#include "CL/cl.hpp"
#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp>
#include <iostream>
#include <cmath>
#include <math.h>
#include <vector>
#include <chrono>
#include <float.h>

Macros
#define	__CL_ENABLE_EXCEPTIONS

#define	USE_CAM false
	whether using camera or image More...

#define	MMAX(a, b) (((a)>(b))?(a):(b))

#define	MMIN(a, b) (((a)<(b))?(a):(b))

Functions
int	openCL_Init ()
	Declare for OpenCL code execution. More...

void	openCL_BufferSet ()
	Declare for OpenCL buffer. More...

void	openCL_ImageSet ()
	Declare for OpenCL Image2D. More...

void	openCL_ArgumentSet ()
	Declare for OpenCL argument. More...

int	openCV_Init ()

void	costComputation_SAD (float *datacost, float left, float **right, int width, int height, int dispRange, int mSize)
	Native SAD function. More...

void	costComputation_ASW (float *datacost, float left, float **right, int width, int height, int dispRange, int mSize)
	Compute stereo datacost using a window of Adaptive Support Weight (ASW) More...

void	winnerTakesALL (float **datacost, uchar result, int height, int width, int dispRange)
	Find the minimum cost for each pixel using winner takes all algorithm. More...

void	startMethod (int, void *)

void	selectASW (int, void *)

void	selectSAD (int, void *)

void	mSizeChanged (int)

void	changeStaticImg (int)

void	qt5_Init ()

int	index_y (int y, int height)
	PADDING Y. More...

int	index_x (int x, int width)
	PADDING X. More...

void	filter_Gaussian (float inputL, float inputR, float outputL, float outputR, int width, int height)

void	filter_Sobel (float inputL, float inputR, float outputL, float outputR, int width, int height)

float ***	SGM (float left, float *datacost, int width, int height, int dispRange, float Penalty1, float Penalty2)
	Refine stereo datacost using Semi Global Mathcing (Native) More...

void	iterate_direction_ocl (int dirx, int diry, int width, int height, int disp_range, float p1, float p2)
	CPU part. More...

void	optimizeBeliefPropagation (float ***datacost, int width, int height, int dispRange, int HIER_ITER, int HIER_LEVEL, float CONT_COST, float DISCONT_COST)
	Refine stereo datacost using Hierarchy Belief Propagation. More...

float	evaluation (Mat gt, double gt_scaling, Mat &errorMap, float *result, float focal_length, float base_line, int dispRange, float d_val[], float threshold)

float	evaluation (Mat gt, double gt_scaling, Mat &errorMap, uchar *result, float focal_length, float base_line, int dispRange, float d_val[], float threshold)

int	valid_pixel_cnt (Mat gt, double gt_scaling, Mat &validROI, float focal_length, float base_line, int dispRange, float d_val[])

Variables
char	platformChooser

volatile bool	flagCountEachTime

volatile bool	sad_selected

volatile bool	onPreFilter

volatile bool	onlyGaussian
	whether using gaussian only or gaussian + sobel More...

volatile bool	onPostFilter

uchar	onMethod

volatile bool	onlyGPU
	whether using CPU or GPU More...

const bool	newCAM
	CAUTION !!! ask about parameter before change it! More...

int	frameWidth
	The input image width. More...

int	frameHeight
	The input image height. More...

int	totalPixels
	frameWidth * frameHeight More...

