////////////////////////////////////////// stereoBM //////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////
-#ifdef csize
-
#define MAX_VAL 32767
-void calcDisp(__local short * cost, __global short * disp, int uniquenessRatio, int mindisp, int ndisp, int w,
- __local int * bestDisp, __local int * bestCost, int d, int x, int y, int cols, int rows, int wsz2)
+#ifndef WSZ
+#define WSZ 2
+#endif
+
+#define WSZ2 (WSZ / 2)
+
+#ifdef DEFINE_KERNEL_STEREOBM
+
+#define DISPARITY_SHIFT 4
+#define FILTERED ((MIN_DISP - 1) << DISPARITY_SHIFT)
+
+void calcDisp(__local short * cost, __global short * disp, int uniquenessRatio,
+ __local int * bestDisp, __local int * bestCost, int d, int x, int y, int cols, int rows)
{
- short FILTERED = (mindisp - 1)<<4;
- int best_disp = *bestDisp, best_cost = *bestCost, best_disp_back = ndisp - best_disp - 1;
+ int best_disp = *bestDisp, best_cost = *bestCost;
+ barrier(CLK_LOCAL_MEM_FENCE);
short c = cost[0];
+ int thresh = best_cost + (best_cost * uniquenessRatio / 100);
+ bool notUniq = ( (c <= thresh) && (d < (best_disp - 1) || d > (best_disp + 1) ) );
- int thresh = best_cost + (best_cost * uniquenessRatio/100);
- bool notUniq = ( (c <= thresh) && (d < (best_disp_back - 1) || d > (best_disp_back + 1) ) );
-
- if(notUniq)
+ if (notUniq)
*bestCost = FILTERED;
barrier(CLK_LOCAL_MEM_FENCE);
- if( *bestCost != FILTERED && x < cols-wsz2-mindisp && y < rows-wsz2 && d == best_disp_back)
+ if( *bestCost != FILTERED && x < cols - WSZ2 - MIN_DISP && y < rows - WSZ2 && d == best_disp)
{
- int y3 = (best_disp_back > 0) ? cost[-w] : cost[w],
- y2 = c,
- y1 = (best_disp_back < ndisp-1) ? cost[w] : cost[-w];
- int d_aprox = y3+y1-2*y2 + abs(y3-y1);
- disp[0] = (short)(((best_disp_back + mindisp)*256 + (d_aprox != 0 ? (y3-y1)*256/d_aprox : 0) + 15) >> 4);
+ int d_aprox = 0;
+ int yp =0, yn = 0;
+ if ((0 < best_disp) && (best_disp < NUM_DISP - 1))
+ {
+ yp = cost[-2 * BLOCK_SIZE_Y];
+ yn = cost[2 * BLOCK_SIZE_Y];
+ d_aprox = yp + yn - 2 * c + abs(yp - yn);
+ }
+ disp[0] = (short)(((best_disp + MIN_DISP)*256 + (d_aprox != 0 ? (yp - yn) * 256 / d_aprox : 0) + 15) >> 4);
}
}
-int calcLocalIdx(int x, int y, int d, int w)
-{
- return d*2*w + (w - 1 - y + x);
-}
-
-void calcNewCoordinates(int * x, int * y, int nthread)
-{
- int oldX = *x - (1-nthread), oldY = *y;
- *x = (oldX == oldY) ? (0*nthread + (oldX + 2)*(1-nthread) ) : (oldX+1)*(1-nthread) + (oldX+1)*nthread;
- *y = (oldX == oldY) ? (0*(1-nthread) + (oldY + 1)*nthread) : oldY + 1*(1-nthread);
-}
-
short calcCostBorder(__global const uchar * leftptr, __global const uchar * rightptr, int x, int y, int nthread,
- int wsz2, short * costbuf, int * h, int cols, int d, short cost, int winsize)
+ short * costbuf, int *h, int cols, int d, short cost)
{
- int head = (*h)%wsz;
+ int head = (*h) % WSZ;
__global const uchar * left, * right;
- int idx = mad24(y+wsz2*(2*nthread-1), cols, x+wsz2*(1-2*nthread));
+ int idx = mad24(y + WSZ2 * (2 * nthread - 1), cols, x + WSZ2 * (1 - 2 * nthread));
