stereoBM

modules/calib3d/perf/opencl/perf_stereobm.cpp

@@ -0,0 +1,76 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
+// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors as is and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "perf_precomp.hpp"
+#include "opencv2/ts/ocl_perf.hpp"
+
+#ifdef HAVE_OPENCL
+
+namespace cvtest {
+namespace ocl {
+
+typedef std::tr1::tuple<int, int> StereoBMFixture_t;
+typedef TestBaseWithParam<StereoBMFixture_t> StereoBMFixture;
+
+OCL_PERF_TEST_P(StereoBMFixture, StereoBM, ::testing::Combine(OCL_PERF_ENUM(32, 64, 128), OCL_PERF_ENUM(11,21) ) )
+{
+    const int n_disp = get<0>(GetParam()), winSize = get<1>(GetParam());
+    UMat left, right, disp;
+
+    imread(getDataPath("gpu/stereobm/aloe-L.png"), IMREAD_GRAYSCALE).copyTo(left);
+    imread(getDataPath("gpu/stereobm/aloe-R.png"), IMREAD_GRAYSCALE).copyTo(right);
+    ASSERT_FALSE(left.empty());
+    ASSERT_FALSE(right.empty());
+
+    declare.in(left, right);
+
+    Ptr<StereoBM> bm = createStereoBM( n_disp, winSize );
+    bm->setPreFilterType(bm->PREFILTER_NORMALIZED_RESPONSE);
+
+    OCL_TEST_CYCLE() bm->compute(left, right, disp);
+
+    SANITY_CHECK(disp, 1e-2, ERROR_RELATIVE);
+}
+
+}//ocl
+}//cvtest
+#endif

