inline
Mat::Mat(const gpu::GpuMat& m)
: flags(0), dims(0), rows(0), cols(0), data(0), refcount(0), datastart(0), dataend(0), datalimit(0), allocator(0), size(&rows)
{
m.download(*this);
}
void App::handleKey(char key)
{
switch (key)
{
case 27:
running = false;
break;
case 'p': case 'P':
printParams();
break;
case 'g': case 'G':
if (left.channels() == 1 && p.method != Params::BM)
{
left = left_src;
right = right_src;
}
else
{
cvtColor(left_src, left, CV_BGR2GRAY);
cvtColor(right_src, right, CV_BGR2GRAY);
}
d_left.upload(left);
d_right.upload(right);
cout << "image_channels: " << left.channels() << endl;
imshow("left", left);
imshow("right", right);
break;
case 'm': case 'M':
switch (p.method)
{
case Params::BM:
p.method = Params::BP;
break;
case Params::BP:
p.method = Params::CSBP;
break;
case Params::CSBP:
p.method = Params::BM;
break;
}
cout << "method: " << p.method_str() << endl;
break;
case 's': case 'S':
if (p.method == Params::BM)
{
switch (bm.preset)
{
case gpu::StereoBM_GPU::BASIC_PRESET:
bm.preset = gpu::StereoBM_GPU::PREFILTER_XSOBEL;
break;
case gpu::StereoBM_GPU::PREFILTER_XSOBEL:
bm.preset = gpu::StereoBM_GPU::BASIC_PRESET;
break;
}
cout << "prefilter_sobel: " << bm.preset << endl;
}
break;
case '1':
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp;
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
break;
case 'q': case 'Q':
p.ndisp = max(p.ndisp - 8, 1);
cout << "ndisp: " << p.ndisp << endl;
bm.ndisp = p.ndisp;
bp.ndisp = p.ndisp;
csbp.ndisp = p.ndisp;
break;
case '2':
if (p.method == Params::BM)
{
bm.winSize = min(bm.winSize + 1, 51);
cout << "win_size: " << bm.winSize << endl;
}
break;
case 'w': case 'W':
if (p.method == Params::BM)
{
bm.winSize = max(bm.winSize - 1, 2);
cout << "win_size: " << bm.winSize << endl;
}
break;
case '3':
if (p.method == Params::BP)
{
bp.iters += 1;
cout << "iter_count: " << bp.iters << endl;
}
else if (p.method == Params::CSBP)
{
csbp.iters += 1;
cout << "iter_count: " << csbp.iters << endl;
}
break;
case 'e': case 'E':
if (p.method == Params::BP)
{
bp.iters = max(bp.iters - 1, 1);
cout << "iter_count: " << bp.iters << endl;
}
else if (p.method == Params::CSBP)
{
csbp.iters = max(csbp.iters - 1, 1);
cout << "iter_count: " << csbp.iters << endl;
}
break;
case '4':
if (p.method == Params::BP)
{
bp.levels += 1;
cout << "level_count: " << bp.levels << endl;
}
else if (p.method == Params::CSBP)
{
csbp.levels += 1;
cout << "level_count: " << csbp.levels << endl;
}
break;
case 'r': case 'R':
if (p.method == Params::BP)
{
bp.levels = max(bp.levels - 1, 1);
cout << "level_count: " << bp.levels << endl;
}
else if (p.method == Params::CSBP)
{
csbp.levels = max(csbp.levels - 1, 1);
cout << "level_count: " << csbp.levels << endl;
}
break;
}
}
void MultiBandBlenderGpu::feed(const gpu::GpuMat &d_img, const gpu::GpuMat &d_mask, Point tl)
{
CV_Assert(d_img.type() == CV_16SC3);
CV_Assert(d_mask.type() == CV_8U);
// Keep source image in memory with small border
int gap = 3 * (1 << num_bands_);
Point tl_new(max(dst_roi_.x, tl.x - gap),
max(dst_roi_.y, tl.y - gap));
Point br_new(min(dst_roi_.br().x, tl.x + d_img.cols + gap),
min(dst_roi_.br().y, tl.y + d_img.rows + gap));
// Ensure coordinates of top-left, bottom-right corners are divided by (1 << num_bands_).
