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This commit is contained in:
Konstantin Matskevich 2014-03-12 11:20:23 +04:00
parent ddc235172e
commit 18a59b48ba
2 changed files with 49 additions and 45 deletions
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88
modules/calib3d/src/opencl/stereobm.cl
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@ -51,7 +51,7 @@
#define MAX_VAL 32767
void calcDisp(__local short * costFunc, __global short * disp, int uniquenessRatio/*, int textureTreshold, short textsum*/,
int mindisp, int ndisp, int w, __local short * dispbuf, int d)
int mindisp, int ndisp, int w, __local short * dispbuf, int d, int x, int y, int cols, int rows, int wsz2)
{
short FILTERED = (mindisp - 1)<<4;
short best_disp = FILTERED, best_cost = MAX_VAL-1;
@ -73,6 +73,7 @@ void calcDisp(__local short * costFunc, __global short * disp, int uniquenessRat
}
best_disp = ndisp - dispbuf[0] - 1;
best_cost = costFunc[(ndisp-best_disp-1)*w];
barrier(CLK_LOCAL_MEM_FENCE);
int thresh = best_cost + (best_cost * uniquenessRatio/100);
dispbuf[d] = ( (cost[d*w] <= thresh) && (d < (ndisp - best_disp - 2) || d > (ndisp - best_disp) ) ) ? FILTERED : best_disp;
@ -90,7 +91,7 @@ void calcDisp(__local short * costFunc, __global short * disp, int uniquenessRat
// best_disp = (textsum < textureTreshold) ? FILTERED : best_disp;
if( dispbuf[0] != FILTERED )
if( dispbuf[0] != FILTERED && x < cols-wsz2-mindisp && y < rows-wsz2)
{
cost = &costFunc[0] + (ndisp - best_disp - 1)*w;
int y3 = ((ndisp - best_disp - 1) > 0) ? cost[-w] : cost[w],
@ -179,68 +180,71 @@ __kernel void stereoBM_opt(__global const uchar * leftptr, __global const uchar
cost = costFunc + costIdx;
short tempcost = 0;
for(int i = 0; i < wsz; i++)
if(x < cols-wsz2-mindisp && y < rows-wsz2)
{
int idx = mad24(y-wsz2+i*nthread, cols, x-wsz2+i*(1-nthread));
left = leftptr + idx;
right = rightptr + (idx - d);
short costdiff = 0;
for(int i = 0; i < wsz; i++)
{
int idx = mad24(y-wsz2+i*nthread, cols, x-wsz2+i*(1-nthread));
left = leftptr + idx;
right = rightptr + (idx - d);
short costdiff = 0;
for(int j = 0; j < wsz; j++)
{
costdiff += abs( left[0] - right[0] );
left += 1*nthread + cols*(1-nthread);
right += 1*nthread + cols*(1-nthread);// maybe use ? operator
for(int j = 0; j < wsz; j++)
{
costdiff += abs( left[0] - right[0] );
left += 1*nthread + cols*(1-nthread);
right += 1*nthread + cols*(1-nthread);// maybe use ? operator
}
if(nthread==1)
{
tempcost += costdiff;
}
costbuf[head] = costdiff;
head++;
}
if(nthread==1)
{
tempcost += costdiff;
}
costbuf[head] = costdiff;
head++;
}
barrier(CLK_LOCAL_MEM_FENCE);
cost[0] = tempcost;
if(x < cols-wsz2-mindisp && y < rows-wsz2 && nthread == 1)
{
int dispIdx = mad24(gy, disp_step, disp_offset + gx*(int)sizeof(short));
disp = (__global short *)(dispptr + dispIdx);
calcDisp(&costFunc[sizeY - 1 + lx - ly], disp, uniquenessRatio, /*textureTreshold, textsum,*/
mindisp, ndisp, 2*sizeY, &dispbuf[nthread*tsize/2], d);
}
int dispIdx = mad24(gy, disp_step, disp_offset + gx*(int)sizeof(short));
disp = (__global short *)(dispptr + dispIdx);
calcDisp(&costFunc[sizeY - 1 + lx - ly], disp, uniquenessRatio, /*textureTreshold, textsum,*/
mindisp, ndisp, 2*sizeY, &dispbuf[nthread*tsize/2], d, x, y, cols, rows, wsz2);
barrier(CLK_LOCAL_MEM_FENCE);
lx = 1 - nthread;
ly = nthread;
while(lx < sizeX && ly < sizeY )
while(lx < sizeX || ly < sizeY )
{
x = gx + shiftX + lx;
y = gy + shiftY + ly;
x = (lx < sizeX) ? gx + shiftX + lx : cols;
y = (ly < sizeY) ? gy + shiftY + ly : rows;
costIdx = calcLocalIdx(lx, ly, d, sizeY);
cost = costFunc + costIdx;
cost[0] = ( ly*(1-nthread) + lx*nthread == 0 ) ?