modules/calib3d/src/opencl/stereobm.cl

@@ -0,0 +1,159 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
+// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors as is and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////// stereoBM //////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////////
+
+#ifdef SIZE
+
+__kernel void stereoBM(__global const uchar * left, __global const uchar * right, __global uchar * dispptr,
+                       int disp_step, int disp_offset, int rows, int cols, int mindisp, int ndisp,
+                       int preFilterCap, int winsize, int textureTreshold, int uniquenessRatio)
+{
+    int x = get_global_id(0);
+    int y = get_global_id(1);
+    int wsz2 = winsize/2;
+    short FILTERED = (mindisp - 1)<<4;
+
+    if(x < cols && y < rows )
+    {
+        int dispIdx = mad24(y, disp_step, disp_offset + x*(int)sizeof(short) );
+        __global short * disp = (__global short*)(dispptr + dispIdx);
+        disp[0] = FILTERED;
+        if( (x > mindisp+ndisp+wsz2-2) && (y > wsz2-1) && (x < cols-wsz2-mindisp) && (y < rows - wsz2))
+        {
+            int cost[SIZE];
+            int textsum = 0;
+
+            for(int d = mindisp; d < ndisp+mindisp; d++)
+            {
+                cost[d-mindisp] = 0;
+                for(int i = -wsz2; i < wsz2+1; i++)
+                    for(int j = -wsz2; j < wsz2+1; j++)
+                    {
+                        textsum += abs( left[min( y+i, rows-1 ) * cols + min( x+j, cols-1 )] - preFilterCap );
+                        cost[d-mindisp] += abs( left[min( y+i, rows-1 ) * cols + min( x+j, cols-1 )]
+                            - right[min( y+i, rows-1 ) * cols + min( x+j-d, cols-1 )] );
+                    }
+            }
+
+            int best_disp = mindisp, best_cost = cost[0];
+            for(int d = mindisp; d < ndisp+mindisp; d++)
+            {
+                best_cost = (cost[d-mindisp] < best_cost) ? cost[d-mindisp] : best_cost;
+                best_disp = (best_cost == cost[d-mindisp]) ? d : best_disp;
+            }
+
+            int thresh = best_cost + (best_cost * uniquenessRatio/100);
+            for(int d = mindisp; (d < ndisp + mindisp) && (uniquenessRatio > 0); d++)
+            {
+                best_disp = ( (cost[d-mindisp] <= thresh) && (d < best_disp-1 || d > best_disp + 1) ) ? FILTERED : best_disp;
+            }
+
+            disp[0] = textsum < textureTreshold ? (FILTERED) : (best_disp == FILTERED) ? (short)(best_disp) : (short)(best_disp);
+
+            if( best_disp != FILTERED )
+            {
+                int y1 = (best_disp > mindisp) ? cost[best_disp-mindisp-1] : cost[best_disp-mindisp+1],
+                    y2 = cost[best_disp-mindisp],
+                    y3 = (best_disp < mindisp+ndisp-1) ? cost[best_disp-mindisp+1] : cost[best_disp-mindisp-1];
+                float a = (y3 - ((best_disp+1)*(y2-y1) + best_disp*y1 - (best_disp-1)*y2)/(best_disp - (best_disp-1)) )/
+                    ((best_disp+1)*((best_disp+1) - (best_disp-1) - best_disp) + (best_disp-1)*best_disp);
+                float b = (y2 - y1)/(best_disp - (best_disp-1)) - a*((best_disp-1)+best_disp);
+                disp[0] = (y1 == y2 || y2 == y3) ? (short)(best_disp*16) : (short)(-b/(2*a)*16);
+            }
+        }
+    }
+}
+
+#endif
+
+//////////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////////// Norm Prefiler ////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////////
+
+__kernel void prefilter_norm(__global unsigned char *input, __global unsigned char *output,
+                               int rows, int cols, int prefilterCap, int winsize, int scale_g, int scale_s)
+{
+    int x = get_global_id(0);
+    int y = get_global_id(1);
+    int wsz2 = winsize/2;
+
+    if(x < cols && y < rows)
+    {
+        int cov1 =                                   input[   max(y-1, 0)   * cols + x] * 1 +
+                  input[y * cols + max(x-1,0)] * 1 + input[      y          * cols + x] * 4 + input[y * cols + min(x+1, cols-1)] * 1 +
+                                                     input[min(y+1, rows-1) * cols + x] * 1;
+        int cov2 = 0;
+        for(int i = -wsz2; i < wsz2+1; i++)
+            for(int j = -wsz2; j < wsz2+1; j++)
+                cov2 += input[min( max( (y+i),0 ),rows-1 ) * cols + min( max( (x+j),0 ),cols-1 )];
+
+        int res = (cov1*scale_g - cov2*scale_s)>>10;
+        res = min(min(max(-prefilterCap, res), prefilterCap) + prefilterCap, 255);
+        output[y * cols + x] = res & 0xFF;
+    }
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////// Sobel Prefiler ////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////////
+
+__kernel void prefilter_xsobel(__global unsigned char *input, __global unsigned char *output,
+                               int rows, int cols, int prefilterCap)
+{
+    int x = get_global_id(0);
+    int y = get_global_id(1);
+    output[y * cols + x] = min(prefilterCap, 255) & 0xFF;
+    if(x < cols && y < rows-1 && x > 0)
+    {
+        int cov = input[((y > 0) ? y-1 : y+1) * cols + (x-1)] * (-1) + input[((y > 0) ? y-1 : y+1) * cols + ((x<cols-1) ? x+1 : x-1)] * (1) +
+                  input[              (y)     * cols + (x-1)] * (-2) + input[       (y)            * cols + ((x<cols-1) ? x+1 : x-1)] * (2) +
+                  input[             (y+1)    * cols + (x-1)] * (-1) + input[      (y+1)           * cols + ((x<cols-1) ? x+1 : x-1)] * (1);
+
+        cov = min(min(max(-prefilterCap, cov), prefilterCap) + prefilterCap, 255);
+        output[y * cols + x] = cov & 0xFF;
+    }
+}

modules/calib3d/src/precomp.hpp

@@ -49,6 +49,8 @@
 
 #include "opencv2/core/private.hpp"
 
