--- /dev/null
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
+// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
+// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// @Authors
+// Jia Haipeng, jiahaipeng95@gmail.com
+// Jin Ma, jin@multicorewareinc.com
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other oclMaterials provided with the distribution.
+//
+// * The name of the copyright holders may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+
+#ifndef FLT_MAX
+#define FLT_MAX CL_FLT_MAX
+#endif
+
+#ifndef SHRT_MAX
+#define SHRT_MAX CL_SHORT_MAX
+#endif
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////get_first_k_initial_global//////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////
+__kernel void get_first_k_initial_global_0(__global short *data_cost_selected_, __global short *selected_disp_pyr,
+ __global short *ctemp, int h, int w, int nr_plane,
+ int cmsg_step1, int cdisp_step1, int cndisp)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ __global short *selected_disparity = selected_disp_pyr + y * cmsg_step1 + x;
+ __global short *data_cost_selected = data_cost_selected_ + y * cmsg_step1 + x;
+ __global short *data_cost = ctemp + y * cmsg_step1 + x;
+
+ for(int i = 0; i < nr_plane; i++)
+ {
+ short minimum = SHRT_MAX;
+ int id = 0;
+
+ for(int d = 0; d < cndisp; d++)
+ {
+ short cur = data_cost[d * cdisp_step1];
+ if(cur < minimum)
+ {
+ minimum = cur;
+ id = d;
+ }
+ }
+
+ data_cost_selected[i * cdisp_step1] = minimum;
+ selected_disparity[i * cdisp_step1] = id;
+ data_cost [id * cdisp_step1] = SHRT_MAX;
+ }
+ }
+}
+__kernel void get_first_k_initial_global_1(__global float *data_cost_selected_, __global float *selected_disp_pyr,
+ __global float *ctemp, int h, int w, int nr_plane,
+ int cmsg_step1, int cdisp_step1, int cndisp)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ __global float *selected_disparity = selected_disp_pyr + y * cmsg_step1 + x;
+ __global float *data_cost_selected = data_cost_selected_ + y * cmsg_step1 + x;
+ __global float *data_cost = ctemp + y * cmsg_step1 + x;
+
+ for(int i = 0; i < nr_plane; i++)
+ {
+ float minimum = FLT_MAX;
+ int id = 0;
+
+ for(int d = 0; d < cndisp; d++)
+ {
+ float cur = data_cost[d * cdisp_step1];
+ if(cur < minimum)
+ {
+ minimum = cur;
+ id = d;
+ }
+ }
+
+ data_cost_selected[i * cdisp_step1] = minimum;
+ selected_disparity[i * cdisp_step1] = id;
+ data_cost [id * cdisp_step1] = FLT_MAX;
+ }
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////////////get_first_k_initial_local////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////////
+__kernel void get_first_k_initial_local_0(__global short *data_cost_selected_, __global short *selected_disp_pyr,
+ __global short *ctemp,int h, int w, int nr_plane,
+ int cmsg_step1, int cdisp_step1, int cndisp)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ __global short *selected_disparity = selected_disp_pyr + y * cmsg_step1 + x;
+ __global short *data_cost_selected = data_cost_selected_ + y * cmsg_step1 + x;
+ __global short *data_cost = ctemp + y * cmsg_step1 + x;
+
+ int nr_local_minimum = 0;
+
+ short prev = data_cost[0 * cdisp_step1];
+ short cur = data_cost[1 * cdisp_step1];
+ short next = data_cost[2 * cdisp_step1];
+
+ for (int d = 1; d < cndisp - 1 && nr_local_minimum < nr_plane; d++)
+ {
+
+ if (cur < prev && cur < next)
+ {
+ data_cost_selected[nr_local_minimum * cdisp_step1] = cur;
+ selected_disparity[nr_local_minimum * cdisp_step1] = d;
+ data_cost[d * cdisp_step1] = SHRT_MAX;
+
+ nr_local_minimum++;
+ }
+
+ prev = cur;
+ cur = next;
+ next = data_cost[(d + 1) * cdisp_step1];
+ }
+
+ for (int i = nr_local_minimum; i < nr_plane; i++)
+ {
+ short minimum = SHRT_MAX;
+ int id = 0;
+
