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)