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Adds 32F disparity support to CUDA DisparityBilateralFilter #3779

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Adds 32F disparity support to CUDA DisparityBilateralFilter #3779

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2 changes: 1 addition & 1 deletion modules/cudastereo/include/opencv2/cudastereo.hpp
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Expand Up @@ -300,7 +300,7 @@ class CV_EXPORTS_W DisparityBilateralFilter : public cv::Algorithm
public:
/** @brief Refines a disparity map using joint bilateral filtering.

@param disparity Input disparity map. CV_8UC1 and CV_16SC1 types are supported.
@param disparity Input disparity map. CV_8UC1, CV_16SC1, and CV_32FC1 types are supported.
@param image Input image. CV_8UC1 and CV_8UC3 types are supported.
@param dst Destination disparity map. It has the same size and type as disparity .
@param stream Stream for the asynchronous version.
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11 changes: 6 additions & 5 deletions modules/cudastereo/src/cuda/disparity_bilateral_filter.cu
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Expand Up @@ -117,11 +117,11 @@ namespace cv { namespace cuda { namespace device

const T disp_reg = disp_y[xi];

cost[0] += ::min(cmax_disc, ::abs(disp_reg - dp[0])) * weight;
cost[1] += ::min(cmax_disc, ::abs(disp_reg - dp[1])) * weight;
cost[2] += ::min(cmax_disc, ::abs(disp_reg - dp[2])) * weight;
cost[3] += ::min(cmax_disc, ::abs(disp_reg - dp[3])) * weight;
cost[4] += ::min(cmax_disc, ::abs(disp_reg - dp[4])) * weight;
cost[0] += ::min((float)cmax_disc, (float)::abs(disp_reg - dp[0])) * weight;
cost[1] += ::min((float)cmax_disc, (float)::abs(disp_reg - dp[1])) * weight;
cost[2] += ::min((float)cmax_disc, (float)::abs(disp_reg - dp[2])) * weight;
cost[3] += ::min((float)cmax_disc, (float)::abs(disp_reg - dp[3])) * weight;
cost[4] += ::min((float)cmax_disc, (float)::abs(disp_reg - dp[4])) * weight;
}
}

Expand Down Expand Up @@ -199,6 +199,7 @@ namespace cv { namespace cuda { namespace device

template void disp_bilateral_filter<uchar>(PtrStepSz<uchar> disp, PtrStepSzb img, int channels, int iters, const float *table_color, const float *table_space, size_t table_step, int radius, short, short, cudaStream_t stream);
template void disp_bilateral_filter<short>(PtrStepSz<short> disp, PtrStepSzb img, int channels, int iters, const float *table_color, const float *table_space, size_t table_step, int radius, short, short, cudaStream_t stream);
template void disp_bilateral_filter<float>(PtrStepSz<float> disp, PtrStepSzb img, int channels, int iters, const float *table_color, const float *table_space, size_t table_step, int radius, short, short, cudaStream_t stream);
} // namespace bilateral_filter
}}} // namespace cv { namespace cuda { namespace cudev

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4 changes: 2 additions & 2 deletions modules/cudastereo/src/disparity_bilateral_filter.cpp
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Expand Up @@ -173,14 +173,14 @@ namespace
GpuMat& table_color, GpuMat& table_space,
const GpuMat& disp, const GpuMat& img, OutputArray dst, Stream& stream);
const bilateral_filter_operator_t operators[] =
{disp_bilateral_filter_operator<unsigned char>, 0, 0, disp_bilateral_filter_operator<short>, 0, 0, 0, 0};
{disp_bilateral_filter_operator<unsigned char>, 0, 0, disp_bilateral_filter_operator<short>, 0, disp_bilateral_filter_operator<float>, 0, 0};

CV_Assert( 0 < ndisp_ && 0 < radius_ && 0 < iters_ );

GpuMat disp = _disp.getGpuMat();
GpuMat img = _image.getGpuMat();

CV_Assert( disp.type() == CV_8U || disp.type() == CV_16S );
CV_Assert( disp.type() == CV_8U || disp.type() == CV_16S || disp.type() == CV_32F );
CV_Assert( img.type() == CV_8UC1 || img.type() == CV_8UC3 );
CV_Assert( disp.size() == img.size() );

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