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optimizations

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This commit is contained in:
Konstantin Matskevich
2014-02-18 14:24:26 +04:00
parent bfc843a5f5
commit 0904f10ab5
4 changed files with 148 additions and 105 deletions
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25
modules/calib3d/src/stereobm.cpp
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@@ -180,13 +180,11 @@ static bool ocl_prefilter_xsobel(InputArray _input, OutputArray _output, int pre
_output.create(input.size(), input.type());
output = _output.getUMat();
size_t blockSize = 1;
size_t globalThreads[3] = { input.cols, input.rows, 1 };
size_t localThreads[3] = { blockSize, blockSize, 1 };
k.args(ocl::KernelArg::PtrReadOnly(input), ocl::KernelArg::PtrWriteOnly(output), input.rows, input.cols, prefilterCap);
return k.run(2, globalThreads, localThreads, false);
return k.run(2, globalThreads, NULL, false);
}
static void
@@ -655,6 +653,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
mind = d;
}
}
tsum += htext[y + wsz2] - htext[y - wsz2 - 1];
if( tsum < textureThreshold )
{
@@ -738,9 +737,9 @@ struct PrefilterInvoker : public ParallelLoopBody
static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{
{//printf("opt\n");
int ndisp = state->numDisparities;
ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D tsize=%d", ndisp*ndisp, ndisp) );
ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D tsize=%d -D wsz=%d", ndisp*ndisp, ndisp, state->SADWindowSize) );
if(k.empty())
return false;
@@ -748,8 +747,9 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
_disp.create(_left.size(), CV_16S);
UMat disp = _disp.getUMat();
size_t globalThreads[3] = { left.cols, left.rows, 1 };
size_t localThreads[3] = {ndisp, 1, 1};
int nthreads = (ndisp <= 64) ? 2 : 4;
size_t globalThreads[3] = { left.cols, (left.rows - left.rows%ndisp + ndisp), nthreads};
size_t localThreads[3] = {1, ndisp, nthreads};
int idx = 0;
idx = k.set(idx, ocl::KernelArg::PtrReadOnly(left));
@@ -758,11 +758,11 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
idx = k.set(idx, state->minDisparity);
idx = k.set(idx, ndisp);
idx = k.set(idx, state->preFilterCap);
idx = k.set(idx, state->SADWindowSize);
idx = k.set(idx, nthreads);
idx = k.set(idx, state->textureThreshold);
idx = k.set(idx, state->uniquenessRatio);
return k.run(2, globalThreads, localThreads, false);
return k.run(3, globalThreads, localThreads, false);
}
static bool ocl_stereobm_bf(InputArray _left, InputArray _right,
@@ -790,15 +790,16 @@ static bool ocl_stereobm_bf(InputArray _left, InputArray _right,
idx = k.set(idx, state->uniquenessRatio);
return k.run(2, globalThreads, NULL, false);
return false;
}
static bool ocl_stereo(InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{
if(ocl::Device::getDefault().localMemSize() > state->numDisparities * state->numDisparities * sizeof(int) )
if(ocl::Device::getDefault().localMemSize() > state->numDisparities * state->numDisparities * sizeof(short) )
return ocl_stereobm_opt(_left, _right, _disp, state);
else
return ocl_stereobm_bf(_left, _right, _disp, state);
return false;//ocl_stereobm_bf(_left, _right, _disp, state);
}
struct FindStereoCorrespInvoker : public ParallelLoopBody
@@ -992,7 +993,7 @@ public:
bufSize2 = width*height*(sizeof(Point_<short>) + sizeof(int) + sizeof(uchar));
#if CV_SSE2
bool useShorts = false;//params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
bool useShorts = params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
#else
const bool useShorts = false;
#endif