left = leftptr + idx;
right = rightptr + (idx - d);
- int shift = 1*nthread + cols*(1-nthread);
short costdiff = 0;
- for(int i = 0; i < winsize; i++)
+ if (0 == nthread)
+ {
+ #pragma unroll
+ for (int i = 0; i < WSZ; i++)
+ {
+ costdiff += abs( left[0] - right[0] );
+ left += cols;
+ right += cols;
+ }
+ }
+ else // (1 == nthread)
{
- costdiff += abs( left[0] - right[0] );
- left += shift;
- right += shift;
+ #pragma unroll
+ for (int i = 0; i < WSZ; i++)
+ {
+ costdiff += abs(left[i] - right[i]);
+ }
}
cost += costdiff - costbuf[head];
costbuf[head] = costdiff;
- (*h) = (*h)%wsz + 1;
+ *h = head + 1;
return cost;
}
short calcCostInside(__global const uchar * leftptr, __global const uchar * rightptr, int x, int y,
- int wsz2, int cols, int d, short cost_up_left, short cost_up, short cost_left,
- int winsize)
+ int cols, int d, short cost_up_left, short cost_up, short cost_left)
{
__global const uchar * left, * right;
- int idx = mad24(y-wsz2-1, cols, x-wsz2-1);
+ int idx = mad24(y - WSZ2 - 1, cols, x - WSZ2 - 1);
left = leftptr + idx;
right = rightptr + (idx - d);
- int idx2 = winsize*cols;
+ int idx2 = WSZ*cols;
uchar corrner1 = abs(left[0] - right[0]),
- corrner2 = abs(left[winsize] - right[winsize]),
+ corrner2 = abs(left[WSZ] - right[WSZ]),
corrner3 = abs(left[idx2] - right[idx2]),
- corrner4 = abs(left[idx2 + winsize] - right[idx2 + winsize]);
+ corrner4 = abs(left[idx2 + WSZ] - right[idx2 + WSZ]);
return cost_up + cost_left - cost_up_left + corrner1 -
corrner2 - corrner3 + corrner4;
}
-__kernel void stereoBM(__global const uchar * leftptr, __global const uchar * rightptr, __global uchar * dispptr,
- int disp_step, int disp_offset, int rows, int cols, int mindisp, int ndisp,
- int preFilterCap, int textureTreshold, int uniquenessRatio, int sizeX, int sizeY, int winsize)
+__kernel void stereoBM(__global const uchar * leftptr,
+ __global const uchar * rightptr,
+ __global uchar * dispptr, int disp_step, int disp_offset,
+ int rows, int cols, // rows, cols of left and right images, not disp
+ int textureTreshold, int uniquenessRatio)
{
- int gx = get_global_id(0)*sizeX;
- int gy = get_global_id(1)*sizeY;
- int lz = get_local_id(2);
+ int lz = get_local_id(0);
+ int gx = get_global_id(1) * BLOCK_SIZE_X;
+ int gy = get_global_id(2) * BLOCK_SIZE_Y;
- int nthread = lz/ndisp;
- int d = lz%ndisp;
- int wsz2 = wsz/2;
+ int nthread = lz / NUM_DISP;
+ int disp_idx = lz % NUM_DISP;
__global short * disp;
__global const uchar * left, * right;
- __local short costFunc[csize];
+ __local short costFunc[2 * BLOCK_SIZE_Y * NUM_DISP];
+
__local short * cost;
__local int best_disp[2];
__local int best_cost[2];
best_cost[nthread] = MAX_VAL;
- best_disp[nthread] = MAX_VAL;
+ best_disp[nthread] = -1;
barrier(CLK_LOCAL_MEM_FENCE);
- short costbuf[wsz];
+ short costbuf[WSZ];
int head = 0;
- int shiftX = wsz2 + ndisp + mindisp - 1;
- int shiftY = wsz2;
+ int shiftX = WSZ2 + NUM_DISP + MIN_DISP - 1;
+ int shiftY = WSZ2;