+#include "opencv2/core/ocl.hpp"
+
 #ifdef HAVE_TEGRA_OPTIMIZATION
 #include "opencv2/calib3d/calib3d_tegra.hpp"
 #else

modules/calib3d/src/stereobm.cpp

@@ -48,6 +48,7 @@
 #include "precomp.hpp"
 #include <stdio.h>
 #include <limits>
+#include "opencl_kernels.hpp"
 
 namespace cv
 {
@@ -85,6 +86,26 @@ struct StereoBMParams
     int dispType;
 };
 
+static bool ocl_prefilter_norm(InputArray _input, OutputArray _output, int winsize, int prefilterCap)
+{
+    ocl::Kernel k("prefilter_norm", ocl::calib3d::stereobm_oclsrc);
+    if(k.empty())
+        return false;
+
+    int scale_g = winsize*winsize/8, scale_s = (1024 + scale_g)/(scale_g*2);
+    scale_g *= scale_s;
+
+    UMat input = _input.getUMat(), output;
+    _output.create(input.size(), input.type());
+    output = _output.getUMat();
+
+    size_t globalThreads[3] = { input.cols, input.rows, 1 };
+
+    k.args(ocl::KernelArg::PtrReadOnly(input), ocl::KernelArg::PtrWriteOnly(output), input.rows, input.cols,
+        prefilterCap, winsize, scale_g, scale_s);
+
+    return k.run(2, globalThreads, NULL, false);
+}
 
 static void prefilterNorm( const Mat& src, Mat& dst, int winsize, int ftzero, uchar* buf )
 {
@@ -149,6 +170,24 @@ static void prefilterNorm( const Mat& src, Mat& dst, int winsize, int ftzero, uc
     }
 }
 
+static bool ocl_prefilter_xsobel(InputArray _input, OutputArray _output, int prefilterCap)
+{
+    ocl::Kernel k("prefilter_xsobel", ocl::calib3d::stereobm_oclsrc);
+    if(k.empty())
+        return false;
+
+    UMat input = _input.getUMat(), output;
+    _output.create(input.size(), input.type());
+    output = _output.getUMat();
+
+    size_t blockSize = 1;
+    size_t globalThreads[3] = { input.cols, input.rows, 1 };
+    size_t localThreads[3]  = { blockSize, blockSize, 1 };
+
+    k.args(ocl::KernelArg::PtrReadOnly(input), ocl::KernelArg::PtrWriteOnly(output), input.rows, input.cols, prefilterCap);
+
+    return k.run(2, globalThreads, localThreads, false);
+}
 
 static void
 prefilterXSobel( const Mat& src, Mat& dst, int ftzero )
@@ -534,7 +573,6 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
         hsad = hsad0 - dy0*ndisp; cbuf = cbuf0 + (x + wsz2 + 1)*cstep - dy0*ndisp;
         lptr = lptr0 + std::min(std::max(x, -lofs), width-lofs-1) - dy0*sstep;
         rptr = rptr0 + std::min(std::max(x, -rofs), width-rofs-1) - dy0*sstep;
-
         for( y = -dy0; y < height + dy1; y++, hsad += ndisp, cbuf += ndisp, lptr += sstep, rptr += sstep )
         {
             int lval = lptr[0];
@@ -651,6 +689,25 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
     }
 }
 
+static bool ocl_prefiltering(InputArray left0, InputArray right0, OutputArray left, OutputArray right, StereoBMParams* state)
+{
+    if( state->preFilterType == StereoBM::PREFILTER_NORMALIZED_RESPONSE )
+    {
+        if(!ocl_prefilter_norm( left0, left, state->preFilterSize, state->preFilterCap))
+            return false;
+        if(!ocl_prefilter_norm( right0, right, state->preFilterSize, state->preFilterCap))
+            return false;
+    }
+    else
+    {
+        if(!ocl_prefilter_xsobel( left0, left, state->preFilterCap ))
+            return false;
+        if(!ocl_prefilter_xsobel( right0, right, state->preFilterCap))
+            return false;
+    }
+    return true;
+}
+
 struct PrefilterInvoker : public ParallelLoopBody
 {
     PrefilterInvoker(const Mat& left0, const Mat& right0, Mat& left, Mat& right,
@@ -679,6 +736,32 @@ struct PrefilterInvoker : public ParallelLoopBody
     StereoBMParams* state;
 };
 
