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Merge pull request #7572 from tomoaki0705:featureUniversalStereoSgbm

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pull/7467/head
Vadim Pisarevsky 9 years ago
parent 7f2ac764ae b823c8e95c
commit ecb8fb964d
4 changed files with 450 additions and 419 deletions
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  1. 363
      modules/calib3d/src/stereosgbm.cpp
  2. 46
      modules/core/include/opencv2/core/hal/intrin_neon.hpp
  3. 40
      modules/core/include/opencv2/core/hal/intrin_sse.hpp
  4. 4
      modules/core/test/test_intrin.cpp

363
modules/calib3d/src/stereosgbm.cpp
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@ -131,6 +131,9 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
int D = maxD - minD, width1 = maxX1 - minX1, width2 = maxX2 - minX2; int D = maxD - minD, width1 = maxX1 - minX1, width2 = maxX2 - minX2;
const PixType *row1 = img1.ptr<PixType>(y), *row2 = img2.ptr<PixType>(y); const PixType *row1 = img1.ptr<PixType>(y), *row2 = img2.ptr<PixType>(y);
PixType *prow1 = buffer + width2*2, *prow2 = prow1 + width*cn*2; PixType *prow1 = buffer + width2*2, *prow2 = prow1 + width*cn*2;
#if CV_SIMD128
bool useSIMD = checkHardwareSupport(CV_CPU_SSE2) || checkHardwareSupport(CV_CPU_NEON);
#endif
tab += tabOfs; tab += tabOfs;
@ -181,7 +184,6 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
buffer -= minX2; buffer -= minX2;
cost -= minX1*D + minD; // simplify the cost indices inside the loop cost -= minX1*D + minD; // simplify the cost indices inside the loop
#if 1
for( c = 0; c < cn*2; c++, prow1 += width, prow2 += width ) for( c = 0; c < cn*2; c++, prow1 += width, prow2 += width )
{ {
int diff_scale = c < cn ? 0 : 2; int diff_scale = c < cn ? 0 : 2;
@ -209,6 +211,8 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
int u1 = std::max(ul, ur); u1 = std::max(u1, u); int u1 = std::max(ul, ur); u1 = std::max(u1, u);
#if CV_SIMD128 #if CV_SIMD128
if( useSIMD )
{
v_uint8x16 _u = v_setall_u8((uchar)u), _u0 = v_setall_u8((uchar)u0); v_uint8x16 _u = v_setall_u8((uchar)u), _u0 = v_setall_u8((uchar)u0);
v_uint8x16 _u1 = v_setall_u8((uchar)u1); v_uint8x16 _u1 = v_setall_u8((uchar)u1);
@ -229,7 +233,10 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
v_store_aligned(cost + x*D + d, _c0 + v_reinterpret_as_s16(diff1 >> diff_scale)); v_store_aligned(cost + x*D + d, _c0 + v_reinterpret_as_s16(diff1 >> diff_scale));
v_store_aligned(cost + x*D + d + 8, _c1 + v_reinterpret_as_s16(diff2 >> diff_scale)); v_store_aligned(cost + x*D + d + 8, _c1 + v_reinterpret_as_s16(diff2 >> diff_scale));
} }
#else }
else
#endif
{
for( int d = minD; d < maxD; d++ ) for( int d = minD; d < maxD; d++ )
{ {
int v = prow2[width-x-1 + d]; int v = prow2[width-x-1 + d];
@ -240,44 +247,10 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
cost[x*D + d] = (CostType)(cost[x*D+d] + (std::min(c0, c1) >> diff_scale)); cost[x*D + d] = (CostType)(cost[x*D+d] + (std::min(c0, c1) >> diff_scale));
} }
#endif
}
}
#else
for( c = 0; c < cn*2; c++, prow1 += width, prow2 += width )
{
for( x = minX1; x < maxX1; x++ )
{
int u = prow1[x];
#if CV_SSE2
if( useSIMD )
{
__m128i _u = _mm_set1_epi8(u), z = _mm_setzero_si128();
for( int d = minD; d < maxD; d += 16 )
{
__m128i _v = _mm_loadu_si128((const __m128i*)(prow2 + width-1-x + d));
__m128i diff = _mm_adds_epu8(_mm_subs_epu8(_u,_v), _mm_subs_epu8(_v,_u));
__m128i c0 = _mm_load_si128((__m128i*)(cost + x*D + d));
__m128i c1 = _mm_load_si128((__m128i*)(cost + x*D + d + 8));
_mm_store_si128((__m128i*)(cost + x*D + d), _mm_adds_epi16(c0, _mm_unpacklo_epi8(diff,z)));
_mm_store_si128((__m128i*)(cost + x*D + d + 8), _mm_adds_epi16(c1, _mm_unpackhi_epi8(diff,z)));
}
}
else
#endif
{
for( int d = minD; d < maxD; d++ )
{
int v = prow2[width-1-x + d];
cost[x*D + d] = (CostType)(cost[x*D + d] + (CostType)std::abs(u - v));
} }
} }
} }
} }
#endif
}
/* /*
@ -304,7 +277,8 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
Mat& disp1, const StereoSGBMParams& params, Mat& disp1, const StereoSGBMParams& params,
Mat& buffer ) Mat& buffer )
{ {
#if CV_SSE2 #if CV_SIMD128
// maxDisparity is supposed to multiple of 16, so we can forget doing else
static const uchar LSBTab[] = static const uchar LSBTab[] =
{ {
0, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 0, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
@ -316,8 +290,9 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, 4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0
}; };
static const v_uint16x8 v_LSB = v_uint16x8(0x1, 0x2, 0x4, 0x8, 0x10, 0x20, 0x40, 0x80);
volatile bool useSIMD = checkHardwareSupport(CV_CPU_SSE2); bool useSIMD = checkHardwareSupport(CV_CPU_SSE2) || checkHardwareSupport(CV_CPU_NEON);
#endif #endif
const int ALIGN = 16; const int ALIGN = 16;
@ -461,21 +436,20 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
