Merge pull request #19732 from aDanPin:danpin/gapi/stereo_operation_and_test

G-API Stereo operation and tests
2021-03-31 23:22:29 +03:00
parent e11408f6ad e6f52b0996
commit 9f13fdb840
9 changed files with 362 additions and 1 deletions
@@ -0,0 +1,48 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+//
+// Copyright (C) 2021 Intel Corporation
+
+#ifndef OPENCV_GAPI_CPU_STEREO_API_HPP
+#define OPENCV_GAPI_CPU_STEREO_API_HPP
+
+#include <opencv2/gapi/gkernel.hpp> // GKernelPackage
+
+namespace cv {
+namespace gapi {
+namespace calib3d {
+namespace cpu {
+
+GAPI_EXPORTS GKernelPackage kernels();
+
+/** @brief Structure for the Stereo operation initialization parameters.*/
+struct GAPI_EXPORTS StereoInitParam {
+    StereoInitParam(int nD, int bS, double bL, double f):
+        numDisparities(nD), blockSize(bS), baseline(bL), focus(f) {}
+
+    StereoInitParam() = default;
+
+    int numDisparities = 0;
+    int blockSize = 21;
+    double baseline = 70.;
+    double focus = 1000.;
+};
+
+} // namespace cpu
+} // namespace calib3d
+} // namespace gapi
+
+namespace detail {
+
+    template<> struct CompileArgTag<cv::gapi::calib3d::cpu::StereoInitParam> {
+    static const char* tag() {
+        return "org.opencv.stereoInit";
+    }
+};
+
+} // namespace detail
+} // namespace cv
+
+
+#endif // OPENCV_GAPI_CPU_STEREO_API_HPP
@@ -0,0 +1,64 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distereoibution and at http://opencv.org/license.html.
+//
+// Copyright (C) 2021 Intel Corporation
+
+#ifndef OPENCV_GAPI_STEREO_HPP
+#define OPENCV_GAPI_STEREO_HPP
+
+#include <opencv2/gapi/gmat.hpp>
+#include <opencv2/gapi/gscalar.hpp>
+#include <opencv2/gapi/gkernel.hpp>
+
+namespace cv {
+namespace gapi {
+
+enum class StereoOutputFormat {
+    DEPTH_FLOAT16,
+    DEPTH_FLOAT32,
+    DISPARITY_FIXED16_11_5,
+    DISPARITY_FIXED16_12_4
+};
+
+namespace calib3d {
+
+G_TYPED_KERNEL(GStereo, <GMat(GMat, GMat, const StereoOutputFormat)>, "org.opencv.stereo") {
+    static GMatDesc outMeta(const GMatDesc &left, const GMatDesc &right, const StereoOutputFormat of) {
+        GAPI_Assert(left.chan == 1);
+        GAPI_Assert(left.depth == CV_8U);
+
+        GAPI_Assert(right.chan == 1);
+        GAPI_Assert(right.depth == CV_8U);
+
+        switch(of) {
+            case StereoOutputFormat::DEPTH_FLOAT16:
+                return left.withDepth(CV_16FC1);
+            case StereoOutputFormat::DEPTH_FLOAT32:
+                return left.withDepth(CV_32FC1);
+            case StereoOutputFormat::DISPARITY_FIXED16_11_5:
+            case StereoOutputFormat::DISPARITY_FIXED16_12_4:
+                return left.withDepth(CV_16SC1);
+            default:
+                GAPI_Assert(false && "Unknown output format!");
+        }
+    }
+};
+
+} // namespace calib3d
+
+/** @brief Extract disparity/depth information depending on passed StereoOutputFormat argument.
+The function extracts disparity/depth information depending on passed StereoOutputFormat argument from
+given stereo-pair.
+
+@param left left 8-bit unsigned 1-channel image of @ref CV_8UC1 type
+@param right right 8-bit unsigned 1-channel image of @ref CV_8UC1 type
+@param of enum to specify output kind: depth or disparity and corresponding type
+*/
+GAPI_EXPORTS GMat stereo(const GMat& left,
+                         const GMat& right,
+                         const StereoOutputFormat of = StereoOutputFormat::DEPTH_FLOAT32);
+} // namespace gapi
+} // namespace cv
+
+#endif // OPENCV_GAPI_STEREO_HPP