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Adding new HAL-accelerated MODE_SGBM_3WAY

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New mode is approximately 2-3 times faster than MODE_SGBM
with minimal degradation in quality and uses universal
HAL intrinsics. A performance test was added. The accuracy
test was updated to support the new mode.
This commit is contained in:
sbokov
2015-07-07 23:23:51 +03:00
parent ff1687d378
commit aea4157340
5 changed files with 854 additions and 47 deletions
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159
modules/calib3d/perf/perf_stereosgbm.cpp Normal file
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#include "perf_precomp.hpp"
namespace cvtest
{
using std::tr1::tuple;
using std::tr1::get;
using namespace perf;
using namespace testing;
using namespace cv;
void MakeArtificialExample(RNG rng, Mat& dst_left_view, Mat& dst_view);
CV_ENUM(SGBMModes, StereoSGBM::MODE_SGBM, StereoSGBM::MODE_SGBM_3WAY);
typedef tuple<Size, int, SGBMModes> SGBMParams;
typedef TestBaseWithParam<SGBMParams> TestStereoCorresp;
PERF_TEST_P( TestStereoCorresp, SGBM, Combine(Values(Size(1280,720),Size(640,480)), Values(256,128), SGBMModes::all()) )
{
RNG rng(0);
SGBMParams params = GetParam();
Size sz = get<0>(params);
int num_disparities = get<1>(params);
int mode = get<2>(params);
Mat src_left(sz, CV_8UC3);
Mat src_right(sz, CV_8UC3);
Mat dst(sz, CV_16S);
MakeArtificialExample(rng,src_left,src_right);
cv::setNumThreads(cv::getNumberOfCPUs());
int wsize = 3;
int P1 = 8*src_left.channels()*wsize*wsize;
TEST_CYCLE()
{
Ptr<StereoSGBM> sgbm = StereoSGBM::create(0,num_disparities,wsize,P1,4*P1,1,63,25,0,0,mode);
sgbm->compute(src_left,src_right,dst);
}
SANITY_CHECK(dst, .01, ERROR_RELATIVE);
}
void MakeArtificialExample(RNG rng, Mat& dst_left_view, Mat& dst_right_view)
{
int w = dst_left_view.cols;
int h = dst_left_view.rows;
//params:
unsigned char bg_level = (unsigned char)rng.uniform(0.0,255.0);
unsigned char fg_level = (unsigned char)rng.uniform(0.0,255.0);
int rect_width = (int)rng.uniform(w/16,w/2);
int rect_height = (int)rng.uniform(h/16,h/2);
int rect_disparity = (int)(0.15*w);
double sigma = 3.0;
int rect_x_offset = (w-rect_width) /2;
int rect_y_offset = (h-rect_height)/2;
if(dst_left_view.channels()==3)
{
dst_left_view = Scalar(Vec3b(bg_level,bg_level,bg_level));
dst_right_view = Scalar(Vec3b(bg_level,bg_level,bg_level));
}
else
{
dst_left_view = Scalar(bg_level);
dst_right_view = Scalar(bg_level);
}
Mat dst_left_view_rect = Mat(dst_left_view, Rect(rect_x_offset,rect_y_offset,rect_width,rect_height));
if(dst_left_view.channels()==3)
dst_left_view_rect = Scalar(Vec3b(fg_level,fg_level,fg_level));
else
dst_left_view_rect = Scalar(fg_level);
rect_x_offset-=rect_disparity;
Mat dst_right_view_rect = Mat(dst_right_view, Rect(rect_x_offset,rect_y_offset,rect_width,rect_height));
if(dst_right_view.channels()==3)
dst_right_view_rect = Scalar(Vec3b(fg_level,fg_level,fg_level));
else
dst_right_view_rect = Scalar(fg_level);
//add some gaussian noise:
unsigned char *l, *r;
for(int i=0;i<h;i++)
{
l = dst_left_view.ptr(i);
r = dst_right_view.ptr(i);
if(dst_left_view.channels()==3)
{
for(int j=0;j<w;j++)
{
l[0] = saturate_cast<unsigned char>(l[0] + rng.gaussian(sigma));
l[1] = saturate_cast<unsigned char>(l[1] + rng.gaussian(sigma));
l[2] = saturate_cast<unsigned char>(l[2] + rng.gaussian(sigma));
l+=3;
r[0] = saturate_cast<unsigned char>(r[0] + rng.gaussian(sigma));
r[1] = saturate_cast<unsigned char>(r[1] + rng.gaussian(sigma));
r[2] = saturate_cast<unsigned char>(r[2] + rng.gaussian(sigma));
r+=3;
}
}
else
{
for(int j=0;j<w;j++)
{
l[0] = saturate_cast<unsigned char>(l[0] + rng.gaussian(sigma));
l++;
r[0] = saturate_cast<unsigned char>(r[0] + rng.gaussian(sigma));
r++;
}
}
}
}
}