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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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16
samples/cpp/stereo_match.cpp
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@@ -20,7 +20,7 @@ using namespace cv;
static void print_help()
{
printf("\nDemo stereo matching converting L and R images into disparity and point clouds\n");
printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh] [--blocksize=<block_size>]\n"
printf("\nUsage: stereo_match <left_image> <right_image> [--algorithm=bm|sgbm|hh|sgbm3way] [--blocksize=<block_size>]\n"
"[--max-disparity=<max_disparity>] [--scale=scale_factor>] [-i <intrinsic_filename>] [-e <extrinsic_filename>]\n"
"[--no-display] [-o <disparity_image>] [-p <point_cloud_file>]\n");
}
@@ -61,7 +61,7 @@ int main(int argc, char** argv)
const char* disparity_filename = 0;
const char* point_cloud_filename = 0;
enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3 };
enum { STEREO_BM=0, STEREO_SGBM=1, STEREO_HH=2, STEREO_VAR=3, STEREO_3WAY=4 };
int alg = STEREO_SGBM;
int SADWindowSize = 0, numberOfDisparities = 0;
bool no_display = false;
@@ -85,7 +85,8 @@ int main(int argc, char** argv)
alg = strcmp(_alg, "bm") == 0 ? STEREO_BM :
strcmp(_alg, "sgbm") == 0 ? STEREO_SGBM :
strcmp(_alg, "hh") == 0 ? STEREO_HH :
strcmp(_alg, "var") == 0 ? STEREO_VAR : -1;
strcmp(_alg, "var") == 0 ? STEREO_VAR :
strcmp(_alg, "sgbm3way") == 0 ? STEREO_3WAY : -1;
if( alg < 0 )
{
printf("Command-line parameter error: Unknown stereo algorithm\n\n");
@@ -257,7 +258,12 @@ int main(int argc, char** argv)
sgbm->setSpeckleWindowSize(100);
sgbm->setSpeckleRange(32);
sgbm->setDisp12MaxDiff(1);
sgbm->setMode(alg == STEREO_HH ? StereoSGBM::MODE_HH : StereoSGBM::MODE_SGBM);
if(alg==STEREO_HH)
sgbm->setMode(StereoSGBM::MODE_HH);
else if(alg==STEREO_SGBM)
sgbm->setMode(StereoSGBM::MODE_SGBM);
else if(alg==STEREO_3WAY)
sgbm->setMode(StereoSGBM::MODE_SGBM_3WAY);
Mat disp, disp8;
//Mat img1p, img2p, dispp;
@@ -267,7 +273,7 @@ int main(int argc, char** argv)
int64 t = getTickCount();
if( alg == STEREO_BM )
bm->compute(img1, img2, disp);
else if( alg == STEREO_SGBM || alg == STEREO_HH )
else if( alg == STEREO_SGBM || alg == STEREO_HH || alg == STEREO_3WAY )
sgbm->compute(img1, img2, disp);
t = getTickCount() - t;
printf("Time elapsed: %fms\n", t*1000/getTickFrequency());