int x = gx + shiftX, y = gy + shiftY, lx = 0, ly = 0;
- int costIdx = calcLocalIdx(lx, ly, d, sizeY);
+ int costIdx = disp_idx * 2 * BLOCK_SIZE_Y + (BLOCK_SIZE_Y - 1);
cost = costFunc + costIdx;
int tempcost = 0;
- if(x < cols-wsz2-mindisp && y < rows-wsz2)
+ if (x < cols - WSZ2 - MIN_DISP && y < rows - WSZ2)
{
- int shift = 1*nthread + cols*(1-nthread);
- for(int i = 0; i < winsize; i++)
+ if (0 == nthread)
{
- int idx = mad24(y-wsz2+i*nthread, cols, x-wsz2+i*(1-nthread));
- left = leftptr + idx;
- right = rightptr + (idx - d);
- short costdiff = 0;
- for(int j = 0; j < winsize; j++)
+ #pragma unroll
+ for (int i = 0; i < WSZ; i++)
{
- costdiff += abs( left[0] - right[0] );
- left += shift;
- right += shift;
+ int idx = mad24(y - WSZ2, cols, x - WSZ2 + i);
+ left = leftptr + idx;
+ right = rightptr + (idx - disp_idx);
+ short costdiff = 0;
+ for(int j = 0; j < WSZ; j++)
+ {
+ costdiff += abs( left[0] - right[0] );
+ left += cols;
+ right += cols;
+ }
+ costbuf[i] = costdiff;
}
- if(nthread==1)
+ }
+ else // (1 == nthread)
+ {
+ #pragma unroll
+ for (int i = 0; i < WSZ; i++)
{
+ int idx = mad24(y - WSZ2 + i, cols, x - WSZ2);
+ left = leftptr + idx;
+ right = rightptr + (idx - disp_idx);
+ short costdiff = 0;
+ for (int j = 0; j < WSZ; j++)
+ {
+ costdiff += abs( left[j] - right[j]);
+ }
tempcost += costdiff;
+ costbuf[i] = costdiff;
}
- costbuf[head] = costdiff;
- head++;
}
}
- if(nthread==1)
+ if (nthread == 1)
{
cost[0] = tempcost;
- atomic_min(best_cost+nthread, tempcost);
+ atomic_min(best_cost + 1, tempcost);
}
barrier(CLK_LOCAL_MEM_FENCE);
- if(best_cost[1] == tempcost)
- atomic_min(best_disp + 1, ndisp - d - 1);
+ if (best_cost[1] == tempcost)
+ atomic_max(best_disp + 1, disp_idx);
barrier(CLK_LOCAL_MEM_FENCE);
- int dispIdx = mad24(gy, disp_step, disp_offset + gx*(int)sizeof(short));
+ int dispIdx = mad24(gy, disp_step, mad24((int)sizeof(short), gx, disp_offset));
disp = (__global short *)(dispptr + dispIdx);
- calcDisp(cost, disp, uniquenessRatio, mindisp, ndisp, 2*sizeY,
- best_disp + 1, best_cost+1, d, x, y, cols, rows, wsz2);
+ calcDisp(cost, disp, uniquenessRatio, best_disp + 1, best_cost + 1, disp_idx, x, y, cols, rows);
barrier(CLK_LOCAL_MEM_FENCE);
lx = 1 - nthread;
ly = nthread;
- for(int i = 0; i < sizeY*sizeX/2; i++)
+ for (int i = 0; i < BLOCK_SIZE_Y * BLOCK_SIZE_X / 2; i++)
{
- x = (lx < sizeX) ? gx + shiftX + lx : cols;
- y = (ly < sizeY) ? gy + shiftY + ly : rows;
+ x = (lx < BLOCK_SIZE_X) ? gx + shiftX + lx : cols;
+ y = (ly < BLOCK_SIZE_Y) ? gy + shiftY + ly : rows;
best_cost[nthread] = MAX_VAL;
- best_disp[nthread] = MAX_VAL;
+ best_disp[nthread] = -1;
barrier(CLK_LOCAL_MEM_FENCE);
- costIdx = calcLocalIdx(lx, ly, d, sizeY);
+ costIdx = mad24(2 * BLOCK_SIZE_Y, disp_idx, (BLOCK_SIZE_Y - 1 - ly + lx));
+ if (0 > costIdx)
+ costIdx = BLOCK_SIZE_Y - 1;
cost = costFunc + costIdx;
-
- if(x < cols-wsz2-mindisp && y < rows-wsz2 )
+ if (x < cols - WSZ2 - MIN_DISP && y < rows - WSZ2)
{
- tempcost = ( ly*(1-nthread) + lx*nthread == 0 ) ?