+ for (int d = 0; d < cndisp; d++)
+ {
+ cur = data_cost[d * cdisp_step1];
+ if (cur < minimum)
+ {
+ minimum = cur;
+ id = d;
+ }
+ }
+
+ data_cost_selected[i * cdisp_step1] = minimum;
+ selected_disparity[i * cdisp_step1] = id;
+ data_cost[id * cdisp_step1] = SHRT_MAX;
+ }
+ }
+}
+
+__kernel void get_first_k_initial_local_1(__global float *data_cost_selected_, __global float *selected_disp_pyr,
+ __global float *ctemp,int h, int w, int nr_plane,
+ int cmsg_step1, int cdisp_step1, int cndisp)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ __global float *selected_disparity = selected_disp_pyr + y * cmsg_step1 + x;
+ __global float *data_cost_selected = data_cost_selected_ + y * cmsg_step1 + x;
+ __global float *data_cost = ctemp + y * cmsg_step1 + x;
+
+ int nr_local_minimum = 0;
+
+ float prev = data_cost[0 * cdisp_step1];
+ float cur = data_cost[1 * cdisp_step1];
+ float next = data_cost[2 * cdisp_step1];
+
+ for (int d = 1; d < cndisp - 1 && nr_local_minimum < nr_plane; d++)
+ {
+ if (cur < prev && cur < next)
+ {
+ data_cost_selected[nr_local_minimum * cdisp_step1] = cur;
+ selected_disparity[nr_local_minimum * cdisp_step1] = d;
+ data_cost[d * cdisp_step1] = FLT_MAX ;
+
+ nr_local_minimum++;
+ }
+
+ prev = cur;
+ cur = next;
+ next = data_cost[(d + 1) * cdisp_step1];
+ }
+ for (int i = nr_local_minimum; i < nr_plane; i++)
+ {
+ float minimum = FLT_MAX;
+ int id = 0;
+
+ for (int d = 0; d < cndisp; d++)
+ {
+ cur = data_cost[d * cdisp_step1];
+ if (cur < minimum)
+ {
+ minimum = cur;
+ id = d;
+ }
+ }
+
+ data_cost_selected[i * cdisp_step1] = minimum;
+ selected_disparity[i * cdisp_step1] = id;
+ data_cost[id * cdisp_step1] = FLT_MAX;
+ }
+ }
+}
+
+///////////////////////////////////////////////////////////////
+/////////////////////// init data cost ////////////////////////
+///////////////////////////////////////////////////////////////
+float compute_3(__global uchar* left, __global uchar* right,
+ float cdata_weight, float cmax_data_term)
+{
+ float tb = 0.114f * abs((int)left[0] - right[0]);
+ float tg = 0.587f * abs((int)left[1] - right[1]);
+ float tr = 0.299f * abs((int)left[2] - right[2]);
+
+ return fmin(cdata_weight * (tr + tg + tb), cdata_weight * cmax_data_term);
+}
+float compute_1(__global uchar* left, __global uchar* right,
+ float cdata_weight, float cmax_data_term)
+{
+ return fmin(cdata_weight * abs((int)*left - (int)*right), cdata_weight * cmax_data_term);
+}
+short round_short(float v){
+ return convert_short_sat_rte(v);
+}
+///////////////////////////////////////////////////////////////////////////////////////////////
+///////////////////////////////////init_data_cost///////////////////////////////////////////////
+///////////////////////////////////////////////////////////////////////////////////////////////
+__kernel void init_data_cost_0(__global short *ctemp, __global uchar *cleft, __global uchar *cright,
+ int h, int w, int level, int channels,
+ int cmsg_step1, float cdata_weight, float cmax_data_term, int cdisp_step1,
+ int cth, int cimg_step, int cndisp)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ int y0 = y << level;
+ int yt = (y + 1) << level;
+
+ int x0 = x << level;
+ int xt = (x + 1) << level;
+
+ __global short *data_cost = ctemp + y * cmsg_step1 + x;
+
+ for(int d = 0; d < cndisp; ++d)
+ {
+ float val = 0.0f;
+ for(int yi = y0; yi < yt; yi++)
+ {
+ for(int xi = x0; xi < xt; xi++)
+ {
+ int xr = xi - d;
+ if(d < cth || xr < 0)
+ val += cdata_weight * cmax_data_term;
+ else
+ {
+ __global uchar *lle = cleft + yi * cimg_step + xi * channels;
+ __global uchar *lri = cright + yi * cimg_step + xr * channels;
+
+ if(channels == 1)
+ val += compute_1(lle, lri, cdata_weight, cmax_data_term);
+ else
