diff --git a/modules/stereo/src/stereo_binary_sgbm.cpp b/modules/stereo/src/stereo_binary_sgbm.cpp index 83577e672..702195b4f 100644 --- a/modules/stereo/src/stereo_binary_sgbm.cpp +++ b/modules/stereo/src/stereo_binary_sgbm.cpp @@ -954,102 +954,5 @@ namespace cv } typedef cv::Point_ Point2s; - - template - void filterSpecklesImpl(cv::Mat& img, int newVal, int maxSpeckleSize, int maxDiff, cv::Mat& _buf) - { - using namespace cv; - - 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.empty() || _buf.cols*_buf.rows*_buf.elemSize() < bufSize ) - _buf.create(1, (int)bufSize, CV_8U); - - uchar* buf = _buf.ptr(); - int i, j, dstep = (int)(img.step/sizeof(T)); - 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++ ) - { - T* ds = img.ptr(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] = (T)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 - T* dpp = &img.at(p.y, p.x); - T dp = *dpp; - int* lpp = labels + width*p.y + p.x; - - 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); - } - - 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); - } - - // 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] = (T)newVal; - } - else - rtype[ls[j]] = 0; // large region label - } - } - } - } - } } }