- calcCostBorder(leftptr, rightptr, x, y, nthread, wsz2, costbuf, &head, cols, d,
- cost[2*nthread-1], winsize) :
- calcCostInside(leftptr, rightptr, x, y, wsz2, cols, d,
- cost[0], cost[1], cost[-1], winsize);
+ tempcost = (ly * (1 - nthread) + lx * nthread == 0) ?
+ calcCostBorder(leftptr, rightptr, x, y, nthread, costbuf, &head, cols, disp_idx, cost[2*nthread-1]) :
+ calcCostInside(leftptr, rightptr, x, y, cols, disp_idx, cost[0], cost[1], cost[-1]);
}
cost[0] = tempcost;
atomic_min(best_cost + nthread, tempcost);
barrier(CLK_LOCAL_MEM_FENCE);
- if(best_cost[nthread] == tempcost)
- atomic_min(best_disp + nthread, ndisp - d - 1);
+ if (best_cost[nthread] == tempcost)
+ atomic_max(best_disp + nthread, disp_idx);
barrier(CLK_LOCAL_MEM_FENCE);
- int dispIdx = mad24(gy+ly, disp_step, disp_offset + (gx+lx)*(int)sizeof(short));
+ dispIdx = mad24(gy + ly, disp_step, mad24((int)sizeof(short), (gx + lx), disp_offset));
disp = (__global short *)(dispptr + dispIdx);
- calcDisp(cost, disp, uniquenessRatio, mindisp, ndisp, 2*sizeY,
- best_disp + nthread, best_cost + nthread, d, x, y, cols, rows, wsz2);
+ calcDisp(cost, disp, uniquenessRatio, best_disp + nthread, best_cost + nthread, disp_idx, x, y, cols, rows);
+
barrier(CLK_LOCAL_MEM_FENCE);
- calcNewCoordinates(&lx, &ly, nthread);
+ if (lx + nthread - 1 == ly)
+ {
+ lx = (lx + nthread + 1) * (1 - nthread);
+ ly = (ly + 1) * nthread;
+ }
+ else
+ {
+ lx += nthread;
+ ly = ly - nthread + 1;
+ }
}
}
-
-#endif
+#endif //DEFINE_KERNEL_STEREOBM
//////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////// Norm Prefiler ////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////
__kernel void prefilter_norm(__global unsigned char *input, __global unsigned char *output,
- int rows, int cols, int prefilterCap, int winsize, int scale_g, int scale_s)
+ int rows, int cols, int prefilterCap, int scale_g, int scale_s)
{
+ // prefilterCap in range 1..63, checked in StereoBMImpl::compute
+
int x = get_global_id(0);
int y = get_global_id(1);
- int wsz2 = winsize/2;
if(x < cols && y < rows)
{
input[y * cols + max(x-1,0)] * 1 + input[ y * cols + x] * 4 + input[y * cols + min(x+1, cols-1)] * 1 +
input[min(y+1, rows-1) * cols + x] * 1;
int cov2 = 0;
- for(int i = -wsz2; i < wsz2+1; i++)
- for(int j = -wsz2; j < wsz2+1; j++)
+ for(int i = -WSZ2; i < WSZ2+1; i++)
+ for(int j = -WSZ2; j < WSZ2+1; j++)
cov2 += input[clamp(y+i, 0, rows-1) * cols + clamp(x+j, 0, cols-1)];
int res = (cov1*scale_g - cov2*scale_s)>>10;
- res = min(clamp(res, -prefilterCap, prefilterCap) + prefilterCap, 255);
- output[y * cols + x] = res & 0xFF;
+ res = clamp(res, -prefilterCap, prefilterCap) + prefilterCap;
+ output[y * cols + x] = res;
}
}
__kernel void prefilter_xsobel(__global unsigned char *input, __global unsigned char *output,
int rows, int cols, int prefilterCap)
{
+ // prefilterCap in range 1..63, checked in StereoBMImpl::compute
int x = get_global_id(0);
int y = get_global_id(1);
if(x < cols && y < rows)
{
- output[y * cols + x] = min(prefilterCap, 255) & 0xFF;
- }
-
- if(x < cols && y < rows && x > 0 && !((y == rows-1)&(rows%2==1) ) )
