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Merge pull request #1502 from melody-rain:2.4_Stereo_Match_Const_Space_BP

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Alexander Smorkalov 2013-09-26 09:30:01 +04:00 committed by OpenCV Buildbot
commit 9f19126472
1 changed files with 33 additions and 7 deletions
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38
modules/ocl/src/stereo_csbp.cpp
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@ -96,6 +96,10 @@ namespace cv
{ {
namespace stereoCSBP namespace stereoCSBP
{ {
static inline int divUp(int total, int grain)
{
return (total + grain - 1) / grain;
}
static string get_kernel_name(string kernel_name, int data_type) static string get_kernel_name(string kernel_name, int data_type)
{ {
stringstream idxStr; stringstream idxStr;
@ -125,7 +129,10 @@ namespace cv
//size_t blockSize = 256; //size_t blockSize = 256;
size_t localThreads[] = {32, 8 ,1}; size_t localThreads[] = {32, 8 ,1};
size_t globalThreads[] = { w, h, 1 }; size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
divUp(h, localThreads[1]) *localThreads[1],
1
};
int cdisp_step1 = msg_step * h; int cdisp_step1 = msg_step * h;
openCLVerifyKernel(clCxt, kernel, localThreads); openCLVerifyKernel(clCxt, kernel, localThreads);
@ -212,7 +219,10 @@ namespace cv
//size_t blockSize = 256; //size_t blockSize = 256;
size_t localThreads[] = {32, 8 ,1}; size_t localThreads[] = {32, 8 ,1};
size_t globalThreads[] = { w, h, 1 }; size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
divUp(h, localThreads[1]) *localThreads[1],
1
};
int disp_step = msg_step * h; int disp_step = msg_step * h;
openCLVerifyKernel(clCxt, kernel, localThreads); openCLVerifyKernel(clCxt, kernel, localThreads);
@ -244,7 +254,10 @@ namespace cv
//size_t blockSize = 256; //size_t blockSize = 256;
size_t localThreads[] = {32, 8, 1}; size_t localThreads[] = {32, 8, 1};
size_t globalThreads[] = { w, h, 1 }; size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
divUp(h, localThreads[1]) *localThreads[1],
1
};
int disp_step = msg_step * h; int disp_step = msg_step * h;
openCLVerifyKernel(clCxt, kernel, localThreads); openCLVerifyKernel(clCxt, kernel, localThreads);
@ -275,11 +288,15 @@ namespace cv
init_data_cost_reduce_caller(left, right, temp, rthis, msg_step, h, w, level); init_data_cost_reduce_caller(left, right, temp, rthis, msg_step, h, w, level);
if(rthis.use_local_init_data_cost == true) if(rthis.use_local_init_data_cost == true)
{
get_first_initial_local_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w, nr_plane, msg_step); get_first_initial_local_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w, nr_plane, msg_step);
}
else else
{
get_first_initial_global_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w, get_first_initial_global_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w,
nr_plane, msg_step); nr_plane, msg_step);
} }
}
/////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////compute_data_cost////////////////////////////////////////////// ///////////////////////////////////compute_data_cost//////////////////////////////////////////////
@ -298,7 +315,10 @@ namespace cv
cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName); cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
size_t localThreads[] = {32, 8, 1}; size_t localThreads[] = {32, 8, 1};
size_t globalThreads[] = { w, h, 1 }; size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
divUp(h, localThreads[1]) *localThreads[1],
1
};
int disp_step1 = msg_step1 * h; int disp_step1 = msg_step1 * h;
int disp_step2 = msg_step2 * h2; int disp_step2 = msg_step2 * h2;
@ -407,7 +427,10 @@ namespace cv
//size_t blockSize = 256; //size_t blockSize = 256;
size_t localThreads[] = {32, 8, 1}; size_t localThreads[] = {32, 8, 1};
size_t globalThreads[] = { w, h, 1 }; size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
divUp(h, localThreads[1]) *localThreads[1],
1
};
int disp_step1 = msg_step1 * h; int disp_step1 = msg_step1 * h;
int disp_step2 = msg_step2 * h2; int disp_step2 = msg_step2 * h2;
@ -508,7 +531,10 @@ namespace cv
//size_t blockSize = 256; //size_t blockSize = 256;
size_t localThreads[] = {32, 8, 1}; size_t localThreads[] = {32, 8, 1};
size_t globalThreads[] = { disp.cols, disp.rows, 1 }; size_t globalThreads[] = {divUp(disp.cols, localThreads[0]) *localThreads[0],
divUp(disp.rows, localThreads[1]) *localThreads[1],
1
};
int step_size = disp.step / disp.elemSize(); int step_size = disp.step / disp.elemSize();
int disp_step = disp.rows * msg_step; int disp_step = disp.rows * msg_step;