disp + y * disp_step + x);
-
-                uint2 res;
-                res.x = cvtPixel(d2.x, ndisp);
-                res.y = cvtPixel(d2.y, ndisp);
-
-                uint2* line = (uint2*)(out_image + y * out_step);
-                line[x >> 1] = res;
-            }
-        }
-
-
-        void drawColorDisp_gpu(const PtrStepSzb& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream)
-        {
-            dim3 threads(16, 16, 1);
-            dim3 grid(1, 1, 1);
-            grid.x = divUp(src.cols, threads.x << 2);
-            grid.y = divUp(src.rows, threads.y);
-
-            drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step, dst.data, dst.step, src.cols, src.rows, ndisp);
-            cudaSafeCall( cudaGetLastError() );
-
-            if (stream == 0)
-                cudaSafeCall( cudaDeviceSynchronize() );
-        }
-
-        void drawColorDisp_gpu(const PtrStepSz<short>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream)
-        {
-            dim3 threads(32, 8, 1);
-            dim3 grid(1, 1, 1);
-            grid.x = divUp(src.cols, threads.x << 1);
-            grid.y = divUp(src.rows, threads.y);
-
-            drawColorDisp<<<grid, threads, 0, stream>>>(src.data, src.step / sizeof(short), dst.data, dst.step, src.cols, src.rows, ndisp);
-            cudaSafeCall( cudaGetLastError() );
-
-            if (stream == 0)
-                cudaSafeCall( cudaDeviceSynchronize() );
-        }
-
-        /////////////////////////////////// reprojectImageTo3D ///////////////////////////////////////////////
-
-        __constant__ float cq[16];
-
-        template <typename T, typename D>
-        __global__ void reprojectImageTo3D(const PtrStepSz<T> disp, PtrStep<D> xyz)
-        {
-            const int x = blockIdx.x * blockDim.x + threadIdx.x;
-            const int y = blockIdx.y * blockDim.y + threadIdx.y;
-
-            if (y >= disp.rows || x >= disp.cols)
-                return;
-
-            const float qx = x * cq[ 0] + y * cq[ 1] + cq[ 3];
-            const float qy = x * cq[ 4] + y * cq[ 5] + cq[ 7];
-            const float qz = x * cq[ 8] + y * cq[ 9] + cq[11];
-            const float qw = x * cq[12] + y * cq[13] + cq[15];
-
-            const T d = disp(y, x);
-
-            const float iW = 1.f / (qw + cq[14] * d);
-
-            D v = VecTraits<D>::all(1.0f);
-            v.x = (qx + cq[2] * d) * iW;
-            v.y = (qy + cq[6] * d) * iW;
-            v.z = (qz + cq[10] * d) * iW;
-
-            xyz(y, x) = v;
-        }
-
-        template <typename T, typename D>
-        void reprojectImageTo3D_gpu(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream)
-        {
-            dim3 block(32, 8);
-            dim3 grid(divUp(disp.cols, block.x), divUp(disp.rows, block.y));
-
-            cudaSafeCall( cudaMemcpyToSymbol(cq, q, 16 * sizeof(float)) );
-
-            reprojectImageTo3D<T, D><<<grid, block, 0, stream>>>((PtrStepSz<T>)disp, (PtrStepSz<D>)xyz);
-            cudaSafeCall( cudaGetLastError() );
-
-            if (stream == 0)
-                cudaSafeCall( cudaDeviceSynchronize() );
-        }
-
-        template void reprojectImageTo3D_gpu<uchar, float3>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
-        template void reprojectImageTo3D_gpu<uchar, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
-        template void reprojectImageTo3D_gpu<short, float3>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
-        template void reprojectImageTo3D_gpu<short, float4>(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
-
         /////////////////////////////////////////// Corner Harris /////////////////////////////////////////////////
 
         texture<float, cudaTextureType2D, cudaReadModeElementType> harrisDxTex(0, cudaFilterModePoint, cudaAddressModeClamp);

modules/gpuimgproc/src/imgproc.cpp

@@ -49,8 +49,6 @@ using namespace cv::gpu;
 
 void cv::gpu::meanShiftFiltering(const GpuMat&, GpuMat&, int, int, TermCriteria, Stream&) { throw_no_cuda(); }
 void cv::gpu::meanShiftProc(const GpuMat&, GpuMat&, GpuMat&, int, int, TermCriteria, Stream&) { throw_no_cuda(); }
-void cv::gpu::drawColorDisp(const GpuMat&, GpuMat&, int, Stream&) { throw_no_cuda(); }
-void cv::gpu::reprojectImageTo3D(const GpuMat&, GpuMat&, const Mat&, int, Stream&) { throw_no_cuda(); }
 void cv::gpu::buildWarpPlaneMaps(Size, Rect, const Mat&, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_no_cuda(); }
 void cv::gpu::buildWarpCylindricalMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_no_cuda(); }
 void cv::gpu::buildWarpSphericalMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_no_cuda(); }
@@ -157,74 +155,6 @@ void cv::gpu::meanShiftProc(const GpuMat& src, GpuMat& dstr, GpuMat& dstsp, int
     meanShiftProc_gpu(src, dstr, dstsp, sp, sr, maxIter, eps, StreamAccessor::getStream(stream));
 }
 