+ val += compute_3(lle, lri, cdata_weight, cmax_data_term);
+ }
+ }
+ }
+ data_cost[cdisp_step1 * d] = round_short(val);
+ }
+ }
+}
+__kernel void init_data_cost_1(__global float *ctemp, __global uchar *cleft, __global uchar *cright,
+ int h, int w, int level, int channels,
+ int cmsg_step1, float cdata_weight, float cmax_data_term, int cdisp_step1,
+ int cth, int cimg_step, int cndisp)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ int y0 = y << level;
+ int yt = (y + 1) << level;
+
+ int x0 = x << level;
+ int xt = (x + 1) << level;
+
+ __global float *data_cost = ctemp + y * cmsg_step1 + x;
+
+ for(int d = 0; d < cndisp; ++d)
+ {
+ float val = 0.0f;
+ for(int yi = y0; yi < yt; yi++)
+ {
+ for(int xi = x0; xi < xt; xi++)
+ {
+ int xr = xi - d;
+ if(d < cth || xr < 0)
+ val += cdata_weight * cmax_data_term;
+ else
+ {
+ __global uchar* lle = cleft + yi * cimg_step + xi * channels;
+ __global uchar* lri = cright + yi * cimg_step + xr * channels;
+
+ if(channels == 1)
+ val += compute_1(lle, lri, cdata_weight, cmax_data_term);
+ else
+ val += compute_3(lle, lri, cdata_weight, cmax_data_term);
+ }
+ }
+ }
+ data_cost[cdisp_step1 * d] = val;
+ }
+ }
+}
+////////////////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////init_data_cost_reduce//////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////////////////
+__kernel void init_data_cost_reduce_0(__global short *ctemp, __global uchar *cleft, __global uchar *cright,
+ __local float *smem, int level, int rows, int cols, int h, int winsz, int channels,
+ int cndisp,int cimg_step, float cdata_weight, float cmax_data_term, int cth,
+ int cdisp_step1, int cmsg_step1)
+{
+ int x_out = get_group_id(0);
+ int y_out = get_group_id(1) % h;
+ //int d = (blockIdx.y / h) * blockDim.z + threadIdx.z;
+ int d = (get_group_id(1) / h ) * get_local_size(2) + get_local_id(2);
+
+ int tid = get_local_id(0);
+
+ if (d < cndisp)
+ {
+ int x0 = x_out << level;
+ int y0 = y_out << level;
+
+ int len = min(y0 + winsz, rows) - y0;
+
+ float val = 0.0f;
+ if (x0 + tid < cols)
+ {
+ if (x0 + tid - d < 0 || d < cth)
+ val = cdata_weight * cmax_data_term * len;
+ else
+ {
+ __global uchar* lle = cleft + y0 * cimg_step + channels * (x0 + tid );
+ __global uchar* lri = cright + y0 * cimg_step + channels * (x0 + tid - d);
+
+ for(int y = 0; y < len; ++y)
+ {
+ if(channels == 1)
+ val += compute_1(lle, lri, cdata_weight, cmax_data_term);
+ else
+ val += compute_3(lle, lri, cdata_weight, cmax_data_term);
+
+ lle += cimg_step;
+ lri += cimg_step;
+ }
+ }
+ }
+
+ __local float* dline = smem + winsz * get_local_id(2);
+
+ dline[tid] = val;
+
+ barrier(CLK_LOCAL_MEM_FENCE);
+
+ if (winsz >= 256) { if (tid < 128) { dline[tid] += dline[tid + 128]; } barrier(CLK_LOCAL_MEM_FENCE); }
+ if (winsz >= 128) { if (tid < 64) { dline[tid] += dline[tid + 64]; } barrier(CLK_LOCAL_MEM_FENCE); }
+
+ __local volatile float* vdline = smem + winsz * get_local_id(2);
+
+ if (winsz >= 64) if (tid < 32) vdline[tid] += vdline[tid + 32];
+ if (winsz >= 32) if (tid < 16) vdline[tid] += vdline[tid + 16];
+ if (winsz >= 16) if (tid < 8) vdline[tid] += vdline[tid + 8];
+ if (winsz >= 8) if (tid < 4) vdline[tid] += vdline[tid + 4];
+ if (winsz >= 4) if (tid < 2) vdline[tid] += vdline[tid + 2];
+ if (winsz >= 2) if (tid < 1) vdline[tid] += vdline[tid + 1];
+
+ __global short* data_cost = ctemp + y_out * cmsg_step1 + x_out;
+
+ if (tid == 0)
+ data_cost[cdisp_step1 * d] = convert_short_sat_rte(dline[0]);
+ }
+}
+
+__kernel void init_data_cost_reduce_1(__global float *ctemp, __global uchar *cleft, __global uchar *cright,
+ __local float *smem, int level, int rows, int cols, int h, int winsz, int channels,
+ int cndisp,int cimg_step, float cdata_weight, float cmax_data_term, int cth,
