Merge pull request #864 from pengx17:2.4_stereobm
This commit is contained in:
Vadim Pisarevsky
OpenCV Buildbot
commit
9cce8ca4b6
@ -16,6 +16,8 @@
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//
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// @Authors
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// Jia Haipeng, jiahaipeng95@gmail.com
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// Sen Liu, swjtuls1987@126.com
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// Peng Xiao, pengxiao@outlook.com
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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@ -50,59 +52,40 @@
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#define STEREO_MIND 0 // The minimum d range to check
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#define STEREO_DISP_STEP N_DISPARITIES // the d step, must be <= 1 to avoid aliasing
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int SQ(int a)
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{
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return a * a;
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}
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#ifndef radius
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#define radius 64
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#endif
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unsigned int CalcSSD(volatile __local unsigned int *col_ssd_cache,
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volatile __local unsigned int *col_ssd, int radius)
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unsigned int CalcSSD(__local unsigned int *col_ssd)
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{
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unsigned int cache = 0;
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unsigned int cache2 = 0;
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unsigned int cache = col_ssd[0];
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for(int i = 1; i <= radius; i++)
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#pragma unroll
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for(int i = 1; i <= (radius << 1); i++)
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cache += col_ssd[i];
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col_ssd_cache[0] = cache;
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barrier(CLK_LOCAL_MEM_FENCE);
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if (get_local_id(0) < BLOCK_W - radius)
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cache2 = col_ssd_cache[radius];
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else
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for(int i = radius + 1; i < (2 * radius + 1); i++)
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cache2 += col_ssd[i];
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return col_ssd[0] + cache + cache2;
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return cache;
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}
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uint2 MinSSD(volatile __local unsigned int *col_ssd_cache,
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volatile __local unsigned int *col_ssd, int radius)
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uint2 MinSSD(__local unsigned int *col_ssd)
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{
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unsigned int ssd[N_DISPARITIES];
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const int win_size = (radius << 1);
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//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * radius)
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ssd[0] = CalcSSD(col_ssd_cache, col_ssd + 0 * (BLOCK_W + 2 * radius), radius);
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barrier(CLK_LOCAL_MEM_FENCE);
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ssd[1] = CalcSSD(col_ssd_cache, col_ssd + 1 * (BLOCK_W + 2 * radius), radius);
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barrier(CLK_LOCAL_MEM_FENCE);
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ssd[2] = CalcSSD(col_ssd_cache, col_ssd + 2 * (BLOCK_W + 2 * radius), radius);
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barrier(CLK_LOCAL_MEM_FENCE);
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ssd[3] = CalcSSD(col_ssd_cache, col_ssd + 3 * (BLOCK_W + 2 * radius), radius);
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barrier(CLK_LOCAL_MEM_FENCE);
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ssd[4] = CalcSSD(col_ssd_cache, col_ssd + 4 * (BLOCK_W + 2 * radius), radius);
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barrier(CLK_LOCAL_MEM_FENCE);
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ssd[5] = CalcSSD(col_ssd_cache, col_ssd + 5 * (BLOCK_W + 2 * radius), radius);
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barrier(CLK_LOCAL_MEM_FENCE);
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ssd[6] = CalcSSD(col_ssd_cache, col_ssd + 6 * (BLOCK_W + 2 * radius), radius);
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barrier(CLK_LOCAL_MEM_FENCE);
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ssd[7] = CalcSSD(col_ssd_cache, col_ssd + 7 * (BLOCK_W + 2 * radius), radius);
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barrier(CLK_LOCAL_MEM_FENCE);
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//See above: #define COL_SSD_SIZE (BLOCK_W + WIN_SIZE)
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ssd[0] = CalcSSD(col_ssd + 0 * (BLOCK_W + win_size));
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ssd[1] = CalcSSD(col_ssd + 1 * (BLOCK_W + win_size));
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ssd[2] = CalcSSD(col_ssd + 2 * (BLOCK_W + win_size));
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ssd[3] = CalcSSD(col_ssd + 3 * (BLOCK_W + win_size));
