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Optimize ocl::stereobm.

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1. Use macro defines for some parameters(radius).
2. Reduce local memory usage.
3. Fix accuracy problem on Intel GPU.
pull/864/head
peng xiao 12 years ago
parent a9a269505c
commit 168c0b0385
3 changed files with 107 additions and 210 deletions
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  1. 201
      modules/ocl/src/opencl/stereobm.cl
  2. 100
      modules/ocl/src/stereobm.cpp

201
modules/ocl/src/opencl/stereobm.cl
Unescape View File

@ -16,6 +16,8 @@
//
// @Authors
// Jia Haipeng, jiahaipeng95@gmail.com
// Sen Liu, swjtuls1987@126.com
// Peng Xiao, pengxiao@outlook.com
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
@ -50,55 +52,33 @@
#define STEREO_MIND 0 // The minimum d range to check
#define STEREO_DISP_STEP N_DISPARITIES // the d step, must be <= 1 to avoid aliasing
int SQ(int a)
{
return a * a;
}
#ifndef radius
#define radius 64
#endif
unsigned int CalcSSD(volatile __local unsigned int *col_ssd_cache,
volatile __local unsigned int *col_ssd, int radius)
unsigned int CalcSSD(__local unsigned int *col_ssd)
{
unsigned int cache = 0;
unsigned int cache2 = 0;
for(int i = 1; i <= radius; i++)
cache += col_ssd[i];
col_ssd_cache[0] = cache;
unsigned int cache = col_ssd[0];
barrier(CLK_LOCAL_MEM_FENCE);
if (get_local_id(0) < BLOCK_W - radius)
cache2 = col_ssd_cache[radius];
else
for(int i = radius + 1; i < (2 * radius + 1); i++)
cache2 += col_ssd[i];
for(int i = 1, j = radius + 1; i <= radius; i++, j++)
cache += col_ssd[i] + col_ssd[j];
return col_ssd[0] + cache + cache2;
return cache;
}
uint2 MinSSD(volatile __local unsigned int *col_ssd_cache,
volatile __local unsigned int *col_ssd, int radius)
uint2 MinSSD(__local unsigned int *col_ssd)
{
unsigned int ssd[N_DISPARITIES];
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * radius)
ssd[0] = CalcSSD(col_ssd_cache, col_ssd + 0 * (BLOCK_W + 2 * radius), radius);
barrier(CLK_LOCAL_MEM_FENCE);
ssd[1] = CalcSSD(col_ssd_cache, col_ssd + 1 * (BLOCK_W + 2 * radius), radius);
barrier(CLK_LOCAL_MEM_FENCE);
ssd[2] = CalcSSD(col_ssd_cache, col_ssd + 2 * (BLOCK_W + 2 * radius), radius);
barrier(CLK_LOCAL_MEM_FENCE);
ssd[3] = CalcSSD(col_ssd_cache, col_ssd + 3 * (BLOCK_W + 2 * radius), radius);
barrier(CLK_LOCAL_MEM_FENCE);
ssd[4] = CalcSSD(col_ssd_cache, col_ssd + 4 * (BLOCK_W + 2 * radius), radius);
barrier(CLK_LOCAL_MEM_FENCE);
ssd[5] = CalcSSD(col_ssd_cache, col_ssd + 5 * (BLOCK_W + 2 * radius), radius);
barrier(CLK_LOCAL_MEM_FENCE);
ssd[6] = CalcSSD(col_ssd_cache, col_ssd + 6 * (BLOCK_W + 2 * radius), radius);
barrier(CLK_LOCAL_MEM_FENCE);
ssd[7] = CalcSSD(col_ssd_cache, col_ssd + 7 * (BLOCK_W + 2 * radius), radius);
barrier(CLK_LOCAL_MEM_FENCE);
ssd[0] = CalcSSD(col_ssd + 0 * (BLOCK_W + 2 * radius));
ssd[1] = CalcSSD(col_ssd + 1 * (BLOCK_W + 2 * radius));
ssd[2] = CalcSSD(col_ssd + 2 * (BLOCK_W + 2 * radius));
ssd[3] = CalcSSD(col_ssd + 3 * (BLOCK_W + 2 * radius));
ssd[4] = CalcSSD(col_ssd + 4 * (BLOCK_W + 2 * radius));
ssd[5] = CalcSSD(col_ssd + 5 * (BLOCK_W + 2 * radius));
ssd[6] = CalcSSD(col_ssd + 6 * (BLOCK_W + 2 * radius));
ssd[7] = CalcSSD(col_ssd + 7 * (BLOCK_W + 2 * radius));
unsigned int mssd = min(min(min(ssd[0], ssd[1]), min(ssd[4], ssd[5])), min(min(ssd[2], ssd[3]), min(ssd[6], ssd[7])));
@ -113,124 +93,67 @@ uint2 MinSSD(volatile __local unsigned int *col_ssd_cache,
}
void StepDown(int idx1, int idx2, __global unsigned char* imageL,
__global unsigned char* imageR, int d, volatile __local unsigned int *col_ssd, int radius)
__global unsigned char* imageR, int d, __local unsigned int *col_ssd)
{
unsigned char leftPixel1;
