AbstractBuffer<int32_t> ADCensus::constructDisparityMap(const AbstractBuffer<pixel> *leftImage, const AbstractBuffer<pixel> *rightImage,
const AbstractBuffer<grayPixel> *leftGrayImage, const AbstractBuffer<grayPixel> *rightGrayImage) {
// Initialization
int width = leftImage->w;
int height = leftImage->h;
BaseTimeStatisticsCollector collector;
Statistics outerStats;
outerStats.setValue("H", height);
outerStats.setValue("W", width);
AbstractBuffer<int32_t> bestDisparities = AbstractBuffer<int32_t>(height, width);
AbstractBuffer<COST_TYPE> minCosts = AbstractBuffer<COST_TYPE>(height, width);
minCosts.fillWith(-1);
// Disparity computation
outerStats.startInterval();
AbstractBuffer<int64_t> leftCensus = AbstractBuffer<int64_t>(height, width);
AbstractBuffer<int64_t> rightCensus = AbstractBuffer<int64_t>(height, width);
makeCensus(leftGrayImage, leftCensus);
makeCensus(rightGrayImage, rightCensus);
outerStats.resetInterval("Making census");
makeAggregationCrosses(leftImage);
outerStats.resetInterval("Making aggregation crosses");
for (uint i = 0; i < CORE_COUNT_OF(table1); i++)
{
table1[i] = robust(i, lambdaCT);
table2[i] = robust(i, lambdaAD);
}
bool parallelDisp = true;
parallelable_for(0, width / 3,
[this, &minCosts, &bestDisparities, &leftImage, &rightImage,
&leftCensus, &rightCensus, &collector, height, width, parallelDisp](const BlockedRange<int> &r)
{
for (int d = r.begin(); d != r.end(); ++d) {
Statistics stats;
stats.startInterval();
AbstractBuffer<COST_TYPE> costs = AbstractBuffer<COST_TYPE>(height, width);
stats.resetInterval("Matrix construction");
parallelable_for(windowHh, height - windowHh,
[this, &costs, &leftImage, &rightImage, &leftCensus, &rightCensus, d, width](const BlockedRange<int> &r)
{
for (int y = r.begin(); y != r.end(); ++y) {
auto *im1 = &leftImage->element(y, windowWh + d);
auto *im2 = &rightImage->element(y, windowWh);
int64_t *cen1 = &leftCensus.element(y, windowWh + d);
int64_t *cen2 = &rightCensus.element(y, windowWh);
int x = windowWh + d;
#ifdef WITH_SSE
for (; x < width - windowWh; x += 8) {
FixedVector<Int16x8, 4> c1 = SSEReader8BBBB_DDDD::read((uint32_t *)im1);
FixedVector<Int16x8, 4> c2 = SSEReader8BBBB_DDDD::read((uint32_t *)im2);
UInt16x8 dr = SSEMath::difference(UInt16x8(c1[RGBColor::FIELD_R]), UInt16x8(c2[RGBColor::FIELD_R]));
UInt16x8 dg = SSEMath::difference(UInt16x8(c1[RGBColor::FIELD_G]), UInt16x8(c2[RGBColor::FIELD_G]));
UInt16x8 db = SSEMath::difference(UInt16x8(c1[RGBColor::FIELD_B]), UInt16x8(c2[RGBColor::FIELD_B]));
UInt16x8 ad = (dr + dg + db) >> 2;
Int16x8 cost_ad = Int16x8(robustLUTAD(ad[0]),
robustLUTAD(ad[1]),
robustLUTAD(ad[2]),
robustLUTAD(ad[3]),
robustLUTAD(ad[4]),
robustLUTAD(ad[5]),
robustLUTAD(ad[6]),
robustLUTAD(ad[7]));
Int64x2 cen10(&cen1[0]);
Int64x2 cen12(&cen1[2]);
Int64x2 cen14(&cen1[4]);
Int64x2 cen16(&cen1[6]);
Int64x2 cen20(&cen2[0]);
Int64x2 cen22(&cen2[2]);
Int64x2 cen24(&cen2[4]);
Int64x2 cen26(&cen2[6]);
Int64x2 diff0 = cen10 ^ cen20;