// After that scale between layers is exactly 2.
//
// We do it to avoid interpolation problems when keeping sub-images only. There is no such problem when
// image is bordered to have size equal to the final image size, but this is too memory hungry approach.
tl_new.x = dst_roi_.x + (((tl_new.x - dst_roi_.x) >> num_bands_) << num_bands_);
tl_new.y = dst_roi_.y + (((tl_new.y - dst_roi_.y) >> num_bands_) << num_bands_);
int width = br_new.x - tl_new.x;
int height = br_new.y - tl_new.y;
width += ((1 << num_bands_) - width % (1 << num_bands_)) % (1 << num_bands_);
height += ((1 << num_bands_) - height % (1 << num_bands_)) % (1 << num_bands_);
br_new.x = tl_new.x + width;
br_new.y = tl_new.y + height;
int dy = max(br_new.y - dst_roi_.br().y, 0);
int dx = max(br_new.x - dst_roi_.br().x, 0);
tl_new.x -= dx; br_new.x -= dx;
tl_new.y -= dy; br_new.y -= dy;
int top = tl.y - tl_new.y;
int left = tl.x - tl_new.x;
int bottom = br_new.y - tl.y - d_img.rows;
int right = br_new.x - tl.x - d_img.cols;
// Create the source image Laplacian pyramid
gpu::GpuMat d_img_with_border;
gpu::copyMakeBorder(d_img, d_img_with_border, top, bottom, left, right, BORDER_REFLECT, Scalar(), stream_);
vector<gpu::GpuMat> d_src_pyr_laplace;
createLaplacePyrGpu(d_img_with_border, num_bands_, d_src_pyr_laplace);
// Create the weight map Gaussian pyramid
gpu::GpuMat d_weight_map;
stream_.enqueueConvert(d_mask, d_weight_map, CV_32F, 1./255.);
vector<gpu::GpuMat> d_weight_pyr_gauss(num_bands_ + 1);
gpu::copyMakeBorder(d_weight_map, d_weight_pyr_gauss[0], top, bottom, left, right, BORDER_CONSTANT, Scalar(), stream_);
for (int i = 0; i < num_bands_; ++i)
gpu::pyrDown(d_weight_pyr_gauss[i], d_weight_pyr_gauss[i + 1], stream_);
int y_tl = tl_new.y - dst_roi_.y;
int y_br = br_new.y - dst_roi_.y;
int x_tl = tl_new.x - dst_roi_.x;
int x_br = br_new.x - dst_roi_.x;
// Add weighted layer of the source image to the final Laplacian pyramid layer
gpu::GpuMat d_tmp;
for (int i = 0; i <= num_bands_; ++i)
{
gpu::GpuMat d_src_roi = d_src_pyr_laplace[i](cv::Rect(0, 0, x_br-x_tl, y_br-y_tl));
gpu::GpuMat d_dst_roi = d_dst_pyr_laplace_[i](cv::Rect(x_tl, y_tl, x_br-x_tl, y_br-y_tl));
gpu::GpuMat d_weight_roi = d_weight_pyr_gauss[i](cv::Rect(0, 0, x_br-x_tl, y_br-y_tl));
gpu::GpuMat d_dst_weight_roi = d_dst_band_weights_[i](cv::Rect(x_tl, y_tl, x_br-x_tl, y_br-y_tl));
// dst_roi += src_roi * weight_roi;
// dst_weight_roi += weight_roi;
gpu::multiply(d_src_roi, d_weight_roi, d_tmp, 1, -1, stream_);
gpu::add(d_dst_roi, d_tmp, d_dst_roi, gpu::GpuMat(), -1, stream_);
gpu::add(d_dst_weight_roi, d_weight_roi, d_dst_weight_roi, gpu::GpuMat(), -1, stream_);
x_tl /= 2; y_tl /= 2;
x_br /= 2; y_br /= 2;
}
stream_.waitForCompletion();
}