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ssd[4] = CalcSSD(col_ssd + 4 * (BLOCK_W + win_size));
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ssd[5] = CalcSSD(col_ssd + 5 * (BLOCK_W + win_size));
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ssd[6] = CalcSSD(col_ssd + 6 * (BLOCK_W + win_size));
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ssd[7] = CalcSSD(col_ssd + 7 * (BLOCK_W + win_size));
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unsigned int mssd = min(min(min(ssd[0], ssd[1]), min(ssd[4], ssd[5])), min(min(ssd[2], ssd[3]), min(ssd[6], ssd[7])));
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int bestIdx = 0;
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for (int i = 0; i < N_DISPARITIES; i++)
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{
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if (mssd == ssd[i])
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@ -113,124 +96,66 @@ uint2 MinSSD(volatile __local unsigned int *col_ssd_cache,
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}
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void StepDown(int idx1, int idx2, __global unsigned char* imageL,
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__global unsigned char* imageR, int d, volatile __local unsigned int *col_ssd, int radius)
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__global unsigned char* imageR, int d, __local unsigned int *col_ssd)
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{
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unsigned char leftPixel1;
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unsigned char leftPixel2;
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unsigned char rightPixel1[8];
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unsigned char rightPixel2[8];
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unsigned int diff1, diff2;
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leftPixel1 = imageL[idx1];
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leftPixel2 = imageL[idx2];
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idx1 = idx1 - d;
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idx2 = idx2 - d;
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rightPixel1[7] = imageR[idx1 - 7];
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rightPixel1[0] = imageR[idx1 - 0];
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rightPixel1[1] = imageR[idx1 - 1];
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rightPixel1[2] = imageR[idx1 - 2];
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rightPixel1[3] = imageR[idx1 - 3];
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rightPixel1[4] = imageR[idx1 - 4];
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rightPixel1[5] = imageR[idx1 - 5];
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rightPixel1[6] = imageR[idx1 - 6];
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rightPixel2[7] = imageR[idx2 - 7];
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rightPixel2[0] = imageR[idx2 - 0];
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rightPixel2[1] = imageR[idx2 - 1];
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rightPixel2[2] = imageR[idx2 - 2];
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rightPixel2[3] = imageR[idx2 - 3];
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rightPixel2[4] = imageR[idx2 - 4];
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rightPixel2[5] = imageR[idx2 - 5];
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rightPixel2[6] = imageR[idx2 - 6];
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//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * radius)
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diff1 = leftPixel1 - rightPixel1[0];
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diff2 = leftPixel2 - rightPixel2[0];
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col_ssd[0 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[1];
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diff2 = leftPixel2 - rightPixel2[1];
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col_ssd[1 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[2];
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diff2 = leftPixel2 - rightPixel2[2];
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col_ssd[2 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[3];
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diff2 = leftPixel2 - rightPixel2[3];
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col_ssd[3 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[4];
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diff2 = leftPixel2 - rightPixel2[4];
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col_ssd[4 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[5];
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diff2 = leftPixel2 - rightPixel2[5];
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col_ssd[5 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[6];
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diff2 = leftPixel2 - rightPixel2[6];
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col_ssd[6 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
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diff1 = leftPixel1 - rightPixel1[7];
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diff2 = leftPixel2 - rightPixel2[7];
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col_ssd[7 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
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uint8 imgR1 = convert_uint8(vload8(0, imageR + (idx1 - d - 7)));
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uint8 imgR2 = convert_uint8(vload8(0, imageR + (idx2 - d - 7)));
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uint8 diff1 = (uint8)(imageL[idx1]) - imgR1;
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uint8 diff2 = (uint8)(imageL[idx2]) - imgR2;
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uint8 res = diff2 * diff2 - diff1 * diff1;
