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Merge remote-tracking branch 'upstream/3.4' into merge-3.4

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pull/2640/head
Alexander Alekhin 5 years ago
parent 9d132e8778 513c7a1513
commit da96ea9161
3 changed files with 29 additions and 17 deletions
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  1. 39
      modules/stereo/src/descriptor.hpp
  2. 2
      modules/stereo/src/stereo_binary_bm.cpp
  3. 5
      modules/stereo/src/stereo_binary_sgbm.cpp

39
modules/stereo/src/descriptor.hpp
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@ -71,6 +71,7 @@ namespace cv
}
stop = num_images;
}
void operator()(int rrWidth,int w2, int rWidth, int jj, int j, int c[num_images]) const
{
CV_UNUSED(w2);
@ -78,17 +79,18 @@ namespace cv
{
if (image[i][rrWidth + jj] > image[i][rWidth + j])
{
c[i] = c[i] + 1;
c[i] += 1;
}
c[i] = c[i] << 1;
c[i] <<= 1;
if (integralImage[i][rrWidth + jj] > image[i][rWidth + j])
{
c[i] = c[i] + 1;
c[i] += 1;
}
c[i] = c[i] << 1;
c[i] <<= 1;
}
}
};
//!Compares pixels from a patch giving high weights to pixels in which
//!the intensity is higher. The other pixels receive a lower weight
template <int num_images>
@ -106,22 +108,21 @@ namespace cv
imageStop = num_images;
t = threshold;
}
void operator()(int rrWidth,int w2, int rWidth, int jj, int j, int c[num_images]) const
{
CV_UNUSED(w2);
for(int i = 0; i < imageStop; i++)
{
if (image[i][rrWidth + jj] > image[i][rWidth + j] - t)
if (image[i][rrWidth + jj] > image[i][rWidth + j] + t)
{
c[i] = c[i] << 1;
c[i] = c[i] + 1;
c[i] = c[i] << 1;
c[i] = c[i] + 1;
c[i] <<= 2;
c[i] |= 0x11;
}
else if (image[i][rWidth + j] - t < image[i][rrWidth + jj] && image[i][rWidth + j] + t >= image[i][rrWidth + jj])
else if (image[i][rrWidth + jj] > image[i][rWidth + j] - t)
{
c[i] = c[i] << 2;
c[i] = c[i] + 1;
c[i] <<= 2;
c[i] |= 0x01;
}
else
{
@ -130,6 +131,7 @@ namespace cv
}
}
};
//!A madified cs census that compares a pixel with the imediat neightbour starting
//!from the center
template<int num_images>
@ -146,6 +148,7 @@ namespace cv
imageStop = num_images;
n2 = ker;
}
void operator()(int rrWidth,int w2, int rWidth, int jj, int j, int c[num_images]) const
{
CV_UNUSED(j);
@ -154,12 +157,13 @@ namespace cv
{
if (image[i][(rrWidth + jj)] > image[i][(w2 + (jj + n2))])
{
c[i] = c[i] + 1;
c[i] += 1;
}
c[i] = c[i] * 2;
c[i] <<= 1;
}
}
};
//!A kernel in which a pixel is compared with the center of the window
template<int num_images>
struct CensusKernel
@ -173,6 +177,7 @@ namespace cv
image[i] = images[i];
imageStop = num_images;
}
void operator()(int rrWidth,int w2, int rWidth, int jj, int j, int c[num_images]) const
{
CV_UNUSED(w2);
@ -187,6 +192,7 @@ namespace cv
}
}
};
//template clas which efficiently combines the descriptors
template <int step_start, int step_end, int step_inc,int nr_img, typename Kernel>
class CombinedDescriptor:public ParallelLoopBody
@ -209,6 +215,7 @@ namespace cv
kernel_ = kernel;
n2_stop = k2Stop;
}
void operator()(const cv::Range &r) const CV_OVERRIDE {
for (int i = r.start; i < r.end ; i++)
{
@ -245,6 +252,7 @@ namespace cv
}
}
};
//!implementation for the star kernel descriptor
template<int num_images>
class StarKernelCensus:public ParallelLoopBody
@ -267,6 +275,7 @@ namespace cv
im_num = num_images;
stride_ = (int)img[0].step;
}
void operator()(const cv::Range &r) const CV_OVERRIDE {
for (int i = r.start; i < r.end; i++)
{
@ -342,6 +351,7 @@ namespace cv
}
}
};
//!paralel implementation of the center symetric census
template <int num_images>
class SymetricCensus:public ParallelLoopBody
@ -364,6 +374,7 @@ namespace cv
im_num = num_images;
stride_ = (int)img[0].step;
}
void operator()(const cv::Range &r) const CV_OVERRIDE {
for (int i = r.start; i < r.end ; i++)
{

2
modules/stereo/src/stereo_binary_bm.cpp
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@ -393,7 +393,7 @@ namespace cv
{
starCensusTransform(left,right,params.kernelSize,censusImage[0],censusImage[1]);
}
hammingDistanceBlockMatching(censusImage[0], censusImage[1], hammingDistance);
hammingDistanceBlockMatching(censusImage[0], censusImage[1], hammingDistance, params.kernelSize);
costGathering(hammingDistance, partialSumsLR);
blockAgregation(partialSumsLR, params.agregationWindowSize, agregatedHammingLRCost);
dispartyMapFormation(agregatedHammingLRCost, disp0, 3);

5
modules/stereo/src/stereo_binary_sgbm.cpp
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@ -679,7 +679,7 @@ namespace cv
starCensusTransform(left,right,params.kernelSize,censusImageLeft,censusImageRight);
}
hammingDistanceBlockMatching(censusImageLeft, censusImageRight, hamDist);
hammingDistanceBlockMatching(censusImageLeft, censusImageRight, hamDist, params.kernelSize);
computeDisparityBinarySGBM( left, right, disp, params, buffer,hamDist);
@ -725,7 +725,8 @@ namespace cv
void setMinDisparity(int minDisparity) CV_OVERRIDE {CV_Assert(minDisparity >= 0); params.minDisparity = minDisparity; }
int getNumDisparities() const CV_OVERRIDE { return params.numDisparities; }
void setNumDisparities(int numDisparities) CV_OVERRIDE { CV_Assert(numDisparities > 0); params.numDisparities = numDisparities; }
void setNumDisparities(int numDisparities) CV_OVERRIDE { CV_Assert(numDisparities > 0); params.numDisparities = numDisparities;
Matching::setMaxDisparity(numDisparities /*- params.minDisparity*/);}
int getBlockSize() const CV_OVERRIDE { return params.kernelSize; }
void setBlockSize(int blockSize) CV_OVERRIDE {CV_Assert(blockSize % 2 != 0); params.kernelSize = blockSize; }

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