feat: 切换后端至PaddleOCR-NCNN，切换工程为CMake
1.项目后端整体迁移至PaddleOCR-NCNN算法，已通过基本的兼容性测试 2.工程改为使用CMake组织，后续为了更好地兼容第三方库，不再提供QMake工程 3.重整权利声明文件，重整代码工程，确保最小化侵权风险 Log: 切换后端至PaddleOCR-NCNN，切换工程为CMake Change-Id: I4d5d2c5d37505a4a24b389b1a4c5d12f17bfa38c
This commit is contained in:
wangzhengyang
382
3rdparty/opencv-4.5.4/samples/gpu/stereo_match.cpp
vendored
Normal file
382
3rdparty/opencv-4.5.4/samples/gpu/stereo_match.cpp
vendored
Normal file
@ -0,0 +1,382 @@
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <sstream>
|
||||
#include <iomanip>
|
||||
#include <stdexcept>
|
||||
#include <opencv2/core/utility.hpp>
|
||||
#include "opencv2/cudastereo.hpp"
|
||||
#include "opencv2/highgui.hpp"
|
||||
#include "opencv2/imgproc.hpp"
|
||||
|
||||
using namespace cv;
|
||||
using namespace std;
|
||||
|
||||
bool help_showed = false;
|
||||
|
||||
struct Params
|
||||
{
|
||||
Params();
|
||||
static Params read(int argc, char** argv);
|
||||
|
||||
string left;
|
||||
string right;
|
||||
|
||||
string method_str() const
|
||||
{
|
||||
switch (method)
|
||||
{
|
||||
case BM: return "BM";
|
||||
case BP: return "BP";
|
||||
case CSBP: return "CSBP";
|
||||
}
|
||||
return "";
|
||||
}
|
||||
enum {BM, BP, CSBP} method;
|
||||
int ndisp; // Max disparity + 1
|
||||
};
|
||||
|
||||
|
||||
struct App
|
||||
{
|
||||
App(const Params& p);
|
||||
void run();
|
||||
void handleKey(char key);
|
||||
void printParams() const;
|
||||
|
||||
void workBegin() { work_begin = getTickCount(); }
|
||||
void workEnd()
|
||||
{
|
||||
int64 d = getTickCount() - work_begin;
|
||||
double f = getTickFrequency();
|
||||
work_fps = f / d;
|
||||
}
|
||||
|
||||
string text() const
|
||||
{
|
||||
stringstream ss;
|
||||
ss << "(" << p.method_str() << ") FPS: " << setiosflags(ios::left)
|
||||
<< setprecision(4) << work_fps;
|
||||
return ss.str();
|
||||
}
|
||||
private:
|
||||
Params p;
|
||||
bool running;
|
||||
|
||||
Mat left_src, right_src;
|
||||
Mat left, right;
|
||||
cuda::GpuMat d_left, d_right;
|
||||
|
||||
Ptr<cuda::StereoBM> bm;
|
||||
Ptr<cuda::StereoBeliefPropagation> bp;
|
||||
Ptr<cuda::StereoConstantSpaceBP> csbp;
|
||||
|
||||
int64 work_begin;
|
||||
double work_fps;
|
||||
};
|
||||
|
||||
static void printHelp()
|
||||
{
|
||||
cout << "Usage: stereo_match\n"
|
||||
<< "\t--left <left_view> --right <right_view> # must be rectified\n"
|
||||
<< "\t--method <stereo_match_method> # BM | BP | CSBP\n"
|
||||
<< "\t--ndisp <number> # number of disparity levels\n";
|
||||
help_showed = true;
|
||||
}
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
try
|
||||
{
|
||||
if (argc < 2)
|
||||
{
|
||||
printHelp();
|
||||
return 1;
|
||||
}
|
||||
Params args = Params::read(argc, argv);
|
||||
if (help_showed)
|
||||
return -1;
|
||||
App app(args);
|
||||
app.run();
|
||||
}
|
||||
catch (const exception& e)
|
||||
{
|
||||
cout << "error: " << e.what() << endl;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Params::Params()
|
||||
{
|
||||
method = BM;
|
||||
ndisp = 64;
|
||||
}
|
||||
|
||||
|
||||
Params Params::read(int argc, char** argv)
|
||||
{
|
||||
Params p;
|
||||
|
||||
for (int i = 1; i < argc; i++)
|
||||
{
|
||||
if (string(argv[i]) == "--left") p.left = argv[++i];
|
||||
else if (string(argv[i]) == "--right") p.right = argv[++i];
|
||||
else if (string(argv[i]) == "--method")
|
||||
{
|
||||
if (string(argv[i + 1]) == "BM") p.method = BM;
|
||||
else if (string(argv[i + 1]) == "BP") p.method = BP;
|
||||
else if (string(argv[i + 1]) == "CSBP") p.method = CSBP;
|
||||
else throw runtime_error("unknown stereo match method: " + string(argv[i + 1]));
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--ndisp") p.ndisp = atoi(argv[++i]);
|
||||
else if (string(argv[i]) == "--help") printHelp();
|
||||