unsigned char leftPixel2;
unsigned char rightPixel1[8];
unsigned char rightPixel2[8];
unsigned int diff1, diff2;
leftPixel1 = imageL[idx1];
leftPixel2 = imageL[idx2];
idx1 = idx1 - d;
idx2 = idx2 - d;
rightPixel1[7] = imageR[idx1 - 7];
rightPixel1[0] = imageR[idx1 - 0];
rightPixel1[1] = imageR[idx1 - 1];
rightPixel1[2] = imageR[idx1 - 2];
rightPixel1[3] = imageR[idx1 - 3];
rightPixel1[4] = imageR[idx1 - 4];
rightPixel1[5] = imageR[idx1 - 5];
rightPixel1[6] = imageR[idx1 - 6];
rightPixel2[7] = imageR[idx2 - 7];
rightPixel2[0] = imageR[idx2 - 0];
rightPixel2[1] = imageR[idx2 - 1];
rightPixel2[2] = imageR[idx2 - 2];
rightPixel2[3] = imageR[idx2 - 3];
rightPixel2[4] = imageR[idx2 - 4];
rightPixel2[5] = imageR[idx2 - 5];
rightPixel2[6] = imageR[idx2 - 6];
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * radius)
diff1 = leftPixel1 - rightPixel1[0];
diff2 = leftPixel2 - rightPixel2[0];
col_ssd[0 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[1];
diff2 = leftPixel2 - rightPixel2[1];
col_ssd[1 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[2];
diff2 = leftPixel2 - rightPixel2[2];
col_ssd[2 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[3];
diff2 = leftPixel2 - rightPixel2[3];
col_ssd[3 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[4];
diff2 = leftPixel2 - rightPixel2[4];
col_ssd[4 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[5];
diff2 = leftPixel2 - rightPixel2[5];
col_ssd[5 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[6];
diff2 = leftPixel2 - rightPixel2[6];
col_ssd[6 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
diff1 = leftPixel1 - rightPixel1[7];
diff2 = leftPixel2 - rightPixel2[7];
col_ssd[7 * (BLOCK_W + 2 * radius)] += SQ(diff2) - SQ(diff1);
uint8 imgR1 = convert_uint8(vload8(0, imageR + (idx1 - d - 7)));
uint8 imgR2 = convert_uint8(vload8(0, imageR + (idx2 - d - 7)));
uint8 diff1 = (uint8)(imageL[idx1]) - imgR1;
uint8 diff2 = (uint8)(imageL[idx2]) - imgR2;
uint8 res = diff2 * diff2 - diff1 * diff1;
col_ssd[0 * (BLOCK_W + 2 * radius)] += res.s7;
col_ssd[1 * (BLOCK_W + 2 * radius)] += res.s6;
col_ssd[2 * (BLOCK_W + 2 * radius)] += res.s5;
col_ssd[3 * (BLOCK_W + 2 * radius)] += res.s4;
col_ssd[4 * (BLOCK_W + 2 * radius)] += res.s3;
col_ssd[5 * (BLOCK_W + 2 * radius)] += res.s2;
col_ssd[6 * (BLOCK_W + 2 * radius)] += res.s1;
col_ssd[7 * (BLOCK_W + 2 * radius)] += res.s0;
}
void InitColSSD(int x_tex, int y_tex, int im_pitch, __global unsigned char* imageL,
__global unsigned char* imageR, int d,
volatile __local unsigned int *col_ssd, int radius)
__local unsigned int *col_ssd)
{
unsigned char leftPixel1;
uint8 leftPixel1;
int idx;
unsigned int diffa[] = {0, 0, 0, 0, 0, 0, 0, 0};
uint8 diffa = 0;
for(int i = 0; i < (2 * radius + 1); i++)
{
idx = y_tex * im_pitch + x_tex;
leftPixel1 = imageL[idx];
idx = idx - d;
diffa[0] += SQ(leftPixel1 - imageR[idx - 0]);
diffa[1] += SQ(leftPixel1 - imageR[idx - 1]);
diffa[2] += SQ(leftPixel1 - imageR[idx - 2]);
diffa[3] += SQ(leftPixel1 - imageR[idx - 3]);
diffa[4] += SQ(leftPixel1 - imageR[idx - 4]);
diffa[5] += SQ(leftPixel1 - imageR[idx - 5]);
diffa[6] += SQ(leftPixel1 - imageR[idx - 6]);
diffa[7] += SQ(leftPixel1 - imageR[idx - 7]);
leftPixel1 = (uint8)(imageL[idx]);
uint8 imgR = convert_uint8(vload8(0, imageR + (idx - d - 7)));
uint8 res = leftPixel1 - imgR;
diffa += res * res;
y_tex += 1;
}
//See above: #define COL_SSD_SIZE (BLOCK_W + 2 * radius)
col_ssd[0 * (BLOCK_W + 2 * radius)] = diffa[0];
col_ssd[1 * (BLOCK_W + 2 * radius)] = diffa[1];
col_ssd[2 * (BLOCK_W + 2 * radius)] = diffa[2];
col_ssd[3 * (BLOCK_W + 2 * radius)] = diffa[3];
col_ssd[4 * (BLOCK_W + 2 * radius)] = diffa[4];
col_ssd[5 * (BLOCK_W + 2 * radius)] = diffa[5];
