stereoBM
This commit is contained in:
Konstantin Matskevich
159
modules/calib3d/src/opencl/stereobm.cl
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159
modules/calib3d/src/opencl/stereobm.cl
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors as is and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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//////////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////// stereoBM //////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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#ifdef SIZE
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__kernel void stereoBM(__global const uchar * left, __global const uchar * right, __global uchar * dispptr,
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int disp_step, int disp_offset, int rows, int cols, int mindisp, int ndisp,
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int preFilterCap, int winsize, int textureTreshold, int uniquenessRatio)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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int wsz2 = winsize/2;
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short FILTERED = (mindisp - 1)<<4;
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if(x < cols && y < rows )
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{
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int dispIdx = mad24(y, disp_step, disp_offset + x*(int)sizeof(short) );
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__global short * disp = (__global short*)(dispptr + dispIdx);
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disp[0] = FILTERED;
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if( (x > mindisp+ndisp+wsz2-2) && (y > wsz2-1) && (x < cols-wsz2-mindisp) && (y < rows - wsz2))
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{
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int cost[SIZE];
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int textsum = 0;
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for(int d = mindisp; d < ndisp+mindisp; d++)
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{
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cost[d-mindisp] = 0;
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for(int i = -wsz2; i < wsz2+1; i++)
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for(int j = -wsz2; j < wsz2+1; j++)
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{
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textsum += abs( left[min( y+i, rows-1 ) * cols + min( x+j, cols-1 )] - preFilterCap );
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cost[d-mindisp] += abs( left[min( y+i, rows-1 ) * cols + min( x+j, cols-1 )]
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- right[min( y+i, rows-1 ) * cols + min( x+j-d, cols-1 )] );
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}
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}
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int best_disp = mindisp, best_cost = cost[0];
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for(int d = mindisp; d < ndisp+mindisp; d++)
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{
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best_cost = (cost[d-mindisp] < best_cost) ? cost[d-mindisp] : best_cost;
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best_disp = (best_cost == cost[d-mindisp]) ? d : best_disp;
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}
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int thresh = best_cost + (best_cost * uniquenessRatio/100);
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for(int d = mindisp; (d < ndisp + mindisp) && (uniquenessRatio > 0); d++)
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{
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best_disp = ( (cost[d-mindisp] <= thresh) && (d < best_disp-1 || d > best_disp + 1) ) ? FILTERED : best_disp;
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}
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disp[0] = textsum < textureTreshold ? (FILTERED) : (best_disp == FILTERED) ? (short)(best_disp) : (short)(best_disp);
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if( best_disp != FILTERED )
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{
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int y1 = (best_disp > mindisp) ? cost[best_disp-mindisp-1] : cost[best_disp-mindisp+1],
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y2 = cost[best_disp-mindisp],
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y3 = (best_disp < mindisp+ndisp-1) ? cost[best_disp-mindisp+1] : cost[best_disp-mindisp-1];
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float a = (y3 - ((best_disp+1)*(y2-y1) + best_disp*y1 - (best_disp-1)*y2)/(best_disp - (best_disp-1)) )/
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((best_disp+1)*((best_disp+1) - (best_disp-1) - best_disp) + (best_disp-1)*best_disp);
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float b = (y2 - y1)/(best_disp - (best_disp-1)) - a*((best_disp-1)+best_disp);
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disp[0] = (y1 == y2 || y2 == y3) ? (short)(best_disp*16) : (short)(-b/(2*a)*16);
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}
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}
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}
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}
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#endif
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//////////////////////////////////////////////////////////////////////////////////////////////////
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/////////////////////////////////////// Norm Prefiler ////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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__kernel void prefilter_norm(__global unsigned char *input, __global unsigned char *output,
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int rows, int cols, int prefilterCap, int winsize, int scale_g, int scale_s)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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int wsz2 = winsize/2;
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if(x < cols && y < rows)
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{
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int cov1 = input[ max(y-1, 0) * cols + x] * 1 +
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input[y * cols + max(x-1,0)] * 1 + input[ y * cols + x] * 4 + input[y * cols + min(x+1, cols-1)] * 1 +
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input[min(y+1, rows-1) * cols + x] * 1;
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int cov2 = 0;
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for(int i = -wsz2; i < wsz2+1; i++)
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for(int j = -wsz2; j < wsz2+1; j++)
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cov2 += input[min( max( (y+i),0 ),rows-1 ) * cols + min( max( (x+j),0 ),cols-1 )];
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int res = (cov1*scale_g - cov2*scale_s)>>10;
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res = min(min(max(-prefilterCap, res), prefilterCap) + prefilterCap, 255);
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output[y * cols + x] = res & 0xFF;
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}
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////// Sobel Prefiler ////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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__kernel void prefilter_xsobel(__global unsigned char *input, __global unsigned char *output,
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int rows, int cols, int prefilterCap)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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output[y * cols + x] = min(prefilterCap, 255) & 0xFF;
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if(x < cols && y < rows-1 && x > 0)
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{
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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) +
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input[ (y) * cols + (x-1)] * (-2) + input[ (y) * cols + ((x<cols-1) ? x+1 : x-1)] * (2) +
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input[ (y+1) * cols + (x-1)] * (-1) + input[ (y+1) * cols + ((x<cols-1) ? x+1 : x-1)] * (1);
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cov = min(min(max(-prefilterCap, cov), prefilterCap) + prefilterCap, 255);
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output[y * cols + x] = cov & 0xFF;
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}
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}
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