const CostType* pixAdd = pixDiff + std::min(x + SW2*D, (width1-1)*D); const CostType* pixAdd = pixDiff + std::min(x + SW2*D, (width1-1)*D);
const CostType* pixSub = pixDiff + std::max(x - (SW2+1)*D, 0); const CostType* pixSub = pixDiff + std::max(x - (SW2+1)*D, 0);
#if CV_SSE2 #if CV_SIMD128
if( useSIMD ) if( useSIMD )
{ {
for( d = 0; d < D; d += 8 ) for( d = 0; d < D; d += 8 )
{ {
__m128i hv = _mm_load_si128((const __m128i*)(hsumAdd + x - D + d)); v_int16x8 hv = v_load(hsumAdd + x - D + d);
__m128i Cx = _mm_load_si128((__m128i*)(Cprev + x + d)); v_int16x8 Cx = v_load(Cprev + x + d);
hv = _mm_adds_epi16(_mm_subs_epi16(hv, v_int16x8 psub = v_load(pixSub + d);
_mm_load_si128((const __m128i*)(pixSub + d))), v_int16x8 padd = v_load(pixAdd + d);
_mm_load_si128((const __m128i*)(pixAdd + d))); hv = (hv - psub + padd);
Cx = _mm_adds_epi16(_mm_subs_epi16(Cx, psub = v_load(hsumSub + x + d);
_mm_load_si128((const __m128i*)(hsumSub + x + d))), Cx = Cx - psub + hv;
hv); v_store(hsumAdd + x + d, hv);
_mm_store_si128((__m128i*)(hsumAdd + x + d), hv); v_store(C + x + d, Cx);
_mm_store_si128((__m128i*)(C + x + d), Cx);
} }
} }
else else
@ -558,73 +532,79 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
const CostType* Cp = C + x*D; const CostType* Cp = C + x*D;
CostType* Sp = S + x*D; CostType* Sp = S + x*D;
#if CV_SSE2 #if CV_SIMD128
if( useSIMD ) if( useSIMD )
{ {
__m128i _P1 = _mm_set1_epi16((short)P1); v_int16x8 _P1 = v_setall_s16((short)P1);
__m128i _delta0 = _mm_set1_epi16((short)delta0); v_int16x8 _delta0 = v_setall_s16((short)delta0);
__m128i _delta1 = _mm_set1_epi16((short)delta1); v_int16x8 _delta1 = v_setall_s16((short)delta1);
__m128i _delta2 = _mm_set1_epi16((short)delta2); v_int16x8 _delta2 = v_setall_s16((short)delta2);
__m128i _delta3 = _mm_set1_epi16((short)delta3); v_int16x8 _delta3 = v_setall_s16((short)delta3);
__m128i _minL0 = _mm_set1_epi16((short)MAX_COST); v_int16x8 _minL0 = v_setall_s16((short)MAX_COST);
for( d = 0; d < D; d += 8 ) for( d = 0; d < D; d += 8 )
{ {
__m128i Cpd = _mm_load_si128((const __m128i*)(Cp + d)); v_int16x8 Cpd = v_load(Cp + d);
__m128i L0, L1, L2, L3; v_int16x8 L0, L1, L2, L3;
L0 = _mm_load_si128((const __m128i*)(Lr_p0 + d)); L0 = v_load(Lr_p0 + d);
L1 = _mm_load_si128((const __m128i*)(Lr_p1 + d)); L1 = v_load(Lr_p1 + d);
L2 = _mm_load_si128((const __m128i*)(Lr_p2 + d)); L2 = v_load(Lr_p2 + d);
L3 = _mm_load_si128((const __m128i*)(Lr_p3 + d)); L3 = v_load(Lr_p3 + d);
L0 = _mm_min_epi16(L0, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p0 + d - 1)), _P1)); L0 = v_min(L0, (v_load(Lr_p0 + d - 1) + _P1));
L0 = _mm_min_epi16(L0, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p0 + d + 1)), _P1)); L0 = v_min(L0, (v_load(Lr_p0 + d + 1) + _P1));
L1 = _mm_min_epi16(L1, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p1 + d - 1)), _P1)); L1 = v_min(L1, (v_load(Lr_p1 + d - 1) + _P1));
L1 = _mm_min_epi16(L1, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p1 + d + 1)), _P1)); L1 = v_min(L1, (v_load(Lr_p1 + d + 1) + _P1));
L2 = _mm_min_epi16(L2, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p2 + d - 1)), _P1)); L2 = v_min(L2, (v_load(Lr_p2 + d - 1) + _P1));
L2 = _mm_min_epi16(L2, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p2 + d + 1)), _P1)); L2 = v_min(L2, (v_load(Lr_p2 + d + 1) + _P1));
L3 = _mm_min_epi16(L3, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p3 + d - 1)), _P1)); L3 = v_min(L3, (v_load(Lr_p3 + d - 1) + _P1));
L3 = _mm_min_epi16(L3, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p3 + d + 1)), _P1)); L3 = v_min(L3, (v_load(Lr_p3 + d + 1) + _P1));
L0 = _mm_min_epi16(L0, _delta0); L0 = v_min(L0, _delta0);
L0 = _mm_adds_epi16(_mm_subs_epi16(L0, _delta0), Cpd); L0 = ((L0 - _delta0) + Cpd);
L1 = _mm_min_epi16(L1, _delta1); L1 = v_min(L1, _delta1);
L1 = _mm_adds_epi16(_mm_subs_epi16(L1, _delta1), Cpd); L1 = ((L1 - _delta1) + Cpd);
L2 = _mm_min_epi16(L2, _delta2); L2 = v_min(L2, _delta2);
L2 = _mm_adds_epi16(_mm_subs_epi16(L2, _delta2), Cpd); L2 = ((L2 - _delta2) + Cpd);
L3 = _mm_min_epi16(L3, _delta3); L3 = v_min(L3, _delta3);
L3 = _mm_adds_epi16(_mm_subs_epi16(L3, _delta3), Cpd); L3 = ((L3 - _delta3) + Cpd);
_mm_store_si128( (__m128i*)(Lr_p + d), L0); v_store(Lr_p + d, L0);
_mm_store_si128( (__m128i*)(Lr_p + d + D2), L1); v_store(Lr_p + d + D2, L1);
_mm_store_si128( (__m128i*)(Lr_p + d + D2*2), L2); v_store(Lr_p + d + D2*2, L2);
_mm_store_si128( (__m128i*)(Lr_p + d + D2*3), L3); v_store(Lr_p + d + D2*3, L3);
__m128i t0 = _mm_min_epi16(_mm_unpacklo_epi16(L0, L2), _mm_unpackhi_epi16(L0, L2)); // Get minimum from in L0-L3
__m128i t1 = _mm_min_epi16(_mm_unpacklo_epi16(L1, L3), _mm_unpackhi_epi16(L1, L3)); v_int16x8 t02L, t02H, t13L, t13H, t0123L, t0123H;
t0 = _mm_min_epi16(_mm_unpacklo_epi16(t0, t1), _mm_unpackhi_epi16(t0, t1)); v_zip(L0, L2, t02L, t02H); // L0[0] L2[0] L0[1] L2[1]...
