generic-library/opencv
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new approach

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This commit is contained in:
Konstantin Matskevich
2014-03-06 17:56:42 +04:00
parent a5d989f346
commit ddc235172e
4 changed files with 200 additions and 100 deletions
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41
modules/calib3d/src/stereobm.cpp
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@@ -681,7 +681,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
sad[ndisp] = sad[ndisp-2];
int p = sad[mind+1], n = sad[mind-1];
d = p + n - 2*sad[mind] + std::abs(p - n);
dptr[y*dstep] = (short)mind;//(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4);
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4);
costptr[y*coststep] = sad[mind];
}
}
@@ -739,27 +739,43 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{//printf("opt\n");
int ndisp = state->numDisparities;
int mindisp = state->minDisparity;
int wsz = state->SADWindowSize;
ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D tsize=%d -D wsz=%d", wsz*ndisp, ndisp, wsz) );
int wsz2 = wsz/2;
int sizeX = 9, sizeY = sizeX-1, N = ndisp*2;
ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D tsize=%d -D wsz=%d", (2*sizeY)*ndisp, 2*ndisp, wsz) );
if(k.empty())
return false;
UMat left = _left.getUMat(), right = _right.getUMat();
_disp.create(_left.size(), CV_16S);
UMat disp = _disp.getUMat();
int cols = left.cols, rows = left.rows;
size_t globalThreads[3] = { left.cols, (left.rows-left.rows%wsz + wsz), ndisp};
size_t localThreads[3] = {1, wsz, ndisp};
_disp.create(_left.size(), CV_16S);
_disp.setTo((mindisp - 1)<<4);
Rect roi = Rect(Point(wsz2 + mindisp + ndisp - 1, wsz2), Point(cols-1-wsz2-mindisp, rows-1-wsz2) );
UMat disp = (_disp.getUMat())(roi);
int globalX = disp.cols/sizeX, globalY = disp.rows/sizeY;
globalX += (disp.cols%sizeX) > 0 ? 1 : 0;
globalY += (disp.rows%sizeY) > 0 ? 1 : 0;
size_t globalThreads[3] = { globalX, globalY, N};
size_t localThreads[3] = {1, 1, N};
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, ocl::KernelArg::WriteOnlyNoSize(disp));
idx = k.set(idx, rows);
idx = k.set(idx, cols);
idx = k.set(idx, mindisp);
idx = k.set(idx, ndisp);
idx = k.set(idx, state->preFilterCap);
idx = k.set(idx, state->textureThreshold);
idx = k.set(idx, state->uniquenessRatio);
idx = k.set(idx, sizeX);
idx = k.set(idx, sizeY);
return k.run(3, globalThreads, localThreads, false);
}
@@ -789,16 +805,15 @@ static bool ocl_stereobm_bf(InputArray _left, InputArray _right,
idx = k.set(idx, state->uniquenessRatio);
return k.run(2, globalThreads, NULL, false);
return false;
}
static bool ocl_stereo(InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{
if(ocl::Device::getDefault().localMemSize() > state->numDisparities * state->numDisparities * sizeof(short) )
//if(ocl::Device::getDefault().localMemSize() > state->numDisparities * state->numDisparities * sizeof(short) )
return ocl_stereobm_opt(_left, _right, _disp, state);
else
return ocl_stereobm_bf(_left, _right, _disp, state);
//else
// return ocl_stereobm_bf(_left, _right, _disp, state);
}
struct FindStereoCorrespInvoker : public ParallelLoopBody
@@ -992,7 +1007,7 @@ public:
bufSize2 = width*height*(sizeof(Point_<short>) + sizeof(int) + sizeof(uchar));
#if CV_SSE2
bool useShorts = false;//params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
bool useShorts = params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
#else
const bool useShorts = false;
#endif