col_ssd[6 * (BLOCK_W + 2 * radius)] = diffa[6];
col_ssd[7 * (BLOCK_W + 2 * radius)] = diffa[7];
col_ssd[0 * (BLOCK_W + 2 * radius)] = diffa.s7;
col_ssd[1 * (BLOCK_W + 2 * radius)] = diffa.s6;
col_ssd[2 * (BLOCK_W + 2 * radius)] = diffa.s5;
col_ssd[3 * (BLOCK_W + 2 * radius)] = diffa.s4;
col_ssd[4 * (BLOCK_W + 2 * radius)] = diffa.s3;
col_ssd[5 * (BLOCK_W + 2 * radius)] = diffa.s2;
col_ssd[6 * (BLOCK_W + 2 * radius)] = diffa.s1;
col_ssd[7 * (BLOCK_W + 2 * radius)] = diffa.s0;
}
__kernel void stereoKernel(__global unsigned char *left, __global unsigned char *right,
__global unsigned int *cminSSDImage, int cminSSD_step,
__global unsigned char *disp, int disp_step,int cwidth, int cheight,
int img_step, int maxdisp, int radius,
int img_step, int maxdisp,
__local unsigned int *col_ssd_cache)
{
volatile __local unsigned int *col_ssd = col_ssd_cache + BLOCK_W + get_local_id(0);
volatile __local unsigned int *col_ssd_extra = get_local_id(0) < (2 * radius) ? col_ssd + BLOCK_W : 0;
__local unsigned int *col_ssd = col_ssd_cache + get_local_id(0);
__local unsigned int *col_ssd_extra = get_local_id(0) < (2 * radius) ? col_ssd + BLOCK_W : 0;
int X = get_group_id(0) * BLOCK_W + get_local_id(0) + maxdisp + radius;
// int Y = get_group_id(1) * ROWSperTHREAD + radius;
#define Y (get_group_id(1) * ROWSperTHREAD + radius)
volatile __global unsigned int* minSSDImage = cminSSDImage + X + Y * cminSSD_step;
__global unsigned int* minSSDImage = cminSSDImage + X + Y * cminSSD_step;
__global unsigned char* disparImage = disp + X + Y * disp_step;
int end_row = ROWSperTHREAD < (cheight - Y) ? ROWSperTHREAD:(cheight - Y);
@ -244,14 +167,14 @@ __kernel void stereoKernel(__global unsigned char *left, __global unsigned char
{
y_tex = Y - radius;
InitColSSD(x_tex, y_tex, img_step, left, right, d, col_ssd, radius);
InitColSSD(x_tex, y_tex, img_step, left, right, d, col_ssd);
if (col_ssd_extra > 0)
if (x_tex + BLOCK_W < cwidth)
InitColSSD(x_tex + BLOCK_W, y_tex, img_step, left, right, d, col_ssd_extra, radius);
InitColSSD(x_tex + BLOCK_W, y_tex, img_step, left, right, d, col_ssd_extra);
barrier(CLK_LOCAL_MEM_FENCE); //before MinSSD function
uint2 minSSD = MinSSD(col_ssd_cache + get_local_id(0), col_ssd, radius);
uint2 minSSD = MinSSD(col_ssd);
if (X < cwidth - radius && Y < cheight - radius)
{
if (minSSD.x < minSSDImage[0])
@ -266,19 +189,14 @@ __kernel void stereoKernel(__global unsigned char *left, __global unsigned char
int idx1 = y_tex * img_step + x_tex;
int idx2 = min(y_tex + (2 * radius + 1), cheight - 1) * img_step + x_tex;
barrier(CLK_GLOBAL_MEM_FENCE);
barrier(CLK_LOCAL_MEM_FENCE);
StepDown(idx1, idx2, left, right, d, col_ssd, radius);
StepDown(idx1, idx2, left, right, d, col_ssd);
if (col_ssd_extra > 0)
if (x_tex + BLOCK_W < cwidth)
StepDown(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra, radius);
y_tex += 1;
StepDown(idx1, idx2, left + BLOCK_W, right + BLOCK_W, d, col_ssd_extra);
barrier(CLK_LOCAL_MEM_FENCE);
uint2 minSSD = MinSSD(col_ssd_cache + get_local_id(0), col_ssd, radius);
uint2 minSSD = MinSSD(col_ssd);
if (X < cwidth - radius && row < cheight - radius - Y)
{
int idx = row * cminSSD_step;
@ -288,10 +206,11 @@ __kernel void stereoKernel(__global unsigned char *left, __global unsigned char
minSSDImage[idx] = minSSD.x;
}
}
y_tex++;
} // for row loop
} // for d loop
}
//////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////// Sobel Prefiler (signal channel)//////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////

100
modules/ocl/src/stereobm.cpp
Unescape View File

@ -74,28 +74,21 @@ namespace stereoBM
////////////////////////////////////////////////////////////////////////
static void prefilter_xsobel(const oclMat &input, oclMat &output, int prefilterCap)