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const int win_size = (radius << 1);
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col_ssd[0 * (BLOCK_W + win_size)] += res.s7;
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col_ssd[1 * (BLOCK_W + win_size)] += res.s6;
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col_ssd[2 * (BLOCK_W + win_size)] += res.s5;
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col_ssd[3 * (BLOCK_W + win_size)] += res.s4;
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col_ssd[4 * (BLOCK_W + win_size)] += res.s3;
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col_ssd[5 * (BLOCK_W + win_size)] += res.s2;
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col_ssd[6 * (BLOCK_W + win_size)] += res.s1;
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col_ssd[7 * (BLOCK_W + win_size)] += res.s0;
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}
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void InitColSSD(int x_tex, int y_tex, int im_pitch, __global unsigned char* imageL,
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__global unsigned char* imageR, int d,
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volatile __local unsigned int *col_ssd, int radius)
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__local unsigned int *col_ssd)
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{
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unsigned char leftPixel1;
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int idx;
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unsigned int diffa[] = {0, 0, 0, 0, 0, 0, 0, 0};
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for(int i = 0; i < (2 * radius + 1); i++)
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uint8 leftPixel1;
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uint8 diffa = 0;
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int idx = y_tex * im_pitch + x_tex;
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const int win_size = (radius << 1);
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for(int i = 0; i < (win_size + 1); i++)
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{
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idx = y_tex * im_pitch + x_tex;
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leftPixel1 = imageL[idx];
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idx = idx - d;
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leftPixel1 = (uint8)(imageL[idx]);
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uint8 imgR = convert_uint8(vload8(0, imageR + (idx - d - 7)));
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uint8 res = leftPixel1 - imgR;
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diffa += res * res;
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diffa[0] += SQ(leftPixel1 - imageR[idx - 0]);
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diffa[1] += SQ(leftPixel1 - imageR[idx - 1]);
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diffa[2] += SQ(leftPixel1 - imageR[idx - 2]);
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diffa[3] += SQ(leftPixel1 - imageR[idx - 3]);
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diffa[4] += SQ(leftPixel1 - imageR[idx - 4]);
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diffa[5] += SQ(leftPixel1 - imageR[idx - 5]);
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diffa[6] += SQ(leftPixel1 - imageR[idx - 6]);
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diffa[7] += SQ(leftPixel1 - imageR[idx - 7]);
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y_tex += 1;
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idx += im_pitch;
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}
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//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * radius)
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col_ssd[0 * (BLOCK_W + 2 * radius)] = diffa[0];
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col_ssd[1 * (BLOCK_W + 2 * radius)] = diffa[1];
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col_ssd[2 * (BLOCK_W + 2 * radius)] = diffa[2];
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col_ssd[3 * (BLOCK_W + 2 * radius)] = diffa[3];
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col_ssd[4 * (BLOCK_W + 2 * radius)] = diffa[4];
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col_ssd[5 * (BLOCK_W + 2 * radius)] = diffa[5];
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col_ssd[6 * (BLOCK_W + 2 * radius)] = diffa[6];
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col_ssd[7 * (BLOCK_W + 2 * radius)] = diffa[7];
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//See above: #define COL_SSD_SIZE (BLOCK_W + WIN_SIZE)
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col_ssd[0 * (BLOCK_W + win_size)] = diffa.s7;
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col_ssd[1 * (BLOCK_W + win_size)] = diffa.s6;
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col_ssd[2 * (BLOCK_W + win_size)] = diffa.s5;
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col_ssd[3 * (BLOCK_W + win_size)] = diffa.s4;
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col_ssd[4 * (BLOCK_W + win_size)] = diffa.s3;
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col_ssd[5 * (BLOCK_W + win_size)] = diffa.s2;
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col_ssd[6 * (BLOCK_W + win_size)] = diffa.s1;
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col_ssd[7 * (BLOCK_W + win_size)] = diffa.s0;
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}
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__kernel void stereoKernel(__global unsigned char *left, __global unsigned char *right,
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__global unsigned int *cminSSDImage, int cminSSD_step,
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__global unsigned char *disp, int disp_step,int cwidth, int cheight,