+ int cdisp_step1, int cmsg_step1)
+{
+ int x_out = get_group_id(0);
+ int y_out = get_group_id(1) % h;
+ int d = (get_group_id(1) / h ) * get_local_size(2) + get_local_id(2);
+
+ int tid = get_local_id(0);
+
+ if (d < cndisp)
+ {
+ int x0 = x_out << level;
+ int y0 = y_out << level;
+
+ int len = min(y0 + winsz, rows) - y0;
+
+ float val = 0.0f;
+ //float val = 528.0f;
+
+ if (x0 + tid < cols)
+ {
+ if (x0 + tid - d < 0 || d < cth)
+ val = cdata_weight * cmax_data_term * len;
+ else
+ {
+ __global uchar* lle = cleft + y0 * cimg_step + channels * (x0 + tid );
+ __global uchar* lri = cright + y0 * cimg_step + channels * (x0 + tid - d);
+
+ for(int y = 0; y < len; ++y)
+ {
+ if(channels == 1)
+ val += compute_1(lle, lri, cdata_weight, cmax_data_term);
+ else
+ val += compute_3(lle, lri, cdata_weight, cmax_data_term);
+
+ lle += cimg_step;
+ lri += cimg_step;
+ }
+ }
+ }
+
+ __local float* dline = smem + winsz * get_local_id(2);
+
+ dline[tid] = val;
+
+ barrier(CLK_LOCAL_MEM_FENCE);
+
+ if (winsz >= 256) { if (tid < 128) { dline[tid] += dline[tid + 128]; } barrier(CLK_LOCAL_MEM_FENCE); }
+ if (winsz >= 128) { if (tid < 64) { dline[tid] += dline[tid + 64]; } barrier(CLK_LOCAL_MEM_FENCE); }
+
+ __local volatile float* vdline = smem + winsz * get_local_id(2);
+
+ if (winsz >= 64) if (tid < 32) vdline[tid] += vdline[tid + 32];
+ if (winsz >= 32) if (tid < 16) vdline[tid] += vdline[tid + 16];
+ if (winsz >= 16) if (tid < 8) vdline[tid] += vdline[tid + 8];
+ if (winsz >= 8) if (tid < 4) vdline[tid] += vdline[tid + 4];
+ if (winsz >= 4) if (tid < 2) vdline[tid] += vdline[tid + 2];
+ if (winsz >= 2) if (tid < 1) vdline[tid] += vdline[tid + 1];
+
+ __global float *data_cost = ctemp + y_out * cmsg_step1 + x_out;
+
+ if (tid == 0)
+ data_cost[cdisp_step1 * d] = dline[0];
+ }
+}
+
+///////////////////////////////////////////////////////////////
+////////////////////// compute data cost //////////////////////
+///////////////////////////////////////////////////////////////
+__kernel void compute_data_cost_0(__global const short *selected_disp_pyr, __global short *data_cost_,
+ __global uchar *cleft, __global uchar *cright,
+ int h, int w, int level, int nr_plane, int channels,
+ int cmsg_step1, int cmsg_step2, int cdisp_step1, int cdisp_step2, float cdata_weight,
+ float cmax_data_term, int cimg_step, int cth)
+{
+
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ int y0 = y << level;
+ int yt = (y + 1) << level;
+
+ int x0 = x << level;
+ int xt = (x + 1) << level;
+
+ __global const short *selected_disparity = selected_disp_pyr + y/2 * cmsg_step2 + x/2;
+ __global short *data_cost = data_cost_ + y * cmsg_step1 + x;
+
+ for(int d = 0; d < nr_plane; d++)
+ {
+ float val = 0.0f;
+ for(int yi = y0; yi < yt; yi++)
+ {
+ for(int xi = x0; xi < xt; xi++)
+ {
+ int sel_disp = selected_disparity[d * cdisp_step2];
+ int xr = xi - sel_disp;
+
+ if (xr < 0 || sel_disp < cth)
+ val += cdata_weight * cmax_data_term;
+
+ else
+ {
+ __global uchar* left_x = cleft + yi * cimg_step + xi * channels;
+ __global uchar* right_x = cright + yi * cimg_step + xr * channels;
+
+ if(channels == 1)
+ val += compute_1(left_x, right_x, cdata_weight, cmax_data_term);
+ else
+ val += compute_3(left_x, right_x, cdata_weight, cmax_data_term);
+ }
+ }
+ }
+ data_cost[cdisp_step1 * d] = convert_short_sat_rte(val);
+ }
+ }
+}
+__kernel void compute_data_cost_1(__global const float *selected_disp_pyr, __global float *data_cost_,
+ __global uchar *cleft, __global uchar *cright,
+ int h, int w, int level, int nr_plane, int channels,
+ int cmsg_step1, int cmsg_step2, int cdisp_step1, int cdisp_step2, float cdata_weight,
+ float cmax_data_term, int cimg_step, int cth)
+{
+
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ int y0 = y << level;