{
Context *clCxt = input.clCxt;
string kernelName = "prefilter_xsobel";
cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereobm, kernelName);
size_t blockSize = 1;
size_t globalThreads[3] = { input.cols, input.rows, 1 };
size_t localThreads[3] = { blockSize, blockSize, 1 };
openCLVerifyKernel(clCxt, kernel, localThreads);
openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&input.data));
openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&output.data));
openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_int), (void *)&input.rows));
openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&input.cols));
openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_int), (void *)&prefilterCap));
openCLSafeCall(clEnqueueNDRangeKernel((cl_command_queue)clCxt->oclCommandQueue(), kernel, 3, NULL,
globalThreads, localThreads, 0, NULL, NULL));
clFinish((cl_command_queue)clCxt->oclCommandQueue());
openCLSafeCall(clReleaseKernel(kernel));
std::vector<std::pair<size_t, const void *>> args;
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&input.data));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&output.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&input.rows));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&input.cols));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&prefilterCap));
openCLExecuteKernel(Context::getContext(), &stereobm, kernelName,
globalThreads, localThreads, args, -1, -1);
}
//////////////////////////////////////////////////////////////////////////
//////////////////////////////common////////////////////////////////////
@ -115,19 +108,13 @@ static void stereo_bm(const oclMat &left, const oclMat &right, oclMat &disp,
{
int winsz2 = winSize >> 1;
//if(winsz2 == 0 || winsz2 >= calles_num)
//cv::ocl:error("Unsupported window size", __FILE__, __LINE__, __FUNCTION__);
Context *clCxt = left.clCxt;
string kernelName = "stereoKernel";
cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereobm, kernelName);
disp.setTo(Scalar_<unsigned char>::all(0));
minSSD_buf.setTo(Scalar_<unsigned int>::all(0xFFFFFFFF));
size_t minssd_step = minSSD_buf.step / minSSD_buf.elemSize();
size_t local_mem_size = (BLOCK_W + N_DISPARITIES * (BLOCK_W + 2 * winsz2)) *
size_t local_mem_size = (N_DISPARITIES * (BLOCK_W + 2 * winsz2)) *
sizeof(cl_uint);
//size_t blockSize = 1;
size_t localThreads[] = { BLOCK_W, 1,1};
@ -136,26 +123,23 @@ static void stereo_bm(const oclMat &left, const oclMat &right, oclMat &disp,
1
};
openCLVerifyKernel(clCxt, kernel, localThreads);
openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&left.data));
openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&right.data));
openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&minSSD_buf.data));
openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&minssd_step));
openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_mem), (void *)&disp.data));
openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&disp.step));
openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&left.cols));
openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&left.rows));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&left.step));
openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&maxdisp));
openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&winsz2));
openCLSafeCall(clSetKernelArg(kernel, 11, local_mem_size, (void *)NULL));
openCLSafeCall(clEnqueueNDRangeKernel((cl_command_queue)clCxt->oclCommandQueue(), kernel, 2, NULL,
globalThreads, localThreads, 0, NULL, NULL));
clFinish((cl_command_queue)clCxt->oclCommandQueue());
openCLSafeCall(clReleaseKernel(kernel));
std::vector<std::pair<size_t, const void *>> args;