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int img_step, int maxdisp, int radius,
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int img_step, int maxdisp,
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__local unsigned int *col_ssd_cache)
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{
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volatile __local unsigned int *col_ssd = col_ssd_cache + BLOCK_W + get_local_id(0);
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volatile __local unsigned int *col_ssd_extra = get_local_id(0) < (2 * radius) ? col_ssd + BLOCK_W : 0;
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__local unsigned int *col_ssd = col_ssd_cache + get_local_id(0);
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__local unsigned int *col_ssd_extra = get_local_id(0) < (radius << 1) ? col_ssd + BLOCK_W : 0;
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int X = get_group_id(0) * BLOCK_W + get_local_id(0) + maxdisp + radius;
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// int Y = get_group_id(1) * ROWSperTHREAD + radius;
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#define Y (get_group_id(1) * ROWSperTHREAD + radius)
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volatile __global unsigned int* minSSDImage = cminSSDImage + X + Y * cminSSD_step;
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__global unsigned int* minSSDImage = cminSSDImage + X + Y * cminSSD_step;
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__global unsigned char* disparImage = disp + X + Y * disp_step;
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int end_row = ROWSperTHREAD < (cheight - Y) ? ROWSperTHREAD:(cheight - Y);
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@ -244,14 +169,14 @@ __kernel void stereoKernel(__global unsigned char *left, __global unsigned char
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{
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y_tex = Y - radius;
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InitColSSD(x_tex, y_tex, img_step, left, right, d, col_ssd, radius);
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InitColSSD(x_tex, y_tex, img_step, left, right, d, col_ssd);
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if (col_ssd_extra > 0)
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if (x_tex + BLOCK_W < cwidth)
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InitColSSD(x_tex + BLOCK_W, y_tex, img_step, left, right, d, col_ssd_extra, radius);
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InitColSSD(x_tex + BLOCK_W, y_tex, img_step, left, right, d, col_ssd_extra);
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barrier(CLK_LOCAL_MEM_FENCE); //before MinSSD function
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uint2 minSSD = MinSSD(col_ssd_cache + get_local_id(0), col_ssd, radius);
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uint2 minSSD = MinSSD(col_ssd);
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if (X < cwidth - radius && Y < cheight - radius)
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{
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if (minSSD.x < minSSDImage[0])
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@ -264,21 +189,18 @@ __kernel void stereoKernel(__global unsigned char *left, __global unsigned char
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for(int row = 1; row < end_row; row++)
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{
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int idx1 = y_tex * img_step + x_tex;
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int idx2 = min(y_tex + (2 * radius + 1), cheight - 1) * img_step + x_tex;
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barrier(CLK_GLOBAL_MEM_FENCE);
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int idx2 = min(y_tex + ((radius << 1) + 1), cheight - 1) * img_step + x_tex;
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barrier(CLK_LOCAL_MEM_FENCE);
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StepDown(idx1, idx2, left, right, d, col_ssd, radius);
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StepDown(idx1, idx2, left, right, d, col_ssd);
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if (col_ssd_extra > 0)
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if (x_tex + BLOCK_W < cwidth)
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StepDown(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra, radius);
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y_tex += 1;
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StepDown(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra);
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barrier(CLK_LOCAL_MEM_FENCE);
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uint2 minSSD = MinSSD(col_ssd_cache + get_local_id(0), col_ssd, radius);
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uint2 minSSD = MinSSD(col_ssd);
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if (X < cwidth - radius && row < cheight - radius - Y)
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{
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int idx = row * cminSSD_step;
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@ -288,10 +210,11 @@ __kernel void stereoKernel(__global unsigned char *left, __global unsigned char
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minSSDImage[idx] = minSSD.x;
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}
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}
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y_tex++;
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} // for row loop
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} // for d loop
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//////////////////////////// Sobel Prefiler (signal channel)//////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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@ -74,28 +74,21 @@ namespace stereoBM