+ int yt = (y + 1) << level;
+
+ int x0 = x << level;
+ int xt = (x + 1) << level;
+
+ __global const float *selected_disparity = selected_disp_pyr + y/2 * cmsg_step2 + x/2;
+ __global float *data_cost = data_cost_ + y * cmsg_step1 + x;
+
+ for(int d = 0; d < nr_plane; d++)
+ {
+ float val = 0.0f;
+ for(int yi = y0; yi < yt; yi++)
+ {
+ for(int xi = x0; xi < xt; xi++)
+ {
+ int sel_disp = selected_disparity[d * cdisp_step2];
+ int xr = xi - sel_disp;
+
+ if (xr < 0 || sel_disp < cth)
+ val += cdata_weight * cmax_data_term;
+ else
+ {
+ __global uchar* left_x = cleft + yi * cimg_step + xi * channels;
+ __global uchar* right_x = cright + yi * cimg_step + xr * channels;
+
+ if(channels == 1)
+ val += compute_1(left_x, right_x, cdata_weight, cmax_data_term);
+ else
+ val += compute_3(left_x, right_x, cdata_weight, cmax_data_term);
+ }
+ }
+ }
+ data_cost[cdisp_step1 * d] = val;
+ }
+ }
+}
+////////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////compute_data_cost_reduce//////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////////////////////////////////////////
+__kernel void compute_data_cost_reduce_0(__global const short* selected_disp_pyr, __global short* data_cost_,
+ __global uchar *cleft, __global uchar *cright,__local float *smem,
+ int level, int rows, int cols, int h, int nr_plane,
+ int channels, int winsz,
+ int cmsg_step1, int cmsg_step2, int cdisp_step1, int cdisp_step2,
+ float cdata_weight, float cmax_data_term, int cimg_step,int cth)
+
+{
+ int x_out = get_group_id(0);
+ int y_out = get_group_id(1) % h;
+ int d = (get_group_id(1)/ h) * get_local_size(2) + get_local_id(2);
+
+ int tid = get_local_id(0);
+
+ __global const short* selected_disparity = selected_disp_pyr + y_out/2 * cmsg_step2 + x_out/2;
+ __global short* data_cost = data_cost_ + y_out * cmsg_step1 + x_out;
+
+ if (d < nr_plane)
+ {
+ int sel_disp = selected_disparity[d * cdisp_step2];
+
+ int x0 = x_out << level;
+ int y0 = y_out << level;
+
+ int len = min(y0 + winsz, rows) - y0;
+
+ float val = 0.0f;
+ if (x0 + tid < cols)
+ {
+ if (x0 + tid - sel_disp < 0 || sel_disp < cth)
+ val = cdata_weight * cmax_data_term * len;
+ else
+ {
+ __global uchar* lle = cleft + y0 * cimg_step + channels * (x0 + tid );
+ __global uchar* lri = cright + y0 * cimg_step + channels * (x0 + tid - sel_disp);
+
+ for(int y = 0; y < len; ++y)
+ {
+ if(channels == 1)
+ val += compute_1(lle, lri, cdata_weight, cmax_data_term);
+ else
+ val += compute_3(lle, lri, cdata_weight, cmax_data_term);
+
+ lle += cimg_step;
+ lri += cimg_step;
+ }
+ }
+ }
+
+ __local float* dline = smem + winsz * get_local_id(2);
+
+ dline[tid] = val;
+ }
+
+ barrier(CLK_LOCAL_MEM_FENCE);
+ if(d < nr_plane)
+ {
+
+ // if (winsz >= 256) { if (tid < 128) { dline[tid] += dline[tid + 128]; } barrier(CLK_LOCAL_MEM_FENCE); }
+ //if (winsz >= 128) { if (tid < 64) { dline[tid] += dline[tid + 64]; } barrier(CLK_LOCAL_MEM_FENCE); }
+
+ __local volatile float* vdline = smem + winsz * get_local_id(2);
+
+ if (winsz >= 64) if (tid < 32) vdline[tid] += vdline[tid + 32];
+ if (winsz >= 32) if (tid < 16) vdline[tid] += vdline[tid + 16];
+ if (winsz >= 16) if (tid < 8) vdline[tid] += vdline[tid + 8];
+ if (winsz >= 8) if (tid < 4) vdline[tid] += vdline[tid + 4];
+ if (winsz >= 4) if (tid < 2) vdline[tid] += vdline[tid + 2];
+ if (winsz >= 2) if (tid < 1) vdline[tid] += vdline[tid + 1];
+
+ if (tid == 0)
+ data_cost[cdisp_step1 * d] = convert_short_sat_rte(vdline[0]);
+ }
+}
+
+__kernel void compute_data_cost_reduce_1(__global const float *selected_disp_pyr, __global float *data_cost_,
+ __global uchar *cleft, __global uchar *cright, __local float *smem,
+ int level, int rows, int cols, int h, int nr_plane,