+static bool ocl_stereo( InputArray _left, InputArray _right,
+                       OutputArray _disp, StereoBMParams* state)
+{
+    ocl::Kernel k("stereoBM", ocl::calib3d::stereobm_oclsrc, cv::format("-D SIZE=%d", state->numDisparities ) );
+    if(k.empty())
+        return false;
+
+    UMat left = _left.getUMat(), right = _right.getUMat();
+    _disp.create(_left.size(), CV_16S);
+    UMat disp = _disp.getUMat();
+
+    size_t globalThreads[3] = { left.cols, left.rows, 1 };
+
+    int idx = 0;
+    idx = k.set(idx, ocl::KernelArg::PtrReadOnly(left));
+    idx = k.set(idx, ocl::KernelArg::PtrReadOnly(right));
+    idx = k.set(idx, ocl::KernelArg::WriteOnly(disp));
+    idx = k.set(idx, state->minDisparity);
+    idx = k.set(idx, state->numDisparities);
+    idx = k.set(idx, state->preFilterCap);
+    idx = k.set(idx, state->SADWindowSize);
+    idx = k.set(idx, state->textureThreshold);
+    idx = k.set(idx, state->uniquenessRatio);
+
+    return k.run(2, globalThreads, NULL, false);
+}
 
 struct FindStereoCorrespInvoker : public ParallelLoopBody
 {
@@ -776,21 +859,18 @@ public:
 
     void compute( InputArray leftarr, InputArray rightarr, OutputArray disparr )
     {
-        Mat left0 = leftarr.getMat(), right0 = rightarr.getMat();
         int dtype = disparr.fixedType() ? disparr.type() : params.dispType;
+        Size leftsize = leftarr.size();
 
-        if (left0.size() != right0.size())
+        if (leftarr.size() != rightarr.size())
             CV_Error( Error::StsUnmatchedSizes, "All the images must have the same size" );
 
-        if (left0.type() != CV_8UC1 || right0.type() != CV_8UC1)
+        if (leftarr.type() != CV_8UC1 || rightarr.type() != CV_8UC1)
             CV_Error( Error::StsUnsupportedFormat, "Both input images must have CV_8UC1" );
 
         if (dtype != CV_16SC1 && dtype != CV_32FC1)
             CV_Error( Error::StsUnsupportedFormat, "Disparity image must have CV_16SC1 or CV_32FC1 format" );
 
-        disparr.create(left0.size(), dtype);
-        Mat disp0 = disparr.getMat();
-
         if( params.preFilterType != PREFILTER_NORMALIZED_RESPONSE &&
             params.preFilterType != PREFILTER_XSOBEL )
             CV_Error( Error::StsOutOfRange, "preFilterType must be = CV_STEREO_BM_NORMALIZED_RESPONSE" );
@@ -802,7 +882,7 @@ public:
             CV_Error( Error::StsOutOfRange, "preFilterCap must be within 1..63" );
 
         if( params.SADWindowSize < 5 || params.SADWindowSize > 255 || params.SADWindowSize % 2 == 0 ||
-            params.SADWindowSize >= std::min(left0.cols, left0.rows) )
+            params.SADWindowSize >= std::min(leftsize.width, leftsize.height) )
             CV_Error( Error::StsOutOfRange, "SADWindowSize must be odd, be within 5..255 and be not larger than image width or height" );
 
         if( params.numDisparities <= 0 || params.numDisparities % 16 != 0 )
@@ -814,6 +894,26 @@ public:
         if( params.uniquenessRatio < 0 )
             CV_Error( Error::StsOutOfRange, "uniqueness ratio must be non-negative" );
 