- {
- int cov = input[ ((y > 0) ? y-1 : y+1) * cols + (x-1)] * (-1) + input[ ((y > 0) ? y-1 : y+1) * cols + ((x<cols-1) ? x+1 : x-1)] * (1) +
- input[ (y) * cols + (x-1)] * (-2) + input[ (y) * cols + ((x<cols-1) ? x+1 : x-1)] * (2) +
- input[((y<rows-1)?(y+1):(y-1))* cols + (x-1)] * (-1) + input[((y<rows-1)?(y+1):(y-1))* cols + ((x<cols-1) ? x+1 : x-1)] * (1);
+ if (0 < x && !((y == rows-1) & (rows%2==1) ) )
+ {
+ int cov = input[ ((y > 0) ? y-1 : y+1) * cols + (x-1)] * (-1) + input[ ((y > 0) ? y-1 : y+1) * cols + ((x<cols-1) ? x+1 : x-1)] * (1) +
+ input[ (y) * cols + (x-1)] * (-2) + input[ (y) * cols + ((x<cols-1) ? x+1 : x-1)] * (2) +
+ input[((y<rows-1)?(y+1):(y-1))* cols + (x-1)] * (-1) + input[((y<rows-1)?(y+1):(y-1))* cols + ((x<cols-1) ? x+1 : x-1)] * (1);
- cov = min(clamp(cov, -prefilterCap, prefilterCap) + prefilterCap, 255);
- output[y * cols + x] = cov & 0xFF;
+ cov = clamp(cov, -prefilterCap, prefilterCap) + prefilterCap;
+ output[y * cols + x] = cov;
+ }
+ else
+ output[y * cols + x] = prefilterCap;
}
-}
+}
\ No newline at end of file
static bool ocl_prefilter_norm(InputArray _input, OutputArray _output, int winsize, int prefilterCap)
{
- ocl::Kernel k("prefilter_norm", ocl::calib3d::stereobm_oclsrc);
+ ocl::Kernel k("prefilter_norm", ocl::calib3d::stereobm_oclsrc, cv::format("-D WSZ=%d", winsize));
if(k.empty())
return false;
size_t globalThreads[3] = { input.cols, input.rows, 1 };
k.args(ocl::KernelArg::PtrReadOnly(input), ocl::KernelArg::PtrWriteOnly(output), input.rows, input.cols,
- prefilterCap, winsize, scale_g, scale_s);
+ prefilterCap, scale_g, scale_s);
return k.run(2, globalThreads, NULL, false);
}
int wsz = state->SADWindowSize;
int wsz2 = wsz/2;
- int sizeX = std::max(11, 27 - ocl::Device::getDefault().maxComputeUnits() ), sizeY = sizeX-1, N = ndisp*2;
+ ocl::Device devDef = ocl::Device::getDefault();
+ int sizeX = devDef.isIntel() ? 32 : std::max(11, 27 - devDef.maxComputeUnits()),
+ sizeY = sizeX - 1,
+ N = ndisp * 2;
- ocl::Kernel k("stereoBM", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D wsz=%d", (2*sizeY)*ndisp, wsz) );
+ cv::String opt = cv::format("-D DEFINE_KERNEL_STEREOBM -D MIN_DISP=%d -D NUM_DISP=%d"
+ " -D BLOCK_SIZE_X=%d -D BLOCK_SIZE_Y=%d -D WSZ=%d",
+ mindisp, ndisp,
+ sizeX, sizeY, wsz);
+ ocl::Kernel k("stereoBM", ocl::calib3d::stereobm_oclsrc, opt);
if(k.empty())
return false;
int cols = left.cols, rows = left.rows;
_disp.create(_left.size(), CV_16S);
- _disp.setTo((mindisp - 1)<<4);
+ _disp.setTo((mindisp - 1) << 4);
Rect roi = Rect(Point(wsz2 + mindisp + ndisp - 1, wsz2), Point(cols-wsz2-mindisp, rows-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 globalX = (disp.cols + sizeX - 1) / sizeX,
+ globalY = (disp.rows + sizeY - 1) / sizeY;
+ size_t globalThreads[3] = {N, globalX, globalY};
+ size_t localThreads[3] = {N, 1, 1};
int idx = 0;
idx = k.set(idx, ocl::KernelArg::PtrReadOnly(left));
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);
- idx = k.set(idx, wsz);
-
return k.run(3, globalThreads, localThreads, false);
}
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