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////////////////////////////////////////////////////////////////////////
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static void prefilter_xsobel(const oclMat &input, oclMat &output, int prefilterCap)
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{
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Context *clCxt = input.clCxt;
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string kernelName = "prefilter_xsobel";
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cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereobm, kernelName);
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size_t blockSize = 1;
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size_t globalThreads[3] = { input.cols, input.rows, 1 };
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size_t localThreads[3] = { blockSize, blockSize, 1 };
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openCLVerifyKernel(clCxt, kernel, localThreads);
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openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&input.data));
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openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&output.data));
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openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_int), (void *)&input.rows));
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openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&input.cols));
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openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_int), (void *)&prefilterCap));
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openCLSafeCall(clEnqueueNDRangeKernel((cl_command_queue)clCxt->oclCommandQueue(), kernel, 3, NULL,
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globalThreads, localThreads, 0, NULL, NULL));
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clFinish((cl_command_queue)clCxt->oclCommandQueue());
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openCLSafeCall(clReleaseKernel(kernel));
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std::vector< std::pair<size_t, const void *> > args;
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&input.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&output.data));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&input.rows));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&input.cols));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&prefilterCap));
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openCLExecuteKernel(Context::getContext(), &stereobm, kernelName,
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globalThreads, localThreads, args, -1, -1);
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}
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//////////////////////////////////////////////////////////////////////////
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//////////////////////////////common////////////////////////////////////
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@ -115,19 +108,13 @@ static void stereo_bm(const oclMat &left, const oclMat &right, oclMat &disp,
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{
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int winsz2 = winSize >> 1;
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//if(winsz2 == 0 || winsz2 >= calles_num)
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//cv::ocl:error("Unsupported window size", __FILE__, __LINE__, __FUNCTION__);
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Context *clCxt = left.clCxt;
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string kernelName = "stereoKernel";
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cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereobm, kernelName);
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||||
|
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disp.setTo(Scalar_<unsigned char>::all(0));
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minSSD_buf.setTo(Scalar_<unsigned int>::all(0xFFFFFFFF));
|
||||
|
||||
size_t minssd_step = minSSD_buf.step / minSSD_buf.elemSize();
|
||||
size_t local_mem_size = (BLOCK_W + N_DISPARITIES * (BLOCK_W + 2 * winsz2)) *
|
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size_t local_mem_size = (N_DISPARITIES * (BLOCK_W + 2 * winsz2)) *
|
||||
sizeof(cl_uint);
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//size_t blockSize = 1;
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size_t localThreads[] = { BLOCK_W, 1,1};
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@ -136,26 +123,23 @@ static void stereo_bm(const oclMat &left, const oclMat &right, oclMat &disp,
|
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1
|
||||
};
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openCLVerifyKernel(clCxt, kernel, localThreads);
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||||
openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&left.data));
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openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&right.data));
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openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&minSSD_buf.data));
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openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&minssd_step));
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openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_mem), (void *)&disp.data));
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||||
openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&disp.step));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&left.cols));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&left.rows));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&left.step));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&maxdisp));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&winsz2));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 11, local_mem_size, (void *)NULL));
