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Merge pull request #8803 from 4ekmah:sgbm_modehh4_SIMD

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pull/6890/merge
Vadim Pisarevsky 8 years ago
parent 7b8d107384 a113e8f088
commit 31c79668c8
2 changed files with 185 additions and 23 deletions
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  1. 2
      modules/calib3d/perf/perf_stereosgbm.cpp
  2. 206
      modules/calib3d/src/stereosgbm.cpp

2
modules/calib3d/perf/perf_stereosgbm.cpp
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@ -47,7 +47,7 @@ using namespace cv;
void MakeArtificialExample(RNG rng, Mat& dst_left_view, Mat& dst_view);
CV_ENUM(SGBMModes, StereoSGBM::MODE_SGBM, StereoSGBM::MODE_SGBM_3WAY);
CV_ENUM(SGBMModes, StereoSGBM::MODE_SGBM, StereoSGBM::MODE_SGBM_3WAY, StereoSGBM::MODE_HH4);
typedef tuple<Size, int, SGBMModes> SGBMParams;
typedef TestBaseWithParam<SGBMParams> TestStereoCorresp;

206
modules/calib3d/src/stereosgbm.cpp
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@ -155,9 +155,13 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
int n1 = y > 0 ? -(int)img1.step : 0, s1 = y < img1.rows-1 ? (int)img1.step : 0;
int n2 = y > 0 ? -(int)img2.step : 0, s2 = y < img2.rows-1 ? (int)img2.step : 0;
int minX_cmn = std::min(minX1,minX2)-1;
int maxX_cmn = std::max(maxX1,maxX2)+1;
minX_cmn = std::max(minX_cmn, 1);
maxX_cmn = std::min(maxX_cmn, width - 1);
if( cn == 1 )
{
for( x = 1; x < width-1; x++ )
for( x = minX_cmn; x < maxX_cmn; x++ )
{
prow1[x] = tab[(row1[x+1] - row1[x-1])*2 + row1[x+n1+1] - row1[x+n1-1] + row1[x+s1+1] - row1[x+s1-1]];
prow2[width-1-x] = tab[(row2[x+1] - row2[x-1])*2 + row2[x+n2+1] - row2[x+n2-1] + row2[x+s2+1] - row2[x+s2-1]];
@ -168,7 +172,7 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
}
else
{
for( x = 1; x < width-1; x++ )
for( x = minX_cmn; x < maxX_cmn; x++ )
{
prow1[x] = tab[(row1[x*3+3] - row1[x*3-3])*2 + row1[x*3+n1+3] - row1[x*3+n1-3] + row1[x*3+s1+3] - row1[x*3+s1-3]];
prow1[x+width] = tab[(row1[x*3+4] - row1[x*3-2])*2 + row1[x*3+n1+4] - row1[x*3+n1-2] + row1[x*3+s1+4] - row1[x*3+s1-2]];
@ -864,6 +868,7 @@ struct CalcVerticalSums: public ParallelLoopBody
Cbuf = alignedBuf;
Sbuf = Cbuf + CSBufSize;
hsumBuf = Sbuf + CSBufSize;
useSIMD = hasSIMD128();
}
void operator()( const Range& range ) const
@ -951,6 +956,24 @@ struct CalcVerticalSums: public ParallelLoopBody
const CostType* pixAdd = pixDiff + std::min(x + SW2*D, (width1-1)*D);
const CostType* pixSub = pixDiff + std::max(x - (SW2+1)*D, 0);
#if CV_SIMD128
if( useSIMD )
{
for( d = 0; d < D; d += 8 )
{
v_int16x8 hv = v_load(hsumAdd + x - D + d);
v_int16x8 Cx = v_load(Cprev + x + d);
v_int16x8 psub = v_load(pixSub + d);
v_int16x8 padd = v_load(pixAdd + d);
hv = (hv - psub + padd);
psub = v_load(hsumSub + x + d);
Cx = Cx - psub + hv;
v_store(hsumAdd + x + d, hv);
v_store(C + x + d, Cx);
}
}
else
#endif
{
for( d = 0; d < D; d++ )
{
@ -1010,6 +1033,46 @@ struct CalcVerticalSums: public ParallelLoopBody
const CostType* Cp = C + x*D;
CostType* Sp = S + x*D;
#if CV_SIMD128
if( useSIMD )
{
v_int16x8 _P1 = v_setall_s16((short)P1);
v_int16x8 _delta = v_setall_s16((short)delta);
v_int16x8 _minL = v_setall_s16((short)MAX_COST);
for( d = 0; d < D; d += 8 )
{
v_int16x8 Cpd = v_load(Cp + d);
v_int16x8 L;
L = v_load(Lr_ppr + d);
L = v_min(L, (v_load(Lr_ppr + d - 1) + _P1));
L = v_min(L, (v_load(Lr_ppr + d + 1) + _P1));
L = v_min(L, _delta);
L = ((L - _delta) + Cpd);
v_store(Lr_p + d, L);
// Get minimum from in L-L3
_minL = v_min(_minL, L);
v_int16x8 Sval = v_load(Sp + d);
Sval = Sval + L;
v_store(Sp + d, Sval);
}
v_int32x4 min1, min2, min12;
v_expand(_minL, min1, min2);
min12 = v_min(min1,min2);
minLr[0][x] = (CostType)v_reduce_min(min12);
}
else
#endif
{
int minL = MAX_COST;
@ -1058,6 +1121,7 @@ struct CalcVerticalSums: public ParallelLoopBody
size_t LrSize;
size_t hsumBufNRows;
int ftzero;
bool useSIMD;
};
struct CalcHorizontalSums: public ParallelLoopBody
@ -1085,6 +1149,7 @@ struct CalcHorizontalSums: public ParallelLoopBody
LrSize = 2 * D2;
Cbuf = alignedBuf;
Sbuf = Cbuf + CSBufSize;
useSIMD = hasSIMD128();
}
void operator()( const Range& range ) const
@ -1138,20 +1203,60 @@ struct CalcHorizontalSums: public ParallelLoopBody
const CostType* Cp = C + x*D;
CostType* Sp = S + x*D;
int minL = MAX_COST;
#if CV_SIMD128
if( useSIMD )
{
v_int16x8 _P1 = v_setall_s16((short)P1);
v_int16x8 _delta = v_setall_s16((short)delta);
v_int16x8 _minL = v_setall_s16((short)MAX_COST);
for( d = 0; d < D; d++ )
for( d = 0; d < D; d += 8 )
{
v_int16x8 Cpd = v_load(Cp + d);
v_int16x8 L;
L = v_load(Lr_ppr + d);
L = v_min(L, (v_load(Lr_ppr + d - 1) + _P1));
L = v_min(L, (v_load(Lr_ppr + d + 1) + _P1));
L = v_min(L, _delta);
L = ((L - _delta) + Cpd);
v_store(Lr_p + d, L);
// Get minimum from in L-L3
_minL = v_min(_minL, L);
v_int16x8 Sval = v_load(Sp + d);
Sval = Sval + L;
v_store(Sp + d, Sval);
}
v_int32x4 min1, min2, min12;
v_expand(_minL, min1, min2);
min12 = v_min(min1,min2);
minLr = (CostType)v_reduce_min(min12);
}
else
#endif
{
int Cpd = Cp[d], L;
minLr = MAX_COST;
for( d = 0; d < D; d++ )
{
int Cpd = Cp[d], L;
L = Cpd + std::min((int)Lr_ppr[d], std::min(Lr_ppr[d-1] + P1, std::min(Lr_ppr[d+1] + P1, delta))) - delta;
L = Cpd + std::min((int)Lr_ppr[d], std::min(Lr_ppr[d-1] + P1, std::min(Lr_ppr[d+1] + P1, delta))) - delta;
Lr_p[d] = (CostType)L;
minL = std::min(minL, L);
Lr_p[d] = (CostType)L;
minLr = (CostType)std::min((int)minLr, L);
Sp[d] = saturate_cast<CostType>(Sp[d] + L);
Sp[d] = saturate_cast<CostType>(Sp[d] + L);
}
}
minLr = (CostType)minL;
}
memset( Lr - 8, 0, LrSize*sizeof(CostType) );
@ -1169,26 +1274,82 @@ struct CalcHorizontalSums: public ParallelLoopBody
const CostType* Cp = C + x*D;
CostType* Sp = S + x*D;
int minS = MAX_COST, bestDisp = -1;
minLr = MAX_COST;
int minL = MAX_COST;
for( d = 0; d < D; d++ )
#if CV_SIMD128
if( useSIMD )
{
int Cpd = Cp[d], L;
v_int16x8 _P1 = v_setall_s16((short)P1);
L = Cpd + std::min((int)Lr_ppr[d], std::min(Lr_ppr[d-1] + P1, std::min(Lr_ppr[d+1] + P1, delta))) - delta;
v_int16x8 _delta = v_setall_s16((short)delta);
v_int16x8 _minL = v_setall_s16((short)MAX_COST);
Lr_p[d] = (CostType)L;
minL = std::min(minL, L);
v_int16x8 _minS = v_setall_s16(MAX_COST), _bestDisp = v_setall_s16(-1);
v_int16x8 _d8 = v_int16x8(0, 1, 2, 3, 4, 5, 6, 7), _8 = v_setall_s16(8);
Sp[d] = saturate_cast<CostType>(Sp[d] + L);
if( Sp[d] < minS )
for( d = 0; d < D; d+= 8 )
{
minS = Sp[d];
bestDisp = d;
v_int16x8 Cpd = v_load(Cp + d);
v_int16x8 L;
L = v_load(Lr_ppr + d);
L = v_min(L, (v_load(Lr_ppr + d - 1) + _P1));
L = v_min(L, (v_load(Lr_ppr + d + 1) + _P1));
L = v_min(L, _delta);
L = ((L - _delta) + Cpd);
v_store(Lr_p + d, L);
// Get minimum from in L-L3
_minL = v_min(_minL, L);
v_int16x8 Sval = v_load(Sp + d);
Sval = Sval + L;
v_int16x8 mask = Sval < _minS;
_minS = v_min( Sval, _minS );
_bestDisp = _bestDisp ^ ((_bestDisp ^ _d8) & mask);
_d8 = _d8 + _8;
v_store(Sp + d, Sval);
}
v_int32x4 min1, min2, min12;
v_expand(_minL, min1, min2);
min12 = v_min(min1,min2);
minLr = (CostType)v_reduce_min(min12);
v_int32x4 _d0, _d1;
v_expand(_minS, _d0, _d1);
minS = (int)std::min(v_reduce_min(_d0), v_reduce_min(_d1));
v_int16x8 v_mask = v_setall_s16((short)minS) == _minS;
_bestDisp = (_bestDisp & v_mask) | (v_setall_s16(SHRT_MAX) & ~v_mask);
v_expand(_bestDisp, _d0, _d1);
bestDisp = (int)std::min(v_reduce_min(_d0), v_reduce_min(_d1));
}
else
#endif
{
for( d = 0; d < D; d++ )
{
int Cpd = Cp[d], L;
L = Cpd + std::min((int)Lr_ppr[d], std::min(Lr_ppr[d-1] + P1, std::min(Lr_ppr[d+1] + P1, delta))) - delta;
Lr_p[d] = (CostType)L;
minLr = (CostType)std::min((int)minLr, L);
Sp[d] = saturate_cast<CostType>(Sp[d] + L);
if( Sp[d] < minS )
{
minS = Sp[d];
bestDisp = d;
}
}
}
minLr = (CostType)minL;
//Some postprocessing procedures and saving
for( d = 0; d < D; d++ )
{
@ -1263,6 +1424,7 @@ struct CalcHorizontalSums: public ParallelLoopBody
int INVALID_DISP_SCALED;
int uniquenessRatio;
int disp12MaxDiff;
bool useSIMD;
};
/*
computes disparity for "roi" in img1 w.r.t. img2 and write it to disp1buf.

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