generic-library/opencv
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added optimization

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This commit is contained in:
Konstantin Matskevich
2014-02-18 14:08:22 +04:00
parent b5f717b6b3
commit bfc843a5f5
4 changed files with 138 additions and 7 deletions
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42
modules/calib3d/src/stereobm.cpp
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@@ -736,10 +736,39 @@ struct PrefilterInvoker : public ParallelLoopBody
StereoBMParams* state;
};
static bool ocl_stereo( InputArray _left, InputArray _right,
static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{
ocl::Kernel k("stereoBM", ocl::calib3d::stereobm_oclsrc, cv::format("-D SIZE=%d", state->numDisparities ) );
int ndisp = state->numDisparities;
ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D tsize=%d", ndisp*ndisp, ndisp) );
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 };
size_t localThreads[3] = {ndisp, 1, 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, ndisp);
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, localThreads, false);
}
static bool ocl_stereobm_bf(InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{
ocl::Kernel k("stereoBM_BF", ocl::calib3d::stereobm_oclsrc, cv::format("-D SIZE=%d", state->numDisparities ) );
if(k.empty())
return false;
@@ -763,6 +792,15 @@ static bool ocl_stereo( InputArray _left, InputArray _right,
return k.run(2, globalThreads, NULL, false);
}
static bool ocl_stereo(InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{
if(ocl::Device::getDefault().localMemSize() > state->numDisparities * state->numDisparities * sizeof(int) )
return ocl_stereobm_opt(_left, _right, _disp, state);
else
return ocl_stereobm_bf(_left, _right, _disp, state);
}
struct FindStereoCorrespInvoker : public ParallelLoopBody
{
FindStereoCorrespInvoker( const Mat& _left, const Mat& _right,