Int64x2 diff2 = cen12 ^ cen22;
Int64x2 diff4 = cen14 ^ cen24;
Int64x2 diff6 = cen16 ^ cen26;
Int16x8 cost_ct(robustLUTCen(_mm_popcnt_u64(diff0.getInt(0))), robustLUTCen(_mm_popcnt_u64(diff0.getInt(1))),
robustLUTCen(_mm_popcnt_u64(diff2.getInt(0))), robustLUTCen(_mm_popcnt_u64(diff2.getInt(1))),
robustLUTCen(_mm_popcnt_u64(diff4.getInt(0))), robustLUTCen(_mm_popcnt_u64(diff4.getInt(1))),
robustLUTCen(_mm_popcnt_u64(diff6.getInt(0))), robustLUTCen(_mm_popcnt_u64(diff6.getInt(1))));
Int16x8 cost_total = cost_ad + cost_ct;
for (int i = 0; i < 8; ++i) {
costs.element(y, x + i) = cost_total[i];
}
im1 += 8;
im2 += 8;
cen1+= 8;
cen2+= 8;
}
#else
for (; x < width - windowWh; ++x) {
uint8_t c_ad = costAD(*im1, *im2);
uint8_t c_census = hammingDist(*cen1, *cen2);
costs.element(y, x) = robustLUTCen(c_census) + robustLUTAD(c_ad);
im1 ++;
im2 ++;
cen1++;
cen2++;
}
#endif
}
}, !parallelDisp
);
stats.resetInterval("Cost computation");
aggregateCosts(&costs, windowWh + d, windowHh, width - windowWh, height - windowHh);
stats.resetInterval("Cost aggregation");
for (int x = windowWh + d; x < width - windowWh; ++x) {
for (int y = windowHh; y < height - windowHh; ++y) {
tbb::mutex::scoped_lock(bestDisparitiesMutex);
if(costs.element(y, x) < minCosts.element(y, x)) {
minCosts.element(y, x) = costs.element(y, x);
bestDisparities.element(y, x) = d;
//result.element(y,x) = (bestDisparities.element(y, x) / (double)width * 255 * 3);
}
}
}
//BMPLoader().save("../../result.bmp", result);
stats.endInterval("Comparing with previous minimum");
collector.addStatistics(stats);
}
}, parallelDisp);
#include "core/utils/global.h"
#include "core/framesources/decoders/mjpegDecoder.h"
#include "core/framesources/decoders/mjpegDecoderLazy.h"
#include "V4L2Capture.h"
#include "core/utils/preciseTimer.h"
const char* V4L2CaptureInterface::CODEC_NAMES[] =
{
"off",
"mjpeg",
"mjpeg fast decoder"
};
STATIC_ASSERT(CORE_COUNT_OF(V4L2CaptureInterface::CODEC_NAMES) == V4L2CaptureInterface::CODEC_NUMBER, wrong_codec_names_number)
V4L2CaptureInterface::V4L2CaptureInterface(string _devname, bool isRgb)
: spin(this)
{
mIsRgb = isRgb;
setConfigurationString(_devname);
}
V4L2CaptureInterface::V4L2CaptureInterface(string _devname, int h, int w, int fps, bool isRgb)
: spin(this)
{
mIsRgb = isRgb;
interfaceName = QString("%1:1/%2:yuyv:%3x%4").arg(_devname.c_str()).arg(fps).arg(w).arg(h).toStdString();
deviceName[LEFT_FRAME] = _devname;
"FPS",
"FOCUS",
"ZOOM",
"PIXELCLOCK",
"HUE",
"SATURATION",
"SHARPNESS",
"BRIGHTNESS",
"CONTRAST",
"GAMMA",
"WHITE BALANCE",
"AUTO WHITE BALANCE",
"POWER LINE FREQUENCY",
"BACKLIGHT COMPENSATION",
"FOCUS RELATIVE",
"AUTO_FOCUS",
"UEYE MASTER FLASH DELAY",
"UEYE MASTER FLASH DURATION",
"UEYE SLAVE TRIGGER DELAY",
"HORIZONTAL_FLIP",
"VERTICAL_FLIP",
"SHUTTER WIDTH UPPER",
"SHUTTER WIDTH LOWER",
"SHUTTER DELAY",
};
STATIC_ASSERT(CORE_COUNT_OF(CameraParameters::names) == CameraParameters::LAST, wrong_camera_parameter_num)
