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finalizing

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This commit is contained in:
Konstantin Matskevich
2014-03-14 13:28:35 +04:00
parent af1084eb58
commit 1a43ed9893
4 changed files with 42 additions and 152 deletions
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64
modules/calib3d/src/stereobm.cpp
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@@ -735,9 +735,9 @@ struct PrefilterInvoker : public ParallelLoopBody
StereoBMParams* state;
};
static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
static bool ocl_stereobm( InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{//printf("opt\n");
{
int ndisp = state->numDisparities;
int mindisp = state->minDisparity;
int wsz = state->SADWindowSize;
@@ -745,7 +745,7 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
int sizeX = std::max(11, 27 - ocl::Device::getDefault().maxComputeUnits() ), sizeY = sizeX-1, N = ndisp*2;
ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D wsz=%d", (2*sizeY)*ndisp, wsz) );
ocl::Kernel k("stereoBM", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D wsz=%d", (2*sizeY)*ndisp, wsz) );
if(k.empty())
return false;
@@ -781,42 +781,6 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
return k.run(3, globalThreads, localThreads, false);
}
static bool ocl_stereobm_bf(InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{
ocl::Kernel k("stereoBM_BF", ocl::calib3d::stereobm_oclsrc, cv::format("-D SIZE=%d", state->numDisparities ) );
if(k.empty())
return false;
UMat left = _left.getUMat(), right = _right.getUMat();
_disp.create(_left.size(), CV_16S);
UMat disp = _disp.getUMat();
size_t globalThreads[3] = { left.cols, left.rows, 1 };
int idx = 0;
idx = k.set(idx, ocl::KernelArg::PtrReadOnly(left));
idx = k.set(idx, ocl::KernelArg::PtrReadOnly(right));
idx = k.set(idx, ocl::KernelArg::WriteOnly(disp));
idx = k.set(idx, state->minDisparity);
idx = k.set(idx, state->numDisparities);
idx = k.set(idx, state->preFilterCap);
idx = k.set(idx, state->SADWindowSize);
idx = k.set(idx, state->textureThreshold);
idx = k.set(idx, state->uniquenessRatio);
return k.run(2, globalThreads, NULL, false);
}
static bool ocl_stereo(InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{
//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);
}
struct FindStereoCorrespInvoker : public ParallelLoopBody
{
FindStereoCorrespInvoker( const Mat& _left, const Mat& _right,
@@ -950,18 +914,20 @@ public:
int FILTERED = (params.minDisparity - 1) << DISPARITY_SHIFT;
if(ocl::useOpenCL() && disparr.isUMat())
if(ocl::useOpenCL() && disparr.isUMat() && params.textureThreshold == 0)
{
UMat left, right;
CV_Assert(ocl_prefiltering(leftarr, rightarr, left, right, &params));
CV_Assert(ocl_stereo(left, right, disparr, &params));
if( params.speckleRange >= 0 && params.speckleWindowSize > 0 )
filterSpeckles(disparr.getMat(), FILTERED, params.speckleWindowSize, params.speckleRange, slidingSumBuf);
if (dtype == CV_32F)
disparr.getUMat().convertTo(disparr, CV_32FC1, 1./(1 << DISPARITY_SHIFT), 0);
return;
if(ocl_prefiltering(leftarr, rightarr, left, right, &params))
{
if(ocl_stereobm(left, right, disparr, &params))
{
if( params.speckleRange >= 0 && params.speckleWindowSize > 0 )
filterSpeckles(disparr.getMat(), FILTERED, params.speckleWindowSize, params.speckleRange, slidingSumBuf);
if (dtype == CV_32F)
disparr.getUMat().convertTo(disparr, CV_32FC1, 1./(1 << DISPARITY_SHIFT), 0);
return;
}
}
}
Mat left0 = leftarr.getMat(), right0 = rightarr.getMat();