+ int channels, int winsz,
+ int cmsg_step1, int cmsg_step2, int cdisp_step1,int cdisp_step2, float cdata_weight,
+ float cmax_data_term, int cimg_step, int cth)
+
+{
+ int x_out = get_group_id(0);
+ int y_out = get_group_id(1) % h;
+ int d = (get_group_id(1)/ h) * get_local_size(2) + get_local_id(2);
+
+ int tid = get_local_id(0);
+
+ __global const float *selected_disparity = selected_disp_pyr + y_out/2 * cmsg_step2 + x_out/2;
+ __global float *data_cost = data_cost_ + y_out * cmsg_step1 + x_out;
+
+ if (d < nr_plane)
+ {
+ int sel_disp = selected_disparity[d * cdisp_step2];
+
+ int x0 = x_out << level;
+ int y0 = y_out << level;
+
+ int len = min(y0 + winsz, rows) - y0;
+
+ float val = 0.0f;
+ if (x0 + tid < cols)
+ {
+ if (x0 + tid - sel_disp < 0 || sel_disp < cth)
+ val = cdata_weight * cmax_data_term * len;
+ else
+ {
+ __global uchar* lle = cleft + y0 * cimg_step + channels * (x0 + tid );
+ __global uchar* lri = cright + y0 * cimg_step + channels * (x0 + tid - sel_disp);
+
+ for(int y = 0; y < len; ++y)
+ {
+ if(channels == 1)
+ val += compute_1(lle, lri, cdata_weight, cmax_data_term);
+ else
+ val += compute_3(lle, lri, cdata_weight, cmax_data_term);
+
+ lle += cimg_step;
+ lri += cimg_step;
+ }
+ }
+ }
+
+ __local float* dline = smem + winsz * get_local_id(2);
+
+ dline[tid] = val;
+ }
+
+ barrier(CLK_LOCAL_MEM_FENCE);
+ if(d < nr_plane)
+ {
+
+ //if (winsz >= 256) { if (tid < 128) { dline[tid] += dline[tid + 128]; } barrier(CLK_LOCAL_MEM_FENCE); }
+ //if (winsz >= 128) { if (tid < 64) { dline[tid] += dline[tid + 64]; } barrier(CLK_LOCAL_MEM_FENCE); }
+
+ __local volatile float* vdline = smem + winsz * get_local_id(2);
+
+ if (winsz >= 64) if (tid < 32) vdline[tid] += vdline[tid + 32];
+ if (winsz >= 32) if (tid < 16) vdline[tid] += vdline[tid + 16];
+ if (winsz >= 16) if (tid < 8) vdline[tid] += vdline[tid + 8];
+ if (winsz >= 8) if (tid < 4) vdline[tid] += vdline[tid + 4];
+ if (winsz >= 4) if (tid < 2) vdline[tid] += vdline[tid + 2];
+ if (winsz >= 2) if (tid < 1) vdline[tid] += vdline[tid + 1];
+
+ if (tid == 0)
+ data_cost[cdisp_step1 * d] = vdline[0];
+ }
+}
+
+///////////////////////////////////////////////////////////////
+//////////////////////// init message /////////////////////////
+///////////////////////////////////////////////////////////////
+void get_first_k_element_increase_0(__global short* u_new, __global short *d_new, __global short *l_new,
+ __global short *r_new, __global const short *u_cur, __global const short *d_cur,
+ __global const short *l_cur, __global const short *r_cur,
+ __global short *data_cost_selected, __global short *disparity_selected_new,
+ __global short *data_cost_new, __global const short* data_cost_cur,
+ __global const short *disparity_selected_cur,
+ int nr_plane, int nr_plane2,
+ int cdisp_step1, int cdisp_step2)
+{
+ for(int i = 0; i < nr_plane; i++)
+ {
+ short minimum = SHRT_MAX;
+ int id = 0;
+ for(int j = 0; j < nr_plane2; j++)
+ {
+ short cur = data_cost_new[j * cdisp_step1];
+ if(cur < minimum)
+ {
+ minimum = cur;
+ id = j;
+ }
+ }
+
+ data_cost_selected[i * cdisp_step1] = data_cost_cur[id * cdisp_step1];
+ disparity_selected_new[i * cdisp_step1] = disparity_selected_cur[id * cdisp_step2];
+
+ u_new[i * cdisp_step1] = u_cur[id * cdisp_step2];
+ d_new[i * cdisp_step1] = d_cur[id * cdisp_step2];
+ l_new[i * cdisp_step1] = l_cur[id * cdisp_step2];
+ r_new[i * cdisp_step1] = r_cur[id * cdisp_step2];
+
+ data_cost_new[id * cdisp_step1] = SHRT_MAX;
+ }
+}
+void get_first_k_element_increase_1(__global float *u_new, __global float *d_new, __global float *l_new,
+ __global float *r_new, __global const float *u_cur, __global const float *d_cur,
+ __global const float *l_cur, __global const float *r_cur,
