#pragma once
#include "sgm_types.h"
#include <cuda_runtime.h>
class CostComputor;
class CostAggregator;
class DisparityFilter;
class StereoCudaImpl
{
public:
StereoCudaImpl();
~StereoCudaImpl();
public:
/**
* \brief ��ʼ��
* \param width Ӱ���
* \param height Ӱ���
* \param min_disparity ��С�Ӳ�ֵ
* \param disp_range �ӲΧ
* \param sgm_option SGM����
* \param print_log �Ƿ��ӡlog��Ϣ
* \return true-�ɹ� false-ʧ��
*/
bool Init(sint32 width, sint32 height, sint32 min_disparity, sint32 disp_range, CuSGMOption sgm_option, bool print_log = false);
/**
* \brief ƥ��
* \param img_left ��Ӱ������
* \param img_right ��Ӱ������
* \param disp_left ������Ӳ�ͼ���ߴ���Ӱ��ߴ�һ�£���Ԥ�ȷ����ڴ�
* \param disp_right ������Ӳ�ͼ���ߴ���Ӱ��ߴ�һ�£���Ԥ�ȷ����ڴ�
* \param init_disp_left ��ʼ�Ӳ�ֵ���飬��Ϊnullptr�����ó�ʼ�Ӳ�ֵ
* \param ste_roi_left ��Ӱ��ROI
* \param ste_roi_right ��Ӱ��ROI
* \return
*/
bool Match(uint8* img_left, uint8* img_right, float32* disp_left, float32* disp_right = nullptr, sint16* init_disp_left = nullptr, StereoROI_T* ste_roi_left = nullptr, StereoROI_T* ste_roi_right = nullptr, cudaStream_t* streams = nullptr, int stream_count = 4);
/**
* \brief ��ʼ��2
* \param width Ӱ���
* \param height Ӱ���
* \param min_disparity ��С�Ӳ�ֵ
* \param disp_range �ӲΧ
* \param sgm_option SGM����
* \param cam_param �������
* \param print_log �Ƿ��ӡlog��Ϣ
* \return
*/
bool Init2(sint32 width, sint32 height, sint32 min_disparity, sint32 disp_range, CuSGMOption sgm_option, CamParam_T cam_param, bool print_log = false);
/**
* \brief ƥ��2
* \param img_left ��Ӱ������
* \param img_right ��Ӱ������
* \param depth_left ��Ӱ�����ͼ���ߴ���Ӱ��ߴ�һ�£���Ԥ�ȷ����ڴ�
* \param init_disp_left ��Ӱ���ʼ�Ӳ�ֵ���飬��Ϊnullptr�����ó�ʼ�Ӳ�ֵ
* \param ste_roi_left ��Ӱ��ROI
* \param ste_roi_right ��Ӱ��ROI
* \return true-�ɹ� false-ʧ��
*/
bool Match2(uint8* img_left, uint8* img_right, float32* depth_left, sint16* init_disp_left = nullptr, StereoROI_T* ste_roi_left = nullptr, StereoROI_T* ste_roi_right = nullptr, cudaStream_t* streams = nullptr, int stream_count = 4);
/**
* \brief ��ȡ�Ӳ�ͼ��ROI��
* \param disp_ptr �Ӳ�ͼָ��
* \param width �Ӳ�ͼ��
* \param height �Ӳ�ͼ��
* \param ste_roi �����ROI����
*/
static void GetRoiFromDispMap(float32* disp_ptr, sint32 width, sint32 height, StereoROI_T& ste_roi);
void SetMinDisparity(const sint32& min_disparity);
sint32 GetDispartyRange();
/**\brief �ͷ��ڴ� */
void Release();
/**\brief ��ȡ��Чֵ */
static float32 get_invad_float();
static sint16 get_invad_short();
/**\brief ��ȡ������ƥ��ģʽ�³���߲�֮������в���Ӳ�������Χ */
static sint16 get_level_range();
/**\brief �������˷�����ҳ�ڴ棨������죩 */
static bool MallocPageLockedPtr(void** ptr, size_t size);
/**\brief �ͷ���������ҳ�ڴ� */
static bool FreePageLockedPtr(void* ptr);
bool MatchGPU(uint8* d_img_left, uint8* d_img_right, float32* d_disp_left,
size_t left_pitch, size_t right_pitch, size_t disp_pitch,
float32* d_disp_right = nullptr, sint16* d_init_disp_left = nullptr,
StereoROI_T* ste_roi_left = nullptr, StereoROI_T* ste_roi_right = nullptr,
cudaStream_t* streams = nullptr, int stream_count = 4);
#ifdef _DEBUG
void OutInitValueR(sint16* pInitValue);
#endif
private:
/**\brief ���ۼ��� */
bool ComputeCost(uint8* img_left, uint8* img_right, sint16* init_disp_left = nullptr, cudaStream_t* streams = nullptr) const;
/**\brief ���۾ۺ� */
bool CostAggregate(sint16* init_disp_left = nullptr, StereoROI_T* ste_roi_left = nullptr, StereoROI_T* ste_roi_right = nullptr, cudaStream_t* streams = nullptr) const;
/**\brief �˲� */
void Filter(cudaStream_t* streams = nullptr) const;
/**\brief ��С��ͨ�� */
void RemovePeaks(StereoROI_T* ste_roi_left, float32* disp_left);
private:
/**\brief �豸������ָ�� */
uint8* cu_img_left_;
uint8* cu_img_right_;
/**\brief �豸���Ӳ�ͼָ�� */
float32* cu_disp_out_;
/**\brief �豸�����ͼָ�� */
float32* cu_depth_left_;
/**\brief �豸�˳�ʼ�Ӳ�ͼָ�� */
sint16* cu_inidisp_left_;
sint16* cu_inidisp_right_;
sint16* cu_inidisp_tmp_;
/**\brief �����˳�ʼ�Ӳ�ͼָ�� */
sint16* inidisp_tmp_;
/**\brief sgm���� */
CuSGMOption sgm_option_;
/**\brief ������� */
CamParam_T cam_param_;
/**\brief ��С�Ӳ�ֵ */
sint32 min_disparity_;
/**\brief �ӲΧ */
sint32 disp_range_;
/**\brief Ӱ��ߴ� */
sint32 width_;
sint32 height_;
size_t im_psize_;
size_t dp_psize_;
size_t idp_psize_;
/**\brief ���ۼ����� */
CostComputor* computor_;
/**\brief ���۾ۺ��� */
CostAggregator* aggregator_;
/**\brief �Ӳ�ͼ�˲��� */
DisparityFilter* filter_;
/**\brief �������Ӳ�ͼָ�� */
float32* disp_ptr_;
/**\brief ��С��ͨ�����в����ṹ���� */
void** remove_peaks_;
/**\brief ��С��ͨ�������߳��� */
sint32 num_threads_;
/**\brief �豸���첽�� */
void* cu_streams_;
/**\brief ��־��ӡ���� */
bool print_log_;
};
注释上述代码
扫一扫
3314
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