-////////////////////////////////////////////////////////////////////////
-// drawColorDisp
-
-namespace cv { namespace gpu { namespace cudev
-{
-    namespace imgproc
-    {
-        void drawColorDisp_gpu(const PtrStepSzb& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
-        void drawColorDisp_gpu(const PtrStepSz<short>& src, const PtrStepSzb& dst, int ndisp, const cudaStream_t& stream);
-    }
-}}}
-
-namespace
-{
-    template <typename T>
-    void drawColorDisp_caller(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream)
-    {
-        using namespace ::cv::gpu::cudev::imgproc;
-
-        dst.create(src.size(), CV_8UC4);
-
-        drawColorDisp_gpu((PtrStepSz<T>)src, dst, ndisp, stream);
-    }
-
-    typedef void (*drawColorDisp_caller_t)(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream);
-
-    const drawColorDisp_caller_t drawColorDisp_callers[] = {drawColorDisp_caller<unsigned char>, 0, 0, drawColorDisp_caller<short>, 0, 0, 0, 0};
-}
-
-void cv::gpu::drawColorDisp(const GpuMat& src, GpuMat& dst, int ndisp, Stream& stream)
-{
-    CV_Assert(src.type() == CV_8U || src.type() == CV_16S);
-
-    drawColorDisp_callers[src.type()](src, dst, ndisp, StreamAccessor::getStream(stream));
-}
-
-////////////////////////////////////////////////////////////////////////
-// reprojectImageTo3D
-
-namespace cv { namespace gpu { namespace cudev
-{
-    namespace imgproc
-    {
-        template <typename T, typename D>
-        void reprojectImageTo3D_gpu(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
-    }
-}}}
-
-void cv::gpu::reprojectImageTo3D(const GpuMat& disp, GpuMat& xyz, const Mat& Q, int dst_cn, Stream& stream)
-{
-    using namespace cv::gpu::cudev::imgproc;
-
-    typedef void (*func_t)(const PtrStepSzb disp, PtrStepSzb xyz, const float* q, cudaStream_t stream);
-    static const func_t funcs[2][4] =
-    {
-        {reprojectImageTo3D_gpu<uchar, float3>, 0, 0, reprojectImageTo3D_gpu<short, float3>},
-        {reprojectImageTo3D_gpu<uchar, float4>, 0, 0, reprojectImageTo3D_gpu<short, float4>}
-    };
-
-    CV_Assert(disp.type() == CV_8U || disp.type() == CV_16S);
-    CV_Assert(Q.type() == CV_32F && Q.rows == 4 && Q.cols == 4 && Q.isContinuous());
-    CV_Assert(dst_cn == 3 || dst_cn == 4);
-
-    xyz.create(disp.size(), CV_MAKE_TYPE(CV_32F, dst_cn));
-
-    funcs[dst_cn == 4][disp.type()](disp, xyz, Q.ptr<float>(), StreamAccessor::getStream(stream));
-}
-
 //////////////////////////////////////////////////////////////////////////////
 // buildWarpPlaneMaps
 

samples/cpp/CMakeLists.txt

@@ -22,6 +22,7 @@ if(BUILD_EXAMPLES AND OCV_DEPENDENCIES_FOUND)
     ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/gpuimgproc/include")
     ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/gpufeatures2d/include")
     ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/gpuvideo/include")
+    ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/gpucalib3d/include")
     ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/gpu/include")
   endif()
 

samples/gpu/CMakeLists.txt

@@ -2,7 +2,8 @@ SET(OPENCV_GPU_SAMPLES_REQUIRED_DEPS opencv_core opencv_flann opencv_imgproc ope
                                      opencv_ml opencv_video opencv_objdetect opencv_features2d
                                      opencv_calib3d opencv_legacy opencv_contrib opencv_gpu
                                      opencv_nonfree opencv_softcascade opencv_superres
-                                     opencv_gpucodec opencv_gpuarithm opencv_gpufilters opencv_gpunvidia opencv_gpuimgproc opencv_gpufeatures2d opencv_gpuvideo)
+                                     opencv_gpucodec opencv_gpuarithm opencv_gpufilters opencv_gpunvidia opencv_gpuimgproc opencv_gpufeatures2d opencv_gpuvideo
+                                     opencv_gpucalib3d)
 
 ocv_check_dependencies(${OPENCV_GPU_SAMPLES_REQUIRED_DEPS})