int	dispRange

int	dispScale

int	mSize

cv::Mat	intrinsicL

cv::Mat	intrinsicR

cv::Mat	Translation

cv::Mat	om

cv::Mat	Rotation

cv::Mat	distCoeffL

cv::Mat	distCoeffR

cv::Mat	imgDistL

cv::Mat	imgDistR

cv::Mat	imgRectiL

cv::Mat	imgRectiR

cv::Mat	R1

cv::Mat	R2

cv::Mat	P1

cv::Mat	P2

cv::Mat	Q

cv::Mat	map1x

cv::Mat	map1y

cv::Mat	map2x

cv::Mat	map2y

cv::Mat	rectResultLeft

cv::Mat	rectResultRight

cv::Mat	RIden

cv::Mat	rectResultFrame

cl_int	err

vector< cl::Platform >	platforms

cl::Context	context

vector< cl::Device >	devices

cl::CommandQueue	queue1

cl::CommandQueue	queue2

cl::Kernel	gGaussian_8bit

cl::Kernel	gGaussian_8bit_image

cl::Kernel	gSobel_8bit

cl::Kernel	gSobel_8bit_image

cl::Kernel	gSAD_kernel

cl::Kernel	gSAD_image_kernel

cl::Kernel	gASW_kernel

cl::Kernel	gASW_image_kernel

cl::Kernel	gWTA_char

cl::Kernel	gWTA_float

cl::Kernel	gRectifyL_8bit
	kernel /// More...

cl::Kernel	gRectifyR_8bit

cl::Kernel	evaluate_path_ocl

cl::Kernel	iterate_direction_dirxpos_ocl

cl::Kernel	iterate_direction_dirypos_ocl

cl::Kernel	iterate_direction_dirxneg_ocl

cl::Kernel	iterate_direction_diryneg_ocl

cl::Kernel	inplace_sum_views_ocl

cl::Kernel	Kernel_InitHierCost

cl::Kernel	Kernel_HierBP

cl::Kernel	Kernel_UpdateCostLayer

cl::Kernel	Kernel_FinalBP

cl::Buffer	bufferInA
	buffer /// More...

cl::Buffer	bufferInB

cl::Buffer	bufferInL

cl::Buffer	bufferInR

cl::Buffer	bufferOutA

cl::Buffer	bufferOutB

cl::Buffer	bufferOutL

cl::Buffer	bufferOutR

cl::Buffer	bufferGaussianL

cl::Buffer	bufferGaussianR

cl::Buffer	bufferSobelL

cl::Buffer	bufferSobelR

cl::Buffer	bufferDisp

cl::Buffer	bufferDispMid

cl::Buffer	bufferDispFinal

cl::Buffer	bufferDispFinalFloat

cl::Image2D	imageInL
	Image2D ///. More...

cl::Image2D	imageInR

cl::Image2D	imageGaussianL

cl::Image2D	imageGaussianR

cl::Buffer	devPtr_accumulated_costs

cl::Buffer	devPtr_dir_accumulated_costs

cl::Buffer **	bufferHierCost

cl::Buffer	m_u

cl::Buffer	m_l

cl::Buffer	m_d

cl::Buffer	m_r

cl::Buffer	temp_m_u

cl::Buffer	temp_m_l

cl::Buffer	temp_m_d

cl::Buffer	temp_m_r

cl::Buffer	bufferZero

int	selectedImg

volatile bool	flagStartMethod

volatile bool	flagFinishMethod

volatile bool	nextImg

float	minSAD_cost

float	maxSAD_cost

float	minASW_cost

float	maxASW_cost

float	sad_penalty1
	GPU part. More...

float	sad_penalty2

float	asw_penalty1

float	asw_penalty2

const int	HIER_LEVELS = 3
	The number of hierarchy. More...

const int	HIER_ITER = 8
	BP interation per one Hierarchy. More...

float *	zeros

float *	zeros_dispRange

Macro Definition Documentation

◆ __CL_ENABLE_EXCEPTIONS

#define __CL_ENABLE_EXCEPTIONS

◆ MMAX

#define MMAX	(	a,
		b
	)	(((a)>(b))?(a):(b))

◆ MMIN

#define MMIN	(	a,
		b
	)	(((a)<(b))?(a):(b))

◆ USE_CAM

#define USE_CAM false

whether using camera or image

Function Documentation

◆ changeStaticImg()

void changeStaticImg ( int img )

◆ costComputation_ASW()

void costComputation_ASW	(	float ***	datacost,
		float **	left,
		float **	right,
		int	width,
		int	height,
		int	dispRange,
		int	mSize
	)

Compute stereo datacost using a window of Adaptive Support Weight (ASW)

◆ costComputation_SAD()

void costComputation_SAD	(	float ***	datacost,
		float **	left,
		float **	right,
		int	width,
		int	height,
		int	dispRange,
		int	mSize
	)

Native SAD function.