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&left.data));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&right.data));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&minSSD_buf.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&minssd_step));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&disp.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disp.step));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.cols));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.rows));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.step));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&maxdisp));
args.push_back(std::make_pair(local_mem_size, (void *)NULL));
char opt [128];
sprintf(opt, "-D radius=%d", winsz2);
openCLExecuteKernel(Context::getContext(), &stereobm, kernelName,
globalThreads, localThreads, args, -1, -1, opt);
}
////////////////////////////////////////////////////////////////////////////
///////////////////////////////postfilter_textureness///////////////////////
@ -163,10 +147,7 @@ static void stereo_bm(const oclMat &left, const oclMat &right, oclMat &disp,
static void postfilter_textureness(oclMat &left, int winSize,
float avergeTexThreshold, oclMat &disparity)
{
Context *clCxt = left.clCxt;
string kernelName = "textureness_kernel";
cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereobm, kernelName);
size_t blockSize = 1;
size_t localThreads[] = { BLOCK_W, blockSize ,1};
@ -177,22 +158,19 @@ static void postfilter_textureness(oclMat &left, int winSize,
size_t local_mem_size = (localThreads[0] + localThreads[0] + (winSize / 2) * 2) * sizeof(float);
openCLVerifyKernel(clCxt, kernel, localThreads);
openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&disparity.data));
openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_int), (void *)&disparity.rows));
openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_int), (void *)&disparity.cols));
openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&disparity.step));
openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_mem), (void *)&left.data));
openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&left.rows));
openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&left.cols));
openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&winSize));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_float), (void *)&avergeTexThreshold));
openCLSafeCall(clSetKernelArg(kernel, 9, local_mem_size, NULL));
openCLSafeCall(clEnqueueNDRangeKernel((cl_command_queue)clCxt->oclCommandQueue(), kernel, 2, NULL,
globalThreads, localThreads, 0, NULL, NULL));
clFinish((cl_command_queue)clCxt->oclCommandQueue());
openCLSafeCall(clReleaseKernel(kernel));
std::vector<std::pair<size_t, const void *>> args;
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&disparity.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disparity.rows));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disparity.cols));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disparity.step));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&left.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.rows));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.cols));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&winSize));
args.push_back(std::make_pair(sizeof(cl_float), (void *)&avergeTexThreshold));
args.push_back(std::make_pair(local_mem_size, (void*)NULL));
openCLExecuteKernel(Context::getContext(), &stereobm, kernelName,
globalThreads, localThreads, args, -1, -1);
}
//////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////operator/////////////////////////////////

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