else throw runtime_error("unknown key: " + string(argv[i]));
|
||||
}
|
||||
|
||||
return p;
|
||||
}
|
||||
|
||||
|
||||
App::App(const Params& params)
|
||||
: p(params), running(false)
|
||||
{
|
||||
cv::cuda::printShortCudaDeviceInfo(cv::cuda::getDevice());
|
||||
|
||||
cout << "stereo_match_gpu sample\n";
|
||||
cout << "\nControls:\n"
|
||||
<< "\tesc - exit\n"
|
||||
<< "\tp - print current parameters\n"
|
||||
<< "\tg - convert source images into gray\n"
|
||||
<< "\tm - change stereo match method\n"
|
||||
<< "\ts - change Sobel prefiltering flag (for BM only)\n"
|
||||
<< "\t1/q - increase/decrease maximum disparity\n"
|
||||
<< "\t2/w - increase/decrease window size (for BM only)\n"
|
||||
<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
|
||||
<< "\t4/r - increase/decrease level count (for BP and CSBP only)\n";
|
||||
}
|
||||
|
||||
|
||||
void App::run()
|
||||
{
|
||||
// Load images
|
||||
left_src = imread(p.left);
|
||||
right_src = imread(p.right);
|
||||
if (left_src.empty()) throw runtime_error("can't open file \"" + p.left + "\"");
|
||||
if (right_src.empty()) throw runtime_error("can't open file \"" + p.right + "\"");
|
||||
cvtColor(left_src, left, COLOR_BGR2GRAY);
|
||||
cvtColor(right_src, right, COLOR_BGR2GRAY);
|
||||
d_left.upload(left);
|
||||
d_right.upload(right);
|
||||
|
||||
imshow("left", left);
|
||||
imshow("right", right);
|
||||
|
||||
// Set common parameters
|
||||
bm = cuda::createStereoBM(p.ndisp);
|
||||
bp = cuda::createStereoBeliefPropagation(p.ndisp);
|
||||
csbp = cv::cuda::createStereoConstantSpaceBP(p.ndisp);
|
||||
|
||||
// Prepare disparity map of specified type
|
||||
Mat disp(left.size(), CV_8U);
|
||||
cuda::GpuMat d_disp(left.size(), CV_8U);
|
||||
|
||||
cout << endl;
|
||||
printParams();
|
||||
|
||||
running = true;
|
||||
while (running)
|
||||
{
|
||||
workBegin();
|
||||
switch (p.method)
|
||||
{
|
||||
case Params::BM:
|
||||
if (d_left.channels() > 1 || d_right.channels() > 1)
|
||||
{
|
||||
cout << "BM doesn't support color images\n";
|
||||
cvtColor(left_src, left, COLOR_BGR2GRAY);
|
||||
cvtColor(right_src, right, COLOR_BGR2GRAY);
|
||||
cout << "image_channels: " << left.channels() << endl;
|
||||
d_left.upload(left);
|
||||
d_right.upload(right);
|
||||
imshow("left", left);
|
||||
imshow("right", right);
|
||||
}
|
||||
bm->compute(d_left, d_right, d_disp);
|
||||
break;
|
||||
case Params::BP: bp->compute(d_left, d_right, d_disp); break;
|
||||
case Params::CSBP: csbp->compute(d_left, d_right, d_disp); break;
|
||||
}
|
||||
workEnd();
|
||||
|
||||
// Show results
|
||||
d_disp.download(disp);
|
||||
putText(disp, text(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar::all(255));
|
||||
imshow("disparity", (Mat_<uchar>)disp);
|
||||
|
||||
handleKey((char)waitKey(3));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void App::printParams() const
|
||||
{
|
||||
cout << "--- Parameters ---\n";
|
||||
cout << "image_size: (" << left.cols << ", " << left.rows << ")\n";
|
||||
cout << "image_channels: " << left.channels() << endl;
|
||||
cout << "method: " << p.method_str() << endl
|
||||
<< "ndisp: " << p.ndisp << endl;
|
||||
switch (p.method)
|
||||
{
|
||||
case Params::BM:
|
||||
cout << "win_size: " << bm->getBlockSize() << endl;
|
||||
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
|
||||
break;
|
||||
case Params::BP:
|
||||
cout << "iter_count: " << bp->getNumIters() << endl;
|
||||
cout << "level_count: " << bp->getNumLevels() << endl;
|
||||
break;
|
||||
case Params::CSBP:
|
||||
cout << "iter_count: " << csbp->getNumIters() << endl;
|
||||
cout << "level_count: " << csbp->getNumLevels() << endl;
|
||||
break;
|
||||
}
|
||||
cout << endl;
|
||||
}
|
||||
|
||||
|
||||
void App::handleKey(char key)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case 27:
|
||||
running = false;
|
||||
break;
|
||||
case 'p': case 'P':
|
||||
printParams();
|
||||
break;
|
||||
case 'g': case 'G':
|
||||
if (left.channels() == 1 && p.method != Params::BM)
|
||||
{
|
||||
left = left_src;
|
||||
right = right_src;
|
||||
}
|
||||
else
|
||||
{
|
||||
cvtColor(left_src, left, COLOR_BGR2GRAY);
|
||||
cvtColor(right_src, right, COLOR_BGR2GRAY);
|
||||
}
|
||||
d_left.upload(left);
|
||||
d_right.upload(right);
|
||||
cout << "image_channels: " << left.channels() << endl;
|
||||
imshow("left", left);
|
||||
imshow("right", right);
|
||||
break;
|
||||
case 'm': case 'M':
|
||||
switch (p.method)
|
||||
{
|
||||
case Params::BM:
|
||||
p.method = Params::BP;
|
||||
break;
|
||||
case Params::BP:
|
||||
p.method = Params::CSBP;
|
||||
break;
|
||||
case Params::CSBP:
|
||||
p.method = Params::BM;
|
||||
break;
|
||||
}
|
||||
cout << "method: " << p.method_str() << endl;
|
||||
break;
|
||||
case 's': case 'S':
|
||||
if (p.method == Params::BM)
|
||||
{
|
||||
switch (bm->getPreFilterType())
|
||||
{
|
||||
case 0:
|
||||
bm->setPreFilterType(cv::StereoBM::PREFILTER_XSOBEL);
|
||||
break;
|
||||
case cv::StereoBM::PREFILTER_XSOBEL:
|
||||
bm->setPreFilterType(0);
|
||||
break;
|
||||
}
|
||||
cout << "prefilter_sobel: " << bm->getPreFilterType() << endl;
|
||||
}
|
||||
break;
|
||||
case '1':
|
||||
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
|
||||
cout << "ndisp: " << p.ndisp << endl;
|
||||
bm->setNumDisparities(p.ndisp);
|
||||
bp->setNumDisparities(p.ndisp);
|
||||
csbp->setNumDisparities(p.ndisp);
|
||||
break;
|
||||
case 'q': case 'Q':
|
||||
p.ndisp = max(p.ndisp - 8, 1);
|
||||
cout << "ndisp: " << p.ndisp << endl;
|
||||
bm->setNumDisparities(p.ndisp);
|
||||
bp->setNumDisparities(p.ndisp);
|
||||
csbp->setNumDisparities(p.ndisp);
|
||||
break;
|
||||
case '2':
|
||||
if (p.method == Params::BM)
|
||||
{
|
||||
bm->setBlockSize(min(bm->getBlockSize() + 1, 51));
|
||||
cout << "win_size: " << bm->getBlockSize() << endl;
|
||||
}
|
||||
break;
|
||||
case 'w': case 'W':
|
||||
if (p.method == Params::BM)
|
||||
{
|
||||
bm->setBlockSize(max(bm->getBlockSize() - 1, 2));
|
||||
cout << "win_size: " << bm->getBlockSize() << endl;
|
||||
}
|
||||
break;
|
||||
case '3':
|
||||
if (p.method == Params::BP)
|
||||
{
|
||||
bp->setNumIters(bp->getNumIters() + 1);
|
||||
cout << "iter_count: " << bp->getNumIters() << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
{
|
||||
csbp->setNumIters(csbp->getNumIters() + 1);
|
||||
cout << "iter_count: " << csbp->getNumIters() << endl;
|
||||
}
|
||||
break;
|
||||
case 'e': case 'E':
|
||||
if (p.method == Params::BP)
|
||||
{
|
||||
bp->setNumIters(max(bp->getNumIters() - 1, 1));
|
||||
cout << "iter_count: " << bp->getNumIters() << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
{
|
||||
csbp->setNumIters(max(csbp->getNumIters() - 1, 1));
|
||||
cout << "iter_count: " << csbp->getNumIters() << endl;
|
||||
}
|
||||
break;
|
||||
case '4':
|
||||
if (p.method == Params::BP)
|
||||
{
|
||||
bp->setNumLevels(bp->getNumLevels() + 1);
|
||||
cout << "level_count: " << bp->getNumLevels() << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
{
|
||||
csbp->setNumLevels(csbp->getNumLevels() + 1);
|
||||
cout << "level_count: " << csbp->getNumLevels() << endl;
|
||||
}
|
||||
break;
|
||||
case 'r': case 'R':
|
||||
if (p.method == Params::BP)
|
||||
{
|
||||
bp->setNumLevels(max(bp->getNumLevels() - 1, 1));
|
||||
cout << "level_count: " << bp->getNumLevels() << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
{
|
||||
csbp->setNumLevels(max(csbp->getNumLevels() - 1, 1));
|
||||
cout << "level_count: " << csbp->getNumLevels() << endl;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user