calcCostBorder(leftptr, rightptr, x, y, nthread, wsz2, costbuf, &head, cols, d,
costFunc[calcLocalIdx(lx-1*(1-nthread), ly-1*nthread, d, sizeY)]) :
calcCostInside(leftptr, rightptr, x, y, wsz2, cols, d,
costFunc[calcLocalIdx(lx-1, ly-1, d, sizeY)],
costFunc[calcLocalIdx(lx, ly-1, d, sizeY)],
costFunc[calcLocalIdx(lx-1, ly, d, sizeY)]);
if(x < cols-wsz2-mindisp && y < rows-wsz2 )
{
cost[0] = ( ly*(1-nthread) + lx*nthread == 0 ) ?
calcCostBorder(leftptr, rightptr, x, y, nthread, wsz2, costbuf, &head, cols, d,
costFunc[calcLocalIdx(lx-1*(1-nthread), ly-1*nthread, d, sizeY)]) :
calcCostInside(leftptr, rightptr, x, y, wsz2, cols, d,
costFunc[calcLocalIdx(lx-1, ly-1, d, sizeY)],
costFunc[calcLocalIdx(lx, ly-1, d, sizeY)],
costFunc[calcLocalIdx(lx-1, ly, d, sizeY)]);
}
barrier(CLK_LOCAL_MEM_FENCE);
if(x < cols-mindisp-wsz2 && y < rows-wsz2)
{
int dispIdx = mad24(gy+ly, disp_step, disp_offset + (gx+lx)*(int)sizeof(short));
disp = (__global short *)(dispptr + dispIdx);
calcDisp(&costFunc[sizeY - 1 - ly + lx], disp, uniquenessRatio, //textureTreshold, textsum,
mindisp, ndisp, 2*sizeY, &dispbuf[nthread*tsize/2], d);
}
int dispIdx = mad24(gy+ly, disp_step, disp_offset + (gx+lx)*(int)sizeof(short));
disp = (__global short *)(dispptr + dispIdx);
calcDisp(&costFunc[sizeY - 1 - ly + lx], disp, uniquenessRatio, //textureTreshold, textsum,
mindisp, ndisp, 2*sizeY, &dispbuf[nthread*tsize/2], d, x, y, cols, rows, wsz2);
barrier(CLK_LOCAL_MEM_FENCE);
calcNewCoordinates(&lx, &ly, nthread);
}
}
#endif

6
modules/calib3d/test/opencl/test_stereobm.cpp
View File

@ -90,18 +90,18 @@ OCL_TEST_P(StereoBMFixture, StereoBM)
cv::ocl::finish();
long t3 = clock();
std::cout << (double)(t2-t1)/CLOCKS_PER_SEC << " " << (double)(t3-t2)/CLOCKS_PER_SEC << std::endl;
/*
Mat t; absdiff(disp, udisp, t);
for(int i = 0; i<t.rows; i++)
for(int j = 0; j< t.cols; j++)
if(t.at<short>(i,j) > 0)
// if(i== 255 && j == 375)
// if(i== 12 && j == 44)
printf("%d %d cv: %d ocl: %d\n", i, j, disp.at<short>(i,j), udisp.getMat(ACCESS_READ).at<short>(i,j) );
/* imshow("diff.png", t*100);
imshow("cv.png", disp*100);
imshow("ocl.png", udisp.getMat(ACCESS_READ)*100);
waitKey(0);*/
// Near(1e-3);
Near(1e-3);
}
OCL_INSTANTIATE_TEST_CASE_P(StereoMatcher, StereoBMFixture, testing::Combine(testing::Values(32, 64, 128),