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 +1,85 @@
+// 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
+
+#include <opencv2/gapi/stereo.hpp>
+#include <opencv2/gapi/cpu/stereo.hpp>
+#include <opencv2/gapi/cpu/gcpukernel.hpp>
+
+#ifdef HAVE_OPENCV_CALIB3D
+#include <opencv2/calib3d.hpp>
+#endif // HAVE_OPENCV_CALIB3D
+
+#ifdef HAVE_OPENCV_CALIB3D
+
+/** @brief Structure for the Stereo operation setup parameters.*/
+struct GAPI_EXPORTS StereoSetup {
+    double baseline;
+    double focus;
+    cv::Ptr<cv::StereoBM> stereoBM;
+};
+
+namespace {
+cv::Mat calcDepth(const cv::Mat &left, const cv::Mat &right,
+                  const StereoSetup &ss) {
+    constexpr int DISPARITY_SHIFT_16S = 4;
+    cv::Mat disp;
+    ss.stereoBM->compute(left, right, disp);
+    disp.convertTo(disp, CV_32FC1, 1./(1 << DISPARITY_SHIFT_16S), 0);
+    return (ss.focus * ss.baseline) / disp;
+}
+} // anonymous namespace
+
+GAPI_OCV_KERNEL_ST(GCPUStereo, cv::gapi::calib3d::GStereo, StereoSetup)
+{
+    static void setup(const cv::GMatDesc&, const cv::GMatDesc&,
+                      const cv::gapi::StereoOutputFormat,
+                      std::shared_ptr<StereoSetup> &stereoSetup,
+                      const cv::GCompileArgs &compileArgs) {
+        auto stereoInit = cv::gapi::getCompileArg<cv::gapi::calib3d::cpu::StereoInitParam>(compileArgs)
+            .value_or(cv::gapi::calib3d::cpu::StereoInitParam{});
+
+        StereoSetup ss{stereoInit.baseline,
+                       stereoInit.focus,
+                       cv::StereoBM::create(stereoInit.numDisparities,
+                       stereoInit.blockSize)};
+        stereoSetup = std::make_shared<StereoSetup>(ss);
+    }
+    static void run(const cv::Mat& left,
+                    const cv::Mat& right,
+                    const cv::gapi::StereoOutputFormat oF,
+                    cv::Mat& out_mat,
+                    const StereoSetup &stereoSetup) {
+        switch(oF){
+            case cv::gapi::StereoOutputFormat::DEPTH_FLOAT16:
+                calcDepth(left, right, stereoSetup).convertTo(out_mat, CV_16FC1);
+                break;
+            case cv::gapi::StereoOutputFormat::DEPTH_FLOAT32:
+                calcDepth(left, right, stereoSetup).copyTo(out_mat);
+                break;
+            case cv::gapi::StereoOutputFormat::DISPARITY_FIXED16_12_4:
+                stereoSetup.stereoBM->compute(left, right, out_mat);
+                break;
+            case cv::gapi::StereoOutputFormat::DISPARITY_FIXED16_11_5:
+                GAPI_Assert(false && "This case may be supported in future.");
+            default:
+                GAPI_Assert(false && "Unknown output format!");
+        }
+    }
+};
+
+cv::gapi::GKernelPackage cv::gapi::calib3d::cpu::kernels() {
+    static auto pkg = cv::gapi::kernels<GCPUStereo>();
+    return pkg;
+}
+
+#else
+
+cv::gapi::GKernelPackage cv::gapi::calib3d::cpu::kernels()
+{
+    return GKernelPackage();
+}
+
+#endif // HAVE_OPENCV_CALIB3D