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stereoBM

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This commit is contained in:
Konstantin Matskevich
2014-01-16 14:10:17 +04:00
parent 4a4151ec97
commit b5f717b6b3
5 changed files with 443 additions and 10 deletions
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120
modules/calib3d/src/stereobm.cpp
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@@ -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;