◆ evaluation() [1/2]

float evaluation	(	Mat	gt,
		double	gt_scaling,
		Mat &	errorMap,
		float *	result,
		float	focal_length,
		float	base_line,
		int	dispRange,
		float	d_val[],
		float	threshold_
	)

Evaluate the depth map (DISP_SPLIT == True)

Parameters

gt	Ground truth depth image
gt_scaling	Scale the depth image (according to ground truth)
errorMap	Error map in the result image (compared with GT)
result	Input depth image
focal_length	Camera focal length
base_line	The distance between the stereo camera
dispRange	The number of pixels for matching comparison
d_val	range for evaluation (array)
threshold_

Returns: MSE_ROI / valid_pixels_cnt

◆ evaluation() [2/2]

float evaluation	(	Mat	gt,
		double	gt_scaling,
		Mat &	errorMap,
		uchar *	result,
		float	focal_length,
		float	base_line,
		int	dispRange,
		float	d_val[],
		float	threshold_
	)

Evaluate the depth map (DISP_SPLIT == False)

Parameters

gt	Ground truth depth image
gt_scaling	Scale the depth image (according to ground truth)
errorMap	Error map in the result image (compared with GT)
result	Input depth image
focal_length	Camera focal length
base_line	The distance between the stereo camera
dispRange	The number of pixels for matching comparison
d_val	range for evaluation (array)
threshold_

Returns: MSE_ROI / valid_pixels_cnt

◆ filter_Gaussian()

void filter_Gaussian	(	float **	inputL,
		float **	inputR,
		float **	outputL,
		float **	outputR,
		int	width,
		int	height
	)

Perform 5x5 Gaussian filtering on an image (Native)

Parameters

inputL	Left input image
inputR	Right input image
outputL	The Gaussian filtered left image
outputR	The Gaussian filtered right image
width	The input image width
height	The input image height

◆ filter_Sobel()

void filter_Sobel	(	float **	inputL,
		float **	inputR,
		float **	outputL,
		float **	outputR,
		int	width,
		int	height
	)

Perform 5x5 Sobel filtering on an image (Native)

Parameters

inputL	Left input image
inputR	Right input image
outputL	The Gaussian filtered left image
outputR	The Gaussian filtered right image
width	The input image width
height	The input image height

◆ index_x()

int index_x	(	int	x,
		int	width
	)

PADDING X.

◆ index_y()

int index_y	(	int	y,
		int	height
	)

PADDING Y.

◆ iterate_direction_ocl()

void iterate_direction_ocl	(	int	dirx,
		int	diry,
		int	width,
		int	height,
		int	disp_range,
		float	penalty1,
		float	penalty2
	)

CPU part.

Dynamically iterate horizontally/vertically in the up/down direction

CPU part.

◆ mSizeChanged()

void mSizeChanged ( int ms )

◆ openCL_ArgumentSet()

void openCL_ArgumentSet ( )

Declare for OpenCL argument.

SAD ///

ASW ///

BP !!!! ///

◆ openCL_BufferSet()

void openCL_BufferSet ( )

Declare for OpenCL buffer.

◆ openCL_ImageSet()

void openCL_ImageSet ( )

Declare for OpenCL Image2D.

◆ openCL_Init()

int openCL_Init ( )

Declare for OpenCL code execution.

