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pull/2464/head
Konstantin Matskevich 11 years ago
parent 799d7e7a50
commit a5d989f346
3 changed files with 54 additions and 84 deletions
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  1. 121
      modules/calib3d/src/opencl/stereobm.cl
  2. 9
      modules/calib3d/src/stereobm.cpp
  3. 8
      modules/calib3d/test/opencl/test_stereobm.cpp

121
modules/calib3d/src/opencl/stereobm.cl
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@ -56,7 +56,7 @@ void calcDisp(__local short * costFunc, __global short * disp, int uniquenessRat
__local short * cost;
cost = &costFunc[0];
#pragma unroll
for(int i = 0; i < tsize/2; i++)
for(int i = 0; i < tsize; i++)
{
short c = cost[0];
best_cost = (c < best_cost) ? c : best_cost;
@ -67,14 +67,14 @@ void calcDisp(__local short * costFunc, __global short * disp, int uniquenessRat
cost = &costFunc[0];
int thresh = best_cost + (best_cost * uniquenessRatio/100);
#pragma unroll
for(int i = 0; (i < tsize/2) && (uniquenessRatio > 0); i++)
for(int i = 0; (i < tsize) && (uniquenessRatio > 0); i++)
{
best_disp = ( (cost[0] <= thresh) && (i < (ndisp - best_disp - 2) || i > (ndisp - best_disp) ) ) ?
FILTERED : best_disp;
cost++;
}
best_disp = (textsum < textureTreshold) ? FILTERED : best_disp;
// best_disp = (textsum < textureTreshold) ? FILTERED : best_disp;
if( best_disp != FILTERED )
{
@ -92,104 +92,73 @@ __kernel void stereoBM_opt(__global const uchar * leftptr, __global const uchar
int preFilterCap, int textureTreshold, int uniquenessRatio)
{
int x = get_global_id(0);
int ly = get_local_id(1);
int y = get_global_id(1)*32;
int total_y = get_global_id(1);
int d = get_local_id(2);
int ly = get_local_id(1);
int gy = get_group_id(1), y = gy*wsz;
int wsz2 = wsz/2;
short FILTERED = (mindisp - 1)<<4;
__local short costFunc[tsize];
__local short bestdisp[tsize];
__local short costFunc[csize];
short textsum;
__local short * cost = &costFunc[0] + d +ly*ndisp;
__global uchar * left, * right;
int dispIdx = mad24(y, disp_step, disp_offset + x*(int)sizeof(short) );
__local short * cost = costFunc + d;
__global const uchar * left, * right;
int dispIdx = mad24(total_y, disp_step, disp_offset + x*(int)sizeof(short) );
__global short * disp = (__global short*)(dispptr + dispIdx);
short best_cost = MAX_VAL-1, best_disp = FILTERED;
short costbuf[wsz];
short textbuf[wsz];
int head = 0;
int endy = y+32;
cost[0] = 0;
bestdisp[d + ly*ndisp] = d;
textsum = 0;
for(; y < wsz2; y++)
{
disp[0] = FILTERED;
disp += cols;
}
if( x < cols && y < rows)
if( x < cols && total_y < rows)
{
disp[0] = FILTERED;
}
if( (x > ndisp+mindisp+wsz2-2) && (x < cols - wsz2 - mindisp) )
{
for(int i = -wsz2; (i < wsz2+1) && (y < rows-wsz2); i++)
{
left = leftptr + mad24(y+i, cols, x-wsz2);
right = rightptr + mad24(y+i, cols, x-wsz2-d-mindisp);
cost[ly*ndisp] = 0;
cost += (y < wsz2) ? ndisp*wsz2 : 0;
y = (y<wsz2) ? wsz2 : y;
int costdiff = 0, textdiff = 0;
#pragma unroll
for(int j = 0; j < wsz; j++)
{
costdiff += abs( left[0] - right[0] );
textdiff += abs( left[0] - preFilterCap );
left++; right++;
}
cost[0] += costdiff;
textsum += textdiff;
costbuf[head] = costdiff;
textbuf[head] = textdiff;
head++;
short costdiff = 0;
for(int i = 0; (i < wsz) && (y < rows-wsz2); i++)
{
left = leftptr + mad24(y-wsz2+i, cols, x-wsz2+ly);
right = rightptr + mad24(y-wsz2+i, cols, x-wsz2-d-mindisp+ly);
costbuf[i] = abs(left[0] - right[0]);
costdiff += costbuf[i];
}
barrier(CLK_LOCAL_MEM_FENCE);
if( (y < rows-wsz2) && (y >= wsz2) )
for( int i = 0; i < wsz; i++)
{
calcDisp(&costFunc[ly*ndisp], &disp[0], uniquenessRatio, textureTreshold, textsum, mindisp, ndisp);
if(ly == i)
cost[0] += costdiff;
}
barrier(CLK_LOCAL_MEM_FENCE);
}
y++;
cost = &costFunc[0] + d+ly*ndisp;
for(; (y < endy) && (y<rows); y++)
{
disp+=cols;
disp[0] = FILTERED;
if(y < rows - wsz2 && y > wsz2 && (x > ndisp+mindisp+wsz2-2) && (x < cols - wsz2 - mindisp) )
y++;
for(; (y < gy*wsz + wsz) && (y < rows-wsz2); y++)
{
head = head%wsz;
left = leftptr + mad24(y-wsz2-1, cols, x - wsz2);
right = rightptr + mad24(y-wsz2-1, cols, x - wsz2 - d - mindisp);
int costdiff = 0, textdiff = 0;
#pragma unroll
for(int i = 0; i < wsz; i++)
cost += ndisp;
left += cols;
right += cols;
costdiff += abs(left[0] - right[0]) - abs(left[(-wsz2-1)*cols] - right[(-wsz2-1)*cols]);//costbuf[(y-1)%wsz];
for( int i = 0; i < wsz; i++)
{
costdiff +=
abs( left[wsz*cols] - right[wsz*cols] );
textdiff += abs( left[wsz*cols] - preFilterCap );
left++; right++;
if(ly == i)
cost[0] += costdiff;
}
cost[0] += costdiff - costbuf[head];
textsum += textdiff - textbuf[head];
costbuf[head] = costdiff;
textbuf[head] = textdiff;
head++;
barrier(CLK_LOCAL_MEM_FENCE);
}
barrier(CLK_LOCAL_MEM_FENCE);
/*
if(total_y >= wsz2 && total_y < rows - wsz2 && d == 0)
{
cost = costFunc + ly*ndisp;
disp[0] = cost[wsz-1];
}*/
if(d == 0)
{
calcDisp(&costFunc[ly*ndisp], &disp[0], uniquenessRatio, textureTreshold, textsum, mindisp, ndisp);
}
barrier(CLK_LOCAL_MEM_FENCE);
if(total_y >= wsz2 && total_y < rows - wsz2 && d == 0)
{
calcDisp(&(costFunc + ly*ndisp)[0], disp, uniquenessRatio, textureTreshold, textsum, mindisp, ndisp);
}
}
}

9
modules/calib3d/src/stereobm.cpp
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@ -739,7 +739,8 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
OutputArray _disp, StereoBMParams* state)
{//printf("opt\n");
int ndisp = state->numDisparities;
ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D tsize=%d -D wsz=%d", ndisp*ndisp, 2*ndisp, state->SADWindowSize) );
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) );
if(k.empty())
return false;
@ -747,8 +748,8 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
_disp.create(_left.size(), CV_16S);
UMat disp = _disp.getUMat();
size_t globalThreads[3] = { left.cols, (left.rows-left.rows%32 + 32)/32, ndisp};
size_t localThreads[3] = {1, 2, ndisp};
size_t globalThreads[3] = { left.cols, (left.rows-left.rows%wsz + wsz), ndisp};
size_t localThreads[3] = {1, wsz, ndisp};
int idx = 0;
idx = k.set(idx, ocl::KernelArg::PtrReadOnly(left));
@ -797,7 +798,7 @@ static bool ocl_stereo(InputArray _left, InputArray _right,
if(ocl::Device::getDefault().localMemSize() > state->numDisparities * state->numDisparities * sizeof(short) )
return ocl_stereobm_opt(_left, _right, _disp, state);
else
return false;//ocl_stereobm_bf(_left, _right, _disp, state);
return ocl_stereobm_bf(_left, _right, _disp, state);
}
struct FindStereoCorrespInvoker : public ParallelLoopBody

8
modules/calib3d/test/opencl/test_stereobm.cpp
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@ -92,11 +92,11 @@ OCL_TEST_P(StereoBMFixture, StereoBM)
std::cout << (double)(t2-t1)/CLOCKS_PER_SEC << " " << (double)(t3-t2)/CLOCKS_PER_SEC << std::endl;
Mat t; absdiff(disp, udisp, t);
/* for(int i = 0; i<t.rows; i++)
for(int i = 0; i<t.rows; i++)
for(int j = 0; j< t.cols; j++)
if(t.at<short>(i,j) > 0)
// if(i == 125 && j == 174)
printf("%d %d cv: %d ocl: %d\n", i, j, disp.at<short>(i,j), udisp.getMat(ACCESS_READ).at<short>(i,j) );*/
// if(t.at<short>(i,j) > 0)
if(i == 5 && j == 38)
printf("%d %d cv: %d ocl: %d\n", i, j, disp.at<short>(i,j), udisp.getMat(ACCESS_READ).at<short>(i,j) );
/* imshow("diff.png", t*100);
imshow("cv.png", disp*100);
imshow("ocl.png", udisp.getMat(ACCESS_READ)*100);

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