+        int FILTERED = (params.minDisparity - 1) << DISPARITY_SHIFT;
+
+        if(ocl::useOpenCL() && disparr.isUMat())
+        {
+            UMat left, right;
+            CV_Assert(ocl_prefiltering(leftarr, rightarr, left, right, &params));
+            CV_Assert(ocl_stereo(left, right, disparr, &params));
+
+            if( params.speckleRange >= 0 && params.speckleWindowSize > 0 )
+                filterSpeckles(disparr.getMat(), FILTERED, params.speckleWindowSize, params.speckleRange, slidingSumBuf);
+
+            if (dtype == CV_32F)
+                disparr.getUMat().convertTo(disparr, CV_32FC1, 1./(1 << DISPARITY_SHIFT), 0);
+            return;
+        }
+
+        Mat left0 = leftarr.getMat(), right0 = rightarr.getMat();
+        disparr.create(left0.size(), dtype);
+        Mat disp0 = disparr.getMat();
+
         preFilteredImg0.create( left0.size(), CV_8U );
         preFilteredImg1.create( left0.size(), CV_8U );
         cost.create( left0.size(), CV_16S );
@@ -828,7 +928,6 @@ public:
         int lofs = std::max(ndisp - 1 + mindisp, 0);
         int rofs = -std::min(ndisp - 1 + mindisp, 0);
         int width1 = width - rofs - ndisp + 1;
-        int FILTERED = (params.minDisparity - 1) << DISPARITY_SHIFT;
 
         if( lofs >= width || rofs >= width || width1 < 1 )
         {
@@ -855,7 +954,7 @@ public:
             bufSize2 = width*height*(sizeof(Point_<short>) + sizeof(int) + sizeof(uchar));
 
 #if CV_SSE2
-        bool useShorts = params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
+        bool useShorts = false;//params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
 #else
         const bool useShorts = false;
 #endif
@@ -870,6 +969,7 @@ public:
             slidingSumBuf.create( 1, bufSize, CV_8U );
 
         uchar *_buf = slidingSumBuf.data;
+
         parallel_for_(Range(0, 2), PrefilterInvoker(left0, right0, left, right, _buf, _buf + bufSize1, &params), 1);
 
         Rect validDisparityRect(0, 0, width, height), R1 = params.roi1, R2 = params.roi2;

modules/calib3d/test/opencl/test_stereobm.cpp

@@ -0,0 +1,96 @@
+///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
+// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+#include "cvconfig.h"
+#include "opencv2/ts/ocl_test.hpp"
+
+#ifdef HAVE_OPENCL
+
+namespace cvtest {
+namespace ocl {
+
+PARAM_TEST_CASE(StereoBMFixture, int, int)
+{
+    int n_disp;
+    int winSize;
+    Mat left, right, disp;
+    UMat uleft, uright, udisp;
+
+    virtual void SetUp()
+    {
+        n_disp  = GET_PARAM(0);
+        winSize = GET_PARAM(1);
+
+        left  = readImage("gpu/stereobm/aloe-L.png", IMREAD_GRAYSCALE);
+        right = readImage("gpu/stereobm/aloe-R.png", IMREAD_GRAYSCALE);
+
+        ASSERT_FALSE(left.empty());
+        ASSERT_FALSE(right.empty());
+
+        left.copyTo(uleft);
+        right.copyTo(uright);
+    }
+
+    void Near(double eps = 0.0)
+    {
+        EXPECT_MAT_NEAR_RELATIVE(disp, udisp, eps);
+    }
+};
+
+OCL_TEST_P(StereoBMFixture, StereoBM)
+{
+    Ptr<StereoBM> bm = createStereoBM( n_disp, winSize);
+    bm->setPreFilterType(bm->PREFILTER_XSOBEL);
+
+    OCL_OFF(bm->compute(left, right, disp));
+    OCL_ON(bm->compute(uleft, uright, udisp));
+
+    Near(1e-2);
+}
+
+OCL_INSTANTIATE_TEST_CASE_P(StereoMatcher, StereoBMFixture, testing::Combine(testing::Values(128),
+                                       testing::Values(15)));
+}//ocl
+}//cvtest
+
+#endif //HAVE_OPENCL