|
||||
std::vector< std::pair<size_t, const void *> > args;
|
||||
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&left.data));
|
||||
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&right.data));
|
||||
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&minSSD_buf.data));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&minssd_step));
|
||||
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&disp.data));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disp.step));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.cols));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.rows));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.step));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&maxdisp));
|
||||
args.push_back(std::make_pair(local_mem_size, (void *)NULL));
|
||||
|
||||
openCLSafeCall(clEnqueueNDRangeKernel((cl_command_queue)clCxt->oclCommandQueue(), kernel, 2, NULL,
|
||||
globalThreads, localThreads, 0, NULL, NULL));
|
||||
|
||||
|
||||
clFinish((cl_command_queue)clCxt->oclCommandQueue());
|
||||
openCLSafeCall(clReleaseKernel(kernel));
|
||||
char opt [128];
|
||||
sprintf(opt, "-D radius=%d", winsz2);
|
||||
openCLExecuteKernel(Context::getContext(), &stereobm, kernelName,
|
||||
globalThreads, localThreads, args, -1, -1, opt);
|
||||
}
|
||||
////////////////////////////////////////////////////////////////////////////
|
||||
///////////////////////////////postfilter_textureness///////////////////////
|
||||
@ -163,10 +147,7 @@ static void stereo_bm(const oclMat &left, const oclMat &right, oclMat &disp,
|
||||
static void postfilter_textureness(oclMat &left, int winSize,
|
||||
float avergeTexThreshold, oclMat &disparity)
|
||||
{
|
||||
Context *clCxt = left.clCxt;
|
||||
|
||||
string kernelName = "textureness_kernel";
|
||||
cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereobm, kernelName);
|
||||
|
||||
size_t blockSize = 1;
|
||||
size_t localThreads[] = { BLOCK_W, blockSize ,1};
|
||||
@ -177,22 +158,19 @@ static void postfilter_textureness(oclMat &left, int winSize,
|
||||
|
||||
size_t local_mem_size = (localThreads[0] + localThreads[0] + (winSize / 2) * 2) * sizeof(float);
|
||||
|
||||
openCLVerifyKernel(clCxt, kernel, localThreads);
|
||||
openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&disparity.data));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_int), (void *)&disparity.rows));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_int), (void *)&disparity.cols));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&disparity.step));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_mem), (void *)&left.data));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&left.rows));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&left.cols));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&winSize));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_float), (void *)&avergeTexThreshold));
|
||||
openCLSafeCall(clSetKernelArg(kernel, 9, local_mem_size, NULL));
|
||||
openCLSafeCall(clEnqueueNDRangeKernel((cl_command_queue)clCxt->oclCommandQueue(), kernel, 2, NULL,
|
||||
globalThreads, localThreads, 0, NULL, NULL));
|
||||
|
||||
clFinish((cl_command_queue)clCxt->oclCommandQueue());
|
||||
openCLSafeCall(clReleaseKernel(kernel));
|
||||
std::vector< std::pair<size_t, const void *> > args;
|
||||
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&disparity.data));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disparity.rows));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disparity.cols));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disparity.step));
|
||||
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&left.data));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.rows));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.cols));
|
||||
args.push_back(std::make_pair(sizeof(cl_int), (void *)&winSize));
|
||||
args.push_back(std::make_pair(sizeof(cl_float), (void *)&avergeTexThreshold));
|
||||
args.push_back(std::make_pair(local_mem_size, (void*)NULL));
|
||||
openCLExecuteKernel(Context::getContext(), &stereobm, kernelName,
|
||||
globalThreads, localThreads, args, -1, -1);
|
||||
}
|
||||
//////////////////////////////////////////////////////////////////////////////
|
||||
/////////////////////////////////////operator/////////////////////////////////
|
||||
|
||||
@ -59,7 +59,7 @@ PARAM_TEST_CASE(StereoMatchBM, int, int)
|
||||
virtual void SetUp()
|
||||
{
|
||||
n_disp = GET_PARAM(0);
|
||||
winSize = GET_PARAM(1);
|
||||
winSize = GET_PARAM(1);
|
||||
}
|
||||
};
|
||||
|
||||
@ -69,27 +69,27 @@ TEST_P(StereoMatchBM, Regression)
|
||||
Mat left_image = readImage("stereobm/aloe-L.png", IMREAD_GRAYSCALE);
|
||||
Mat right_image = readImage("stereobm/aloe-R.png", IMREAD_GRAYSCALE);
|
||||
Mat disp_gold = readImage("stereobm/aloe-disp.png", IMREAD_GRAYSCALE);
|
||||
ocl::oclMat d_left, d_right;
|
||||
ocl::oclMat d_disp(left_image.size(), CV_8U);
|
||||
Mat disp;
|
||||
ocl::oclMat d_left, d_right;
|
||||
ocl::oclMat d_disp(left_image.size(), CV_8U);
|
||||
Mat disp;
|
||||
|
||||
ASSERT_FALSE(left_image.empty());
|
||||
ASSERT_FALSE(right_image.empty());
|
||||
ASSERT_FALSE(disp_gold.empty());
|
||||
d_left.upload(left_image);
|
||||
d_right.upload(right_image);
|
||||
d_left.upload(left_image);
|
||||
d_right.upload(right_image);
|
||||
|
||||
ocl::StereoBM_OCL bm(0, n_disp, winSize);
|
||||
|
||||
|
||||
bm(d_left, d_right, d_disp);
|
||||
d_disp.download(disp);
|
||||
d_disp.download(disp);
|
||||
|
||||
EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3);
|
||||
}
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
|
||||
testing::Values(19)));
|
||||
testing::Values(19)));
|
||||
|
||||
PARAM_TEST_CASE(StereoMatchBP, int, int, int, float, float, float, float)
|
||||
{
|
||||
|
||||
Loading…
Reference in New Issue
Block a user