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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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7
modules/calib3d/test/test_stereomatching.cpp
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@@ -742,7 +742,7 @@ protected:
{
int ndisp;
int winSize;
bool fullDP;
int mode;
};
vector<RunParams> caseRunParams;
@@ -757,7 +757,7 @@ protected:
RunParams params;
String ndisp = fn[i+2]; params.ndisp = atoi(ndisp.c_str());
String winSize = fn[i+3]; params.winSize = atoi(winSize.c_str());
String fullDP = fn[i+4]; params.fullDP = atoi(fullDP.c_str()) == 0 ? false : true;
String mode = fn[i+4]; params.mode = atoi(mode.c_str());
caseNames.push_back( caseName );
caseDatasets.push_back( datasetName );
caseRunParams.push_back( params );
@@ -773,8 +773,7 @@ protected:
Ptr<StereoSGBM> sgbm = StereoSGBM::create( 0, params.ndisp, params.winSize,
10*params.winSize*params.winSize,
40*params.winSize*params.winSize,
1, 63, 10, 100, 32, params.fullDP ?
StereoSGBM::MODE_HH : StereoSGBM::MODE_SGBM );
1, 63, 10, 100, 32, params.mode );
sgbm->compute( leftImg, rightImg, leftDisp );
CV_Assert( leftDisp.type() == CV_16SC1 );
leftDisp/=16;