THIS NEW KENEL CODE USES UCHAR4 VECTOR

◆ openCV_Init()

int openCV_Init ( )

◆ optimizeBeliefPropagation()

void optimizeBeliefPropagation	(	float ***	datacost,
		int	width,
		int	height,
		int	dispRange,
		int	HIER_ITER,
		int	HIER_LEVEL,
		float	CONT_COST,
		float	DISCONT_COST
	)

Refine stereo datacost using Hierarchy Belief Propagation.

◆ qt5_Init()

void qt5_Init ( )

◆ selectASW()

void selectASW	(	int	state,
		void *	val
	)

◆ selectSAD()

void selectSAD	(	int	state,
		void *	val
	)

◆ SGM()

float *** SGM	(	float **	left,
		float ***	datacost,
		int	width,
		int	height,
		int	dispRange,
		float	Penalty1,
		float	Penalty2
	)

Refine stereo datacost using Semi Global Mathcing (Native)

◆ startMethod()

void startMethod	(	int	state,
		void *	val
	)

◆ valid_pixel_cnt()

int valid_pixel_cnt	(	Mat	gt,
		double	gt_scaling,
		Mat &	validROI,
		float	focal_length,
		float	base_line,
		int	dispRange,
		float	d_val[]
	)

Check valid pixels in depth map

d_val[0] < pixel distance in GT < d_val[1]

Returns: number of valid pixels

◆ winnerTakesALL()

void winnerTakesALL	(	float ***	datacost,
		uchar *	result,
		int	height,
		int	width,
		int	dispRange
	)

Find the minimum cost for each pixel using winner takes all algorithm.

Variable Documentation

◆ asw_penalty1

float asw_penalty1

extern

◆ asw_penalty2

float asw_penalty2

extern

◆ bufferDisp

cl::Buffer bufferDisp

extern

◆ bufferDispFinal

cl::Buffer bufferDispFinal

◆ bufferDispFinalFloat

cl::Buffer bufferDispFinalFloat

◆ bufferDispMid

cl::Buffer bufferDispMid

◆ bufferGaussianL

cl::Buffer bufferGaussianL

extern

◆ bufferGaussianR

cl::Buffer bufferGaussianR

◆ bufferHierCost

cl::Buffer** bufferHierCost

extern

◆ bufferInA

cl::Buffer bufferInA

extern

buffer ///

◆ bufferInB

cl::Buffer bufferInB

◆ bufferInL

cl::Buffer bufferInL

◆ bufferInR

cl::Buffer bufferInR

◆ bufferOutA

cl::Buffer bufferOutA

extern

◆ bufferOutB

cl::Buffer bufferOutB

◆ bufferOutL

cl::Buffer bufferOutL

◆ bufferOutR

cl::Buffer bufferOutR

◆ bufferSobelL

cl::Buffer bufferSobelL

◆ bufferSobelR

cl::Buffer bufferSobelR

◆ bufferZero

cl::Buffer bufferZero

extern

◆ context

cl::Context context

extern

◆ devices

vector<cl::Device> devices

extern

◆ devPtr_accumulated_costs

cl::Buffer devPtr_accumulated_costs

extern

◆ devPtr_dir_accumulated_costs

cl::Buffer devPtr_dir_accumulated_costs

◆ dispRange

int dispRange

extern

The number of pixels for matching comparison
68 : Mobeius, 48 : Teddy

◆ dispScale

int dispScale

extern

◆ distCoeffL

cv::Mat distCoeffL

extern

◆ distCoeffR

cv::Mat distCoeffR

extern

◆ err

cl_int err

extern

◆ evaluate_path_ocl

cl::Kernel evaluate_path_ocl

extern

◆ flagCountEachTime

volatile bool flagCountEachTime

extern

◆ flagFinishMethod

volatile bool flagFinishMethod

extern

◆ flagStartMethod

volatile bool flagStartMethod

extern

◆ frameHeight

int frameHeight

extern

The input image height.

◆ frameWidth

int frameWidth

extern

The input image width.