+ __global float *data_cost_selected, __global float *disparity_selected_new,
+ __global float *data_cost_new, __global const float *data_cost_cur,
+ __global const float *disparity_selected_cur,
+ int nr_plane, int nr_plane2,
+ int cdisp_step1, int cdisp_step2)
+{
+ for(int i = 0; i < nr_plane; i++)
+ {
+ float minimum = FLT_MAX;
+ int id = 0;
+
+ for(int j = 0; j < nr_plane2; j++)
+ {
+ float cur = data_cost_new[j * cdisp_step1];
+ if(cur < minimum)
+ {
+ minimum = cur;
+ id = j;
+ }
+ }
+
+ data_cost_selected[i * cdisp_step1] = data_cost_cur[id * cdisp_step1];
+ disparity_selected_new[i * cdisp_step1] = disparity_selected_cur[id * cdisp_step2];
+
+ u_new[i * cdisp_step1] = u_cur[id * cdisp_step2];
+ d_new[i * cdisp_step1] = d_cur[id * cdisp_step2];
+ l_new[i * cdisp_step1] = l_cur[id * cdisp_step2];
+ r_new[i * cdisp_step1] = r_cur[id * cdisp_step2];
+ data_cost_new[id * cdisp_step1] = FLT_MAX;
+
+ }
+}
+__kernel void init_message_0(__global short *u_new_, __global short *d_new_, __global short *l_new_,
+ __global short *r_new_, __global short *u_cur_, __global const short *d_cur_,
+ __global const short *l_cur_, __global const short *r_cur_, __global short *ctemp,
+ __global short *selected_disp_pyr_new, __global const short *selected_disp_pyr_cur,
+ __global short *data_cost_selected_, __global const short *data_cost_,
+ int h, int w, int nr_plane, int h2, int w2, int nr_plane2,
+ int cdisp_step1, int cdisp_step2, int cmsg_step1, int cmsg_step2)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ __global const short *u_cur = u_cur_ + min(h2-1, y/2 + 1) * cmsg_step2 + x/2;
+ __global const short *d_cur = d_cur_ + max(0, y/2 - 1) * cmsg_step2 + x/2;
+ __global const short *l_cur = l_cur_ + y/2 * cmsg_step2 + min(w2-1, x/2 + 1);
+ __global const short *r_cur = r_cur_ + y/2 * cmsg_step2 + max(0, x/2 - 1);
+
+ __global short *data_cost_new = ctemp + y * cmsg_step1 + x;
+
+ __global const short *disparity_selected_cur = selected_disp_pyr_cur + y/2 * cmsg_step2 + x/2;
+ __global const short *data_cost = data_cost_ + y * cmsg_step1 + x;
+
+ for(int d = 0; d < nr_plane2; d++)
+ {
+ int idx2 = d * cdisp_step2;
+
+ short val = data_cost[d * cdisp_step1] + u_cur[idx2] + d_cur[idx2] + l_cur[idx2] + r_cur[idx2];
+ data_cost_new[d * cdisp_step1] = val;
+ }
+
+ __global short *data_cost_selected = data_cost_selected_ + y * cmsg_step1 + x;
+ __global short *disparity_selected_new = selected_disp_pyr_new + y * cmsg_step1 + x;
+
+ __global short *u_new = u_new_ + y * cmsg_step1 + x;
+ __global short *d_new = d_new_ + y * cmsg_step1 + x;
+ __global short *l_new = l_new_ + y * cmsg_step1 + x;
+ __global short *r_new = r_new_ + y * cmsg_step1 + x;
+
+ u_cur = u_cur_ + y/2 * cmsg_step2 + x/2;
+ d_cur = d_cur_ + y/2 * cmsg_step2 + x/2;
+ l_cur = l_cur_ + y/2 * cmsg_step2 + x/2;
+ r_cur = r_cur_ + y/2 * cmsg_step2 + x/2;
+
+ get_first_k_element_increase_0(u_new, d_new, l_new, r_new, u_cur, d_cur, l_cur, r_cur,
+ data_cost_selected, disparity_selected_new, data_cost_new,
+ data_cost, disparity_selected_cur, nr_plane, nr_plane2,
+ cdisp_step1, cdisp_step2);
+ }
+}
+__kernel void init_message_1(__global float *u_new_, __global float *d_new_, __global float *l_new_,
+ __global float *r_new_, __global float *u_cur_, __global const float *d_cur_,
+ __global const float *l_cur_, __global const float *r_cur_, __global float *ctemp,
+ __global float *selected_disp_pyr_new, __global const float *selected_disp_pyr_cur,
+ __global float *data_cost_selected_, __global const float *data_cost_,
+ int h, int w, int nr_plane, int h2, int w2, int nr_plane2,
+ int cdisp_step1, int cdisp_step2, int cmsg_step1, int cmsg_step2)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y < h && x < w)
+ {