_minL0 = _mm_min_epi16(_minL0, t0); v_zip(L1, L3, t13L, t13H); // L1[0] L3[0] L1[1] L3[1]...
v_int16x8 t02 = v_min(t02L, t02H); // L0[i] L2[i] L0[i] L2[i]...
v_int16x8 t13 = v_min(t13L, t13H); // L1[i] L3[i] L1[i] L3[i]...
v_zip(t02, t13, t0123L, t0123H); // L0[i] L1[i] L2[i] L3[i]...
v_int16x8 t0 = v_min(t0123L, t0123H);
_minL0 = v_min(_minL0, t0);
__m128i Sval = _mm_load_si128((const __m128i*)(Sp + d)); v_int16x8 Sval = v_load(Sp + d);
L0 = _mm_adds_epi16(L0, L1); L0 = L0 + L1;
L2 = _mm_adds_epi16(L2, L3); L2 = L2 + L3;
Sval = _mm_adds_epi16(Sval, L0); Sval = Sval + L0;
Sval = _mm_adds_epi16(Sval, L2); Sval = Sval + L2;
_mm_store_si128((__m128i*)(Sp + d), Sval); v_store(Sp + d, Sval);
} }
_minL0 = _mm_min_epi16(_minL0, _mm_srli_si128(_minL0, 8)); v_int32x4 minL, minH;
_mm_storel_epi64((__m128i*)&minLr[0][xm], _minL0); v_expand(_minL0, minL, minH);
v_pack_store(&minLr[0][xm], v_min(minL, minH));
} }
else else
#endif #endif
@ -686,55 +666,54 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
const CostType* Cp = C + x*D; const CostType* Cp = C + x*D;
#if CV_SSE2 #if CV_SIMD128
if( useSIMD ) if( useSIMD )
{ {
__m128i _P1 = _mm_set1_epi16((short)P1); v_int16x8 _P1 = v_setall_s16((short)P1);
__m128i _delta0 = _mm_set1_epi16((short)delta0); v_int16x8 _delta0 = v_setall_s16((short)delta0);
__m128i _minL0 = _mm_set1_epi16((short)minL0); v_int16x8 _minL0 = v_setall_s16((short)minL0);
__m128i _minS = _mm_set1_epi16(MAX_COST), _bestDisp = _mm_set1_epi16(-1); v_int16x8 _minS = v_setall_s16(MAX_COST), _bestDisp = v_setall_s16(-1);
__m128i _d8 = _mm_setr_epi16(0, 1, 2, 3, 4, 5, 6, 7), _8 = _mm_set1_epi16(8); v_int16x8 _d8 = v_int16x8(0, 1, 2, 3, 4, 5, 6, 7), _8 = v_setall_s16(8);
for( d = 0; d < D; d += 8 ) for( d = 0; d < D; d += 8 )
{ {
__m128i Cpd = _mm_load_si128((const __m128i*)(Cp + d)), L0; v_int16x8 Cpd = v_load(Cp + d);
v_int16x8 L0 = v_load(Lr_p0 + d);
L0 = _mm_load_si128((const __m128i*)(Lr_p0 + d)); L0 = v_min(L0, v_load(Lr_p0 + d - 1) + _P1);
L0 = _mm_min_epi16(L0, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p0 + d - 1)), _P1)); L0 = v_min(L0, v_load(Lr_p0 + d + 1) + _P1);
L0 = _mm_min_epi16(L0, _mm_adds_epi16(_mm_loadu_si128((const __m128i*)(Lr_p0 + d + 1)), _P1)); L0 = v_min(L0, _delta0);
L0 = _mm_min_epi16(L0, _delta0); L0 = L0 - _delta0 + Cpd;
L0 = _mm_adds_epi16(_mm_subs_epi16(L0, _delta0), Cpd);
_mm_store_si128((__m128i*)(Lr_p + d), L0); v_store(Lr_p + d, L0);
_minL0 = _mm_min_epi16(_minL0, L0); _minL0 = v_min(_minL0, L0);
L0 = _mm_adds_epi16(L0, *(__m128i*)(Sp + d)); L0 = L0 + v_load(Sp + d);
_mm_store_si128((__m128i*)(Sp + d), L0); v_store(Sp + d, L0);
__m128i mask = _mm_cmpgt_epi16(_minS, L0); v_int16x8 mask = _minS > L0;
_minS = _mm_min_epi16(_minS, L0); _minS = v_min(_minS, L0);
_bestDisp = _mm_xor_si128(_bestDisp, _mm_and_si128(_mm_xor_si128(_bestDisp,_d8), mask)); _bestDisp = _bestDisp ^ ((_bestDisp ^ _d8) & mask);
_d8 = _mm_adds_epi16(_d8, _8); _d8 += _8;
} }
short bestDispBuf[8];
v_store(bestDispBuf, _bestDisp);
short CV_DECL_ALIGNED(16) bestDispBuf[8]; v_int32x4 min32L, min32H;
_mm_store_si128((__m128i*)bestDispBuf, _bestDisp); v_expand(_minL0, min32L, min32H);
minLr[0][xm] = (CostType)std::min(v_reduce_min(min32L), v_reduce_min(min32H));
_minL0 = _mm_min_epi16(_minL0, _mm_srli_si128(_minL0, 8));
_minL0 = _mm_min_epi16(_minL0, _mm_srli_si128(_minL0, 4));
_minL0 = _mm_min_epi16(_minL0, _mm_srli_si128(_minL0, 2));
__m128i qS = _mm_min_epi16(_minS, _mm_srli_si128(_minS, 8)); v_expand(_minS, min32L, min32H);
qS = _mm_min_epi16(qS, _mm_srli_si128(qS, 4)); minS = std::min(v_reduce_min(min32L), v_reduce_min(min32H));
qS = _mm_min_epi16(qS, _mm_srli_si128(qS, 2));
minLr[0][xm] = (CostType)_mm_cvtsi128_si32(_minL0); v_int16x8 ss = v_setall_s16((short)minS);
minS = (CostType)_mm_cvtsi128_si32(qS); v_uint16x8 minMask = v_reinterpret_as_u16(ss == _minS);
v_uint16x8 minBit = minMask & v_LSB;
qS = _mm_shuffle_epi32(_mm_unpacklo_epi16(qS, qS), 0); v_uint32x4 minBitL, minBitH;
qS = _mm_cmpeq_epi16(_minS, qS); v_expand(minBit, minBitL, minBitH);
int idx = _mm_movemask_epi8(_mm_packs_epi16(qS, qS)) & 255;
int idx = v_reduce_sum(minBitL) + v_reduce_sum(minBitH);
bestDisp = bestDispBuf[LSBTab[idx]]; bestDisp = bestDispBuf[LSBTab[idx]];
} }
else else
@ -759,37 +738,28 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
} }
else else
{ {
#if CV_SSE2 #if CV_SIMD128
if( useSIMD ) if( useSIMD )
{ {
__m128i _minS = _mm_set1_epi16(MAX_COST), _bestDisp = _mm_set1_epi16(-1); v_int16x8 _minS = v_setall_s16(MAX_COST), _bestDisp = v_setall_s16(-1);
__m128i _d8 = _mm_setr_epi16(0, 1, 2, 3, 4, 5, 6, 7), _8 = _mm_set1_epi16(8); v_int16x8 _d8 = v_int16x8(0, 1, 2, 3, 4, 5, 6, 7), _8 = v_setall_s16(8);
for( d = 0; d < D; d+= 8 ) for( d = 0; d < D; d+= 8 )
{ {
__m128i L0 = _mm_load_si128((const __m128i*)( Sp + d )); v_int16x8 L0 = v_load(Sp + d);
__m128i mask = _mm_cmplt_epi16( L0, _minS ); v_int16x8 mask = L0 < _minS;
_minS = _mm_min_epi16( L0, _minS ); _minS = v_min( L0, _minS );
_bestDisp = _mm_xor_si128(_bestDisp, _mm_and_si128(_mm_xor_si128( _bestDisp, _d8), mask)); _bestDisp = _bestDisp ^ ((_bestDisp ^ _d8) & mask);
_d8 = _mm_adds_epi16(_d8, _8 ); _d8 = _d8 + _8;
} }
short CV_DECL_ALIGNED(16) bestDispBuf[8]; v_int32x4 _d0, _d1;
_mm_store_si128((__m128i*)bestDispBuf, _bestDisp); v_expand(_minS, _d0, _d1);
short CV_DECL_ALIGNED(16) minSBuf[8]; minS = (int)std::min(v_reduce_min(_d0), v_reduce_min(_d1));
_mm_store_si128((__m128i*)minSBuf, _minS ); v_int16x8 v_mask = v_setall_s16((short)minS) == _minS;
for( int i = 0; i < 8; i++ ) _bestDisp = (_bestDisp & v_mask) | (v_setall_s16(SHRT_MAX) & ~v_mask);
{ v_expand(_bestDisp, _d0, _d1);
int Sval = minSBuf[ i ]; bestDisp = (int)std::min(v_reduce_min(_d0), v_reduce_min(_d1));
if( Sval <= minS )
{
if( ( Sval < minS ) || ( bestDispBuf[i] < bestDisp ) )
{
bestDisp = bestDispBuf[i];
}
minS = Sval;
}
}
} }
else else
#endif #endif
@ -886,6 +856,10 @@ struct SGBM3WayMainLoop : public ParallelLoopBody
int costBufSize, hsumBufNRows; int costBufSize, hsumBufNRows;
int TAB_OFS, ftzero; int TAB_OFS, ftzero;
#if CV_SIMD128
bool useSIMD;
#endif
PixType* clipTab; PixType* clipTab;
SGBM3WayMainLoop(Mat *_buffers, const Mat& _img1, const Mat& _img2, Mat* _dst_disp, const StereoSGBMParams& params, PixType* _clipTab, int _nstripes, int _stripe_overlap); SGBM3WayMainLoop(Mat *_buffers, const Mat& _img1, const Mat& _img2, Mat* _dst_disp, const StereoSGBMParams& params, PixType* _clipTab, int _nstripes, int _stripe_overlap);
@ -915,6 +889,10 @@ buffers(_buffers), img1(&_img1), img2(&_img2), dst_disp(_dst_disp), clipTab(_cli
hsumBufNRows = SH2*2 + 2; hsumBufNRows = SH2*2 + 2;
TAB_OFS = 256*4; TAB_OFS = 256*4;
ftzero = std::max(params.preFilterCap, 15) | 1; ftzero = std::max(params.preFilterCap, 15) | 1;
#if CV_SIMD128
useSIMD = checkHardwareSupport(CV_CPU_SSE2) || checkHardwareSupport(CV_CPU_NEON);
#endif
} }
void getBufferPointers(Mat& buffer, int width, int width1, int D, int num_ch, int SH2, int P2, void getBufferPointers(Mat& buffer, int width, int width1, int D, int num_ch, int SH2, int P2,
@ -1015,6 +993,8 @@ void SGBM3WayMainLoop::getRawMatchingCost(CostType* C, // target cost-volume row
const CostType* pixSub = pixDiff + std::max(x - (SW2+1)*D, 0); const CostType* pixSub = pixDiff + std::max(x - (SW2+1)*D, 0);
#if CV_SIMD128 #if CV_SIMD128
if(useSIMD)
{
v_int16x8 hv_reg; v_int16x8 hv_reg;
for( d = 0; d < D; d+=8 ) for( d = 0; d < D; d+=8 )
{ {
@ -1022,13 +1002,16 @@ void SGBM3WayMainLoop::getRawMatchingCost(CostType* C, // target cost-volume row
v_store_aligned(hsumAdd+x+d,hv_reg); v_store_aligned(hsumAdd+x+d,hv_reg);
v_store_aligned(C+x+d,v_load_aligned(C+x+d)+(hv_reg-v_load_aligned(hsumSub+x+d))); v_store_aligned(C+x+d,v_load_aligned(C+x+d)+(hv_reg-v_load_aligned(hsumSub+x+d)));
} }
#else }
else
#endif
{
for( d = 0; d < D; d++ ) for( d = 0; d < D; d++ )
{ {
int hv = hsumAdd[x + d] = (CostType)(hsumAdd[x - D + d] + pixAdd[d] - pixSub[d]); int hv = hsumAdd[x + d] = (CostType)(hsumAdd[x - D + d] + pixAdd[d] - pixSub[d]);
C[x + d] = (CostType)(C[x + d] + hv - hsumSub[x + d]); C[x + d] = (CostType)(C[x + d] + hv - hsumSub[x + d]);
} }
#endif }
} }
} }
else else
@ -1055,34 +1038,13 @@ void SGBM3WayMainLoop::getRawMatchingCost(CostType* C, // target cost-volume row
#if CV_SIMD128 #if CV_SIMD128
// define some additional reduce operations: // define some additional reduce operations:
inline short min(const v_int16x8& a) inline short min_pos(const v_int16x8& val, const v_int16x8& pos, const short min_val)
{ {
short CV_DECL_ALIGNED(16) buf[8]; v_int16x8 v_min = v_setall_s16(min_val);
v_store_aligned(buf, a); v_int16x8 v_mask = v_min == val;
short s0 = std::min(buf[0], buf[1]); v_int16x8 v_pos = (pos & v_mask) | (v_setall_s16(SHRT_MAX) & ~v_mask);
short s1 = std::min(buf[2], buf[3]);
short s2 = std::min(buf[4], buf[5]); return v_reduce_min(v_pos);
short s3 = std::min(buf[6], buf[7]);
return std::min(std::min(s0, s1),std::min(s2, s3));
}
inline short min_pos(const v_int16x8& val,const v_int16x8& pos)
{
short CV_DECL_ALIGNED(16) val_buf[8];
v_store_aligned(val_buf, val);
short CV_DECL_ALIGNED(16) pos_buf[8];
v_store_aligned(pos_buf, pos);
short res_pos = 0;
short min_val = SHRT_MAX;
if(val_buf[0]<min_val) {min_val=val_buf[0]; res_pos=pos_buf[0];}
if(val_buf[1]<min_val) {min_val=val_buf[1]; res_pos=pos_buf[1];}
if(val_buf[2]<min_val) {min_val=val_buf[2]; res_pos=pos_buf[2];}
if(val_buf[3]<min_val) {min_val=val_buf[3]; res_pos=pos_buf[3];}
if(val_buf[4]<min_val) {min_val=val_buf[4]; res_pos=pos_buf[4];}
if(val_buf[5]<min_val) {min_val=val_buf[5]; res_pos=pos_buf[5];}
if(val_buf[6]<min_val) {min_val=val_buf[6]; res_pos=pos_buf[6];}
if(val_buf[7]<min_val) {min_val=val_buf[7]; res_pos=pos_buf[7];}
return res_pos;
} }
#endif #endif
@ -1092,6 +1054,8 @@ inline void accumulateCostsLeftTop(CostType* leftBuf, CostType* leftBuf_prev, Co
CostType& leftMinCost, CostType& topMinCost, int D, int P1, int P2) CostType& leftMinCost, CostType& topMinCost, int D, int P1, int P2)
{ {
#if CV_SIMD128 #if CV_SIMD128
if(checkHardwareSupport(CV_CPU_SSE2) || checkHardwareSupport(CV_CPU_NEON))
{
v_int16x8 P1_reg = v_setall_s16(cv::saturate_cast<CostType>(P1)); v_int16x8 P1_reg = v_setall_s16(cv::saturate_cast<CostType>(P1));
v_int16x8 leftMinCostP2_reg = v_setall_s16(cv::saturate_cast<CostType>(leftMinCost+P2)); v_int16x8 leftMinCostP2_reg = v_setall_s16(cv::saturate_cast<CostType>(leftMinCost+P2));
@ -1152,7 +1116,7 @@ inline void accumulateCostsLeftTop(CostType* leftBuf, CostType* leftBuf_prev, Co
src_shifted_right = v_extract<1> (src1_leftBuf,src2 ) + P1_reg; src_shifted_right = v_extract<1> (src1_leftBuf,src2 ) + P1_reg;
res = v_load_aligned(costs+D-8) + (v_min(v_min(src_shifted_left,src_shifted_right),v_min(src1_leftBuf,leftMinCostP2_reg))-leftMinCostP2_reg); res = v_load_aligned(costs+D-8) + (v_min(v_min(src_shifted_left,src_shifted_right),v_min(src1_leftBuf,leftMinCostP2_reg))-leftMinCostP2_reg);
leftMinCost = min(v_min(leftMinCost_new_reg,res)); leftMinCost = v_reduce_min(v_min(leftMinCost_new_reg,res));
v_store_aligned(leftBuf+D-8, res); v_store_aligned(leftBuf+D-8, res);
//process topBuf: //process topBuf:
@ -1161,9 +1125,12 @@ inline void accumulateCostsLeftTop(CostType* leftBuf, CostType* leftBuf_prev, Co
src_shifted_right = v_extract<1> (src1_topBuf,src2 ) + P1_reg; src_shifted_right = v_extract<1> (src1_topBuf,src2 ) + P1_reg;
res = v_load_aligned(costs+D-8) + (v_min(v_min(src_shifted_left,src_shifted_right),v_min(src1_topBuf,topMinCostP2_reg))-topMinCostP2_reg); res = v_load_aligned(costs+D-8) + (v_min(v_min(src_shifted_left,src_shifted_right),v_min(src1_topBuf,topMinCostP2_reg))-topMinCostP2_reg);
topMinCost = min(v_min(topMinCost_new_reg,res)); topMinCost = v_reduce_min(v_min(topMinCost_new_reg,res));
v_store_aligned(topBuf+D-8, res); v_store_aligned(topBuf+D-8, res);
#else }
else
#endif
{
CostType leftMinCost_new = SHRT_MAX; CostType leftMinCost_new = SHRT_MAX;
CostType topMinCost_new = SHRT_MAX; CostType topMinCost_new = SHRT_MAX;
int leftMinCost_P2 = leftMinCost + P2; int leftMinCost_P2 = leftMinCost + P2;
@ -1189,7 +1156,7 @@ inline void accumulateCostsLeftTop(CostType* leftBuf, CostType* leftBuf_prev, Co
topBuf[D-1] = cv::saturate_cast<CostType>(costs[D-1] + std::min(topBuf_i_minus_1+P1,std::min((int)topBuf[D-1],topMinCost_P2))-topMinCost_P2); topBuf[D-1] = cv::saturate_cast<CostType>(costs[D-1] + std::min(topBuf_i_minus_1+P1,std::min((int)topBuf[D-1],topMinCost_P2))-topMinCost_P2);
topMinCost = std::min(topMinCost_new,topBuf[D-1]); topMinCost = std::min(topMinCost_new,topBuf[D-1]);
#endif }
} }
// performing in-place SGM cost accumulation from right to left (the result is stored in rightBuf) and // performing in-place SGM cost accumulation from right to left (the result is stored in rightBuf) and
@ -1199,6 +1166,8 @@ inline void accumulateCostsRight(CostType* rightBuf, CostType* topBuf, CostType*
CostType& rightMinCost, int D, int P1, int P2, int& optimal_disp, CostType& min_cost) CostType& rightMinCost, int D, int P1, int P2, int& optimal_disp, CostType& min_cost)
{ {
#if CV_SIMD128 #if CV_SIMD128
if(checkHardwareSupport(CV_CPU_SSE2) || checkHardwareSupport(CV_CPU_NEON))
{
v_int16x8 P1_reg = v_setall_s16(cv::saturate_cast<CostType>(P1)); v_int16x8 P1_reg = v_setall_s16(cv::saturate_cast<CostType>(P1));
v_int16x8 rightMinCostP2_reg = v_setall_s16(cv::saturate_cast<CostType>(rightMinCost+P2)); v_int16x8 rightMinCostP2_reg = v_setall_s16(cv::saturate_cast<CostType>(rightMinCost+P2));
@ -1249,17 +1218,20 @@ inline void accumulateCostsRight(CostType* rightBuf, CostType* topBuf, CostType*
src_shifted_right = v_extract<1> (src1_rightBuf,src2 ) + P1_reg; src_shifted_right = v_extract<1> (src1_rightBuf,src2 ) + P1_reg;
res = v_load_aligned(costs+D-8) + (v_min(v_min(src_shifted_left,src_shifted_right),v_min(src1_rightBuf,rightMinCostP2_reg))-rightMinCostP2_reg); res = v_load_aligned(costs+D-8) + (v_min(v_min(src_shifted_left,src_shifted_right),v_min(src1_rightBuf,rightMinCostP2_reg))-rightMinCostP2_reg);
rightMinCost = min(v_min(rightMinCost_new_reg,res)); rightMinCost = v_reduce_min(v_min(rightMinCost_new_reg,res));
v_store_aligned(rightBuf+D-8, res); v_store_aligned(rightBuf+D-8, res);
res = res + v_load_aligned(leftBuf+D-8) + v_load_aligned(topBuf+D-8); res = res + v_load_aligned(leftBuf+D-8) + v_load_aligned(topBuf+D-8);
v_store_aligned(leftBuf+D-8, res); v_store_aligned(leftBuf+D-8, res);
min_sum_cost_reg = v_min(min_sum_cost_reg,res); min_sum_cost_reg = v_min(min_sum_cost_reg,res);
min_cost = min(min_sum_cost_reg); min_cost = v_reduce_min(min_sum_cost_reg);
min_sum_pos_reg = min_sum_pos_reg + ((min_sum_cost_reg == res) & (loop_idx - min_sum_pos_reg)); min_sum_pos_reg = min_sum_pos_reg + ((min_sum_cost_reg == res) & (loop_idx - min_sum_pos_reg));
optimal_disp = min_pos(min_sum_cost_reg,min_sum_pos_reg); optimal_disp = min_pos(min_sum_cost_reg,min_sum_pos_reg, min_cost);
#else }
else
#endif
{
CostType rightMinCost_new = SHRT_MAX; CostType rightMinCost_new = SHRT_MAX;
int rightMinCost_P2 = rightMinCost + P2; int rightMinCost_P2 = rightMinCost + P2;
CostType rightBuf_i_minus_1 = SHRT_MAX; CostType rightBuf_i_minus_1 = SHRT_MAX;
@ -1288,7 +1260,7 @@ inline void accumulateCostsRight(CostType* rightBuf, CostType* topBuf, CostType*
optimal_disp = D-1; optimal_disp = D-1;
min_cost = leftBuf[D-1]; min_cost = leftBuf[D-1];
} }
#endif }
} }
void SGBM3WayMainLoop::operator () (const Range& range) const void SGBM3WayMainLoop::operator () (const Range& range) const
@ -1360,6 +1332,8 @@ void SGBM3WayMainLoop::operator () (const Range& range) const
if(uniquenessRatio>0) if(uniquenessRatio>0)
{ {
#if CV_SIMD128 #if CV_SIMD128
if(useSIMD)
{
horPassCostVolume+=x; horPassCostVolume+=x;
int thresh = (100*min_cost)/(100-uniquenessRatio); int thresh = (100*min_cost)/(100-uniquenessRatio);
v_int16x8 thresh_reg = v_setall_s16((short)(thresh+1)); v_int16x8 thresh_reg = v_setall_s16((short)(thresh+1));
@ -1389,13 +1363,16 @@ void SGBM3WayMainLoop::operator () (const Range& range) const
cur_d = cur_d+eight_reg; cur_d = cur_d+eight_reg;
} }
horPassCostVolume-=x; horPassCostVolume-=x;
#else }
else
#endif
{
for( d = 0; d < D; d++ ) for( d = 0; d < D; d++ )
{ {
if( horPassCostVolume[x+d]*(100 - uniquenessRatio) < min_cost*100 && std::abs(d - best_d) > 1 ) if( horPassCostVolume[x+d]*(100 - uniquenessRatio) < min_cost*100 && std::abs(d - best_d) > 1 )
break; break;
} }
#endif }
if( d < D ) if( d < D )
continue; continue;
} }

46
modules/core/include/opencv2/core/hal/intrin_neon.hpp
Unescape View File

@ -782,25 +782,37 @@ inline void v_store_f16(short* ptr, v_float16x4& a)
{ vst1_f16(ptr, a.val); } { vst1_f16(ptr, a.val); }
#endif #endif
#define OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(_Tpvec, scalartype, func, scalar_func) \ #define OPENCV_HAL_IMPL_NEON_REDUCE_OP_8(_Tpvec, _Tpnvec, scalartype, func, vectorfunc, suffix) \
inline scalartype v_reduce_##func(const _Tpvec& a) \ inline scalartype v_reduce_##func(const _Tpvec& a) \
{ \ { \
scalartype CV_DECL_ALIGNED(16) buf[4]; \ _Tpnvec##_t a0 = vp##vectorfunc##_##suffix(vget_low_##suffix(a.val), vget_high_##suffix(a.val)); \
v_store_aligned(buf, a); \ a0 = vp##vectorfunc##_##suffix(a0, a0); \
scalartype s0 = scalar_func(buf[0], buf[1]); \ return (scalartype)vget_lane_##suffix(vp##vectorfunc##_##suffix(a0, a0),0); \
scalartype s1 = scalar_func(buf[2], buf[3]); \ }
return scalar_func(s0, s1); \
} OPENCV_HAL_IMPL_NEON_REDUCE_OP_8(v_uint16x8, uint16x4, unsigned short, sum, add, u16)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_8(v_uint16x8, uint16x4, unsigned short, max, max, u16)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_uint32x4, unsigned, sum, OPENCV_HAL_ADD) OPENCV_HAL_IMPL_NEON_REDUCE_OP_8(v_uint16x8, uint16x4, unsigned short, min, min, u16)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_uint32x4, unsigned, max, std::max) OPENCV_HAL_IMPL_NEON_REDUCE_OP_8(v_int16x8, int16x4, short, sum, add, s16)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_uint32x4, unsigned, min, std::min) OPENCV_HAL_IMPL_NEON_REDUCE_OP_8(v_int16x8, int16x4, short, max, max, s16)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_int32x4, int, sum, OPENCV_HAL_ADD) OPENCV_HAL_IMPL_NEON_REDUCE_OP_8(v_int16x8, int16x4, short, min, min, s16)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_int32x4, int, max, std::max)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_int32x4, int, min, std::min) #define OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(_Tpvec, _Tpnvec, scalartype, func, vectorfunc, suffix) \
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_float32x4, float, sum, OPENCV_HAL_ADD) inline scalartype v_reduce_##func(const _Tpvec& a) \
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_float32x4, float, max, std::max) { \
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_float32x4, float, min, std::min) _Tpnvec##_t a0 = vp##vectorfunc##_##suffix(vget_low_##suffix(a.val), vget_high_##suffix(a.val)); \
return (scalartype)vget_lane_##suffix(vp##vectorfunc##_##suffix(a0, vget_high_##suffix(a.val)),0); \
}
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_uint32x4, uint32x2, unsigned, sum, add, u32)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_uint32x4, uint32x2, unsigned, max, max, u32)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_uint32x4, uint32x2, unsigned, min, min, u32)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_int32x4, int32x2, int, sum, add, s32)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_int32x4, int32x2, int, max, max, s32)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_int32x4, int32x2, int, min, min, s32)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_float32x4, float32x2, float, sum, add, f32)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_float32x4, float32x2, float, max, max, f32)