◆ gASW_image_kernel

cl::Kernel gASW_image_kernel

◆ gASW_kernel

cl::Kernel gASW_kernel

extern

◆ gGaussian_8bit

cl::Kernel gGaussian_8bit

extern

◆ gGaussian_8bit_image

cl::Kernel gGaussian_8bit_image

◆ gRectifyL_8bit

cl::Kernel gRectifyL_8bit

extern

kernel ///

◆ gRectifyR_8bit

cl::Kernel gRectifyR_8bit

◆ gSAD_image_kernel

cl::Kernel gSAD_image_kernel

◆ gSAD_kernel

cl::Kernel gSAD_kernel

extern

◆ gSobel_8bit

cl::Kernel gSobel_8bit

extern

◆ gSobel_8bit_image

cl::Kernel gSobel_8bit_image

◆ gWTA_char

cl::Kernel gWTA_char

extern

◆ gWTA_float

cl::Kernel gWTA_float

◆ HIER_ITER

const int HIER_ITER = 8

BP interation per one Hierarchy.

◆ HIER_LEVELS

const int HIER_LEVELS = 3

The number of hierarchy.

◆ imageGaussianL

cl::Image2D imageGaussianL

◆ imageGaussianR

cl::Image2D imageGaussianR

◆ imageInL

cl::Image2D imageInL

extern

Image2D ///.

◆ imageInR

cl::Image2D imageInR

◆ imgDistL

cv::Mat imgDistL

extern

◆ imgDistR

cv::Mat imgDistR

extern

◆ imgRectiL

cv::Mat imgRectiL

extern

◆ imgRectiR

cv::Mat imgRectiR

extern

◆ inplace_sum_views_ocl

cl::Kernel inplace_sum_views_ocl

◆ intrinsicL

cv::Mat intrinsicL

extern

◆ intrinsicR

cv::Mat intrinsicR

extern

◆ iterate_direction_dirxneg_ocl

cl::Kernel iterate_direction_dirxneg_ocl

◆ iterate_direction_dirxpos_ocl

cl::Kernel iterate_direction_dirxpos_ocl

◆ iterate_direction_diryneg_ocl

cl::Kernel iterate_direction_diryneg_ocl

◆ iterate_direction_dirypos_ocl

cl::Kernel iterate_direction_dirypos_ocl

◆ Kernel_FinalBP

cl::Kernel Kernel_FinalBP

extern

◆ Kernel_HierBP

cl::Kernel Kernel_HierBP

extern

◆ Kernel_InitHierCost

cl::Kernel Kernel_InitHierCost

extern

◆ Kernel_UpdateCostLayer

cl::Kernel Kernel_UpdateCostLayer

extern

◆ m_d

cl::Buffer m_d

◆ m_l

cl::Buffer m_l

◆ m_r

cl::Buffer m_r

◆ m_u

cl::Buffer m_u

extern

◆ map1x

cv::Mat map1x

extern

◆ map1y

cv::Mat map1y

◆ map2x

cv::Mat map2x

◆ map2y

cv::Mat map2y

◆ maxASW_cost

float maxASW_cost

◆ maxSAD_cost

float maxSAD_cost

◆ minASW_cost

float minASW_cost

extern

◆ minSAD_cost

float minSAD_cost

extern

◆ mSize

int mSize

extern

◆ newCAM

const bool newCAM

extern

CAUTION !!! ask about parameter before change it!