+ __global const float *u_cur = u_cur_ + min(h2-1, y/2 + 1) * cmsg_step2 + x/2;
+ __global const float *d_cur = d_cur_ + max(0, y/2 - 1) * cmsg_step2 + x/2;
+ __global const float *l_cur = l_cur_ + y/2 * cmsg_step2 + min(w2-1, x/2 + 1);
+ __global const float *r_cur = r_cur_ + y/2 * cmsg_step2 + max(0, x/2 - 1);
+
+ __global float *data_cost_new = ctemp + y * cmsg_step1 + x;
+
+ __global const float *disparity_selected_cur = selected_disp_pyr_cur + y/2 * cmsg_step2 + x/2;
+ __global const float *data_cost = data_cost_ + y * cmsg_step1 + x;
+
+ for(int d = 0; d < nr_plane2; d++)
+ {
+ int idx2 = d * cdisp_step2;
+
+ float val = data_cost[d * cdisp_step1] + u_cur[idx2] + d_cur[idx2] + l_cur[idx2] + r_cur[idx2];
+ data_cost_new[d * cdisp_step1] = val;
+ }
+
+ __global float *data_cost_selected = data_cost_selected_ + y * cmsg_step1 + x;
+ __global float *disparity_selected_new = selected_disp_pyr_new + y * cmsg_step1 + x;
+
+ __global float *u_new = u_new_ + y * cmsg_step1 + x;
+ __global float *d_new = d_new_ + y * cmsg_step1 + x;
+ __global float *l_new = l_new_ + y * cmsg_step1 + x;
+ __global float *r_new = r_new_ + y * cmsg_step1 + x;
+
+ u_cur = u_cur_ + y/2 * cmsg_step2 + x/2;
+ d_cur = d_cur_ + y/2 * cmsg_step2 + x/2;
+ l_cur = l_cur_ + y/2 * cmsg_step2 + x/2;
+ r_cur = r_cur_ + y/2 * cmsg_step2 + x/2;
+
+ get_first_k_element_increase_1(u_new, d_new, l_new, r_new, u_cur, d_cur, l_cur, r_cur,
+ data_cost_selected, disparity_selected_new, data_cost_new,
+ data_cost, disparity_selected_cur, nr_plane, nr_plane2,
+ cdisp_step1, cdisp_step2);
+ }
+}
+///////////////////////////////////////////////////////////////
+//////////////////// calc all iterations /////////////////////
+///////////////////////////////////////////////////////////////
+void message_per_pixel_0(__global const short *data, __global short *msg_dst, __global const short *msg1,
+ __global const short *msg2, __global const short *msg3,
+ __global const short *dst_disp, __global const short *src_disp,
+ int nr_plane, __global short *temp,
+ float cmax_disc_term, int cdisp_step1, float cdisc_single_jump)
+{
+ short minimum = SHRT_MAX;
+ for(int d = 0; d < nr_plane; d++)
+ {
+ int idx = d * cdisp_step1;
+ short val = data[idx] + msg1[idx] + msg2[idx] + msg3[idx];
+
+ if(val < minimum)
+ minimum = val;
+
+ msg_dst[idx] = val;
+ }
+
+ float sum = 0;
+ for(int d = 0; d < nr_plane; d++)
+ {
+ float cost_min = minimum + cmax_disc_term;
+ short src_disp_reg = src_disp[d * cdisp_step1];
+
+ for(int d2 = 0; d2 < nr_plane; d2++)
+ cost_min = fmin(cost_min, (msg_dst[d2 * cdisp_step1] +
+ cdisc_single_jump * abs(dst_disp[d2 * cdisp_step1] - src_disp_reg)));
+
+ temp[d * cdisp_step1] = convert_short_sat_rte(cost_min);
+ sum += cost_min;
+ }
+ sum /= nr_plane;
+
+ for(int d = 0; d < nr_plane; d++)
+ msg_dst[d * cdisp_step1] = convert_short_sat_rte(temp[d * cdisp_step1] - sum);
+}
+void message_per_pixel_1(__global const float *data, __global float *msg_dst, __global const float *msg1,
+ __global const float *msg2, __global const float *msg3,
+ __global const float *dst_disp, __global const float *src_disp,
+ int nr_plane, __global float *temp,
+ float cmax_disc_term, int cdisp_step1, float cdisc_single_jump)
+{
+ float minimum = FLT_MAX;
+ for(int d = 0; d < nr_plane; d++)
+ {
+ int idx = d * cdisp_step1;
+ float val = data[idx] + msg1[idx] + msg2[idx] + msg3[idx];
+
+ if(val < minimum)
+ minimum = val;
+
+ msg_dst[idx] = val;
+ }
+
+ float sum = 0;
+ for(int d = 0; d < nr_plane; d++)
+ {
+ float cost_min = minimum + cmax_disc_term;
+ float src_disp_reg = src_disp[d * cdisp_step1];
+
+ for(int d2 = 0; d2 < nr_plane; d2++)
+ cost_min = fmin(cost_min, (msg_dst[d2 * cdisp_step1] +
+ cdisc_single_jump * fabs(dst_disp[d2 * cdisp_step1] