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bad experiment =(

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This commit is contained in:
Konstantin Matskevich
2014-02-28 09:28:07 +04:00
parent 0904f10ab5
commit 799d7e7a50
3 changed files with 99 additions and 72 deletions
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12
modules/calib3d/src/stereobm.cpp
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@@ -681,7 +681,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
sad[ndisp] = sad[ndisp-2];
int p = sad[mind+1], n = sad[mind-1];
d = p + n - 2*sad[mind] + std::abs(p - n);
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4);
dptr[y*dstep] = (short)mind;//(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4);
costptr[y*coststep] = sad[mind];
}
}
@@ -739,7 +739,7 @@ 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 -D wsz=%d", ndisp*ndisp, ndisp, state->SADWindowSize) );
ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D tsize=%d -D wsz=%d", ndisp*ndisp, 2*ndisp, state->SADWindowSize) );
if(k.empty())
return false;
@@ -747,9 +747,8 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
_disp.create(_left.size(), CV_16S);
UMat disp = _disp.getUMat();
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};
size_t globalThreads[3] = { left.cols, (left.rows-left.rows%32 + 32)/32, ndisp};
size_t localThreads[3] = {1, 2, ndisp};
int idx = 0;
idx = k.set(idx, ocl::KernelArg::PtrReadOnly(left));
@@ -758,7 +757,6 @@ 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, nthreads);
idx = k.set(idx, state->textureThreshold);
idx = k.set(idx, state->uniquenessRatio);
@@ -993,7 +991,7 @@ public:
bufSize2 = width*height*(sizeof(Point_<short>) + sizeof(int) + sizeof(uchar));
#if CV_SSE2
bool useShorts = params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
bool useShorts = false;//params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
#else
const bool useShorts = false;
#endif