◆ nextImg

volatile bool nextImg

extern

◆ om

cv::Mat om

extern

◆ onlyGaussian

volatile bool onlyGaussian

extern

whether using gaussian only or gaussian + sobel

◆ onlyGPU

volatile bool onlyGPU

extern

whether using CPU or GPU

◆ onMethod

uchar onMethod

extern

Choose depth estimation method

0 for desktop or laptop with non-optimus
1 for laptop with optimus
2 for embedded board (e.g. Odroid-XU4)

◆ onPostFilter

volatile bool onPostFilter

extern

◆ onPreFilter

volatile bool onPreFilter

extern

◆ P1

cv::Mat P1

◆ P2

cv::Mat P2

◆ platformChooser

char platformChooser

extern

Choose Platform

0 for desktop or laptop with non-optimus
1 for laptop with optimus
2 for embedded board (e.g. Odroid-XU4)

◆ platforms

vector<cl::Platform> platforms

extern

◆ Q

cv::Mat Q

◆ queue1

cl::CommandQueue queue1

extern

◆ queue2

cl::CommandQueue queue2

◆ R1

cv::Mat R1

extern

◆ R2

cv::Mat R2

◆ rectResultFrame

cv::Mat rectResultFrame

extern

◆ rectResultLeft

cv::Mat rectResultLeft

extern

◆ rectResultRight

cv::Mat rectResultRight

◆ RIden

cv::Mat RIden

extern

◆ Rotation

cv::Mat Rotation

extern

◆ sad_penalty1

float sad_penalty1

extern

GPU part.

◆ sad_penalty2

float sad_penalty2

extern

◆ sad_selected

volatile bool sad_selected

extern

◆ selectedImg

int selectedImg

extern

◆ temp_m_d

cl::Buffer temp_m_d

◆ temp_m_l

cl::Buffer temp_m_l

◆ temp_m_r

cl::Buffer temp_m_r

◆ temp_m_u

cl::Buffer temp_m_u

extern

◆ totalPixels

int totalPixels

extern

frameWidth * frameHeight

◆ Translation

cv::Mat Translation

extern

◆ zeros

float* zeros

extern

◆ zeros_dispRange

float* zeros_dispRange

extern

Macros

Functions

Variables

Macro Definition Documentation

◆ __CL_ENABLE_EXCEPTIONS

◆ MMAX

◆ MMIN

◆ USE_CAM

Function Documentation

◆ changeStaticImg()

◆ costComputation_ASW()

◆ costComputation_SAD()

◆ evaluation() [1/2]

◆ evaluation() [2/2]

◆ filter_Gaussian()

◆ filter_Sobel()

◆ index_x()

◆ index_y()

◆ iterate_direction_ocl()

◆ mSizeChanged()

◆ openCL_ArgumentSet()

◆ openCL_BufferSet()

◆ openCL_ImageSet()

◆ openCL_Init()

◆ openCV_Init()

◆ optimizeBeliefPropagation()

◆ qt5_Init()

◆ selectASW()

◆ selectSAD()

◆ SGM()

◆ startMethod()

◆ valid_pixel_cnt()

◆ winnerTakesALL()

Variable Documentation

◆ asw_penalty1

◆ asw_penalty2

◆ bufferDisp

◆ bufferDispFinal

◆ bufferDispFinalFloat

◆ bufferDispMid

◆ bufferGaussianL

◆ bufferGaussianR

◆ bufferHierCost

◆ bufferInA

◆ bufferInB

◆ bufferInL

◆ bufferInR

◆ bufferOutA

◆ bufferOutB

◆ bufferOutL

◆ bufferOutR

◆ bufferSobelL

◆ bufferSobelR

◆ bufferZero

◆ context

◆ devices

◆ devPtr_accumulated_costs

◆ devPtr_dir_accumulated_costs

◆ dispRange

◆ dispScale

◆ distCoeffL

◆ distCoeffR

◆ err

◆ evaluate_path_ocl

◆ flagCountEachTime

◆ flagFinishMethod

◆ flagStartMethod

◆ frameHeight

◆ frameWidth

◆ gASW_image_kernel

◆ gASW_kernel

◆ gGaussian_8bit

◆ gGaussian_8bit_image

◆ gRectifyL_8bit

◆ gRectifyR_8bit

◆ gSAD_image_kernel

◆ gSAD_kernel

◆ gSobel_8bit

◆ gSobel_8bit_image

◆ gWTA_char