OPENCV_HAL_IMPL_NEON_REDUCE_OP_4(v_float32x4, float32x2, float, min, min, f32)
inline int v_signmask(const v_uint8x16& a) inline int v_signmask(const v_uint8x16& a)
{ {

40
modules/core/include/opencv2/core/hal/intrin_sse.hpp
Unescape View File

@ -1060,6 +1060,46 @@ inline void v_store_f16(short* ptr, v_float16x4& a)
{ _mm_storel_epi64((__m128i*)ptr, a.val); } { _mm_storel_epi64((__m128i*)ptr, a.val); }
#endif #endif
#define OPENCV_HAL_IMPL_SSE_REDUCE_OP_8(_Tpvec, scalartype, func, suffix, sbit) \
inline scalartype v_reduce_##func(const v_##_Tpvec& a) \
{ \
__m128i val = a.val; \
val = _mm_##func##_##suffix(val, _mm_srli_si128(val,8)); \
val = _mm_##func##_##suffix(val, _mm_srli_si128(val,4)); \
val = _mm_##func##_##suffix(val, _mm_srli_si128(val,2)); \
return (scalartype)_mm_cvtsi128_si32(val); \
} \
inline unsigned scalartype v_reduce_##func(const v_u##_Tpvec& a) \
{ \
__m128i val = a.val; \
__m128i smask = _mm_set1_epi16(sbit); \
val = _mm_xor_si128(val, smask); \
val = _mm_##func##_##suffix(val, _mm_srli_si128(val,8)); \
val = _mm_##func##_##suffix(val, _mm_srli_si128(val,4)); \
val = _mm_##func##_##suffix(val, _mm_srli_si128(val,2)); \
return (unsigned scalartype)(_mm_cvtsi128_si32(val) ^ sbit); \
}
#define OPENCV_HAL_IMPL_SSE_REDUCE_OP_8_SUM(_Tpvec, scalartype, suffix) \
inline scalartype v_reduce_sum(const v_##_Tpvec& a) \
{ \
__m128i val = a.val; \
val = _mm_adds_epi##suffix(val, _mm_srli_si128(val, 8)); \
val = _mm_adds_epi##suffix(val, _mm_srli_si128(val, 4)); \
val = _mm_adds_epi##suffix(val, _mm_srli_si128(val, 2)); \
return (scalartype)_mm_cvtsi128_si32(val); \
} \
inline unsigned scalartype v_reduce_sum(const v_u##_Tpvec& a) \
{ \
__m128i val = a.val; \
val = _mm_adds_epu##suffix(val, _mm_srli_si128(val, 8)); \
val = _mm_adds_epu##suffix(val, _mm_srli_si128(val, 4)); \
val = _mm_adds_epu##suffix(val, _mm_srli_si128(val, 2)); \
return (unsigned scalartype)_mm_cvtsi128_si32(val); \
}
OPENCV_HAL_IMPL_SSE_REDUCE_OP_8(int16x8, short, max, epi16, (short)-32768)
OPENCV_HAL_IMPL_SSE_REDUCE_OP_8(int16x8, short, min, epi16, (short)-32768)
OPENCV_HAL_IMPL_SSE_REDUCE_OP_8_SUM(int16x8, short, 16)
#define OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(_Tpvec, scalartype, func, scalar_func) \ #define OPENCV_HAL_IMPL_SSE_REDUCE_OP_4(_Tpvec, scalartype, func, scalar_func) \
inline scalartype v_reduce_##func(const _Tpvec& a) \ inline scalartype v_reduce_##func(const _Tpvec& a) \
{ \ { \

4
modules/core/test/test_intrin.cpp
Unescape View File

@ -449,7 +449,7 @@ template<typename R> struct TheTest
R a = dataA; R a = dataA;
EXPECT_EQ((LaneType)1, v_reduce_min(a)); EXPECT_EQ((LaneType)1, v_reduce_min(a));
EXPECT_EQ((LaneType)R::nlanes, v_reduce_max(a)); EXPECT_EQ((LaneType)R::nlanes, v_reduce_max(a));
EXPECT_EQ((LaneType)(1 + R::nlanes)*2, v_reduce_sum(a)); EXPECT_EQ((LaneType)((1 + R::nlanes)*R::nlanes/2), v_reduce_sum(a));
return *this; return *this;
} }
@ -842,6 +842,7 @@ TEST(hal_intrin, uint16x8) {
.test_logic() .test_logic()
.test_min_max() .test_min_max()
.test_absdiff() .test_absdiff()
.test_reduce()
.test_mask() .test_mask()
.test_pack<1>().test_pack<2>().test_pack<7>().test_pack<16>() .test_pack<1>().test_pack<2>().test_pack<7>().test_pack<16>()
.test_pack_u<1>().test_pack_u<2>().test_pack_u<7>().test_pack_u<16>() .test_pack_u<1>().test_pack_u<2>().test_pack_u<7>().test_pack_u<16>()
@ -867,6 +868,7 @@ TEST(hal_intrin, int16x8) {
.test_min_max() .test_min_max()
.test_absdiff() .test_absdiff()
.test_abs() .test_abs()
.test_reduce()
.test_mask() .test_mask()
.test_pack<1>().test_pack<2>().test_pack<7>().test_pack<16>() .test_pack<1>().test_pack<2>().test_pack<7>().test_pack<16>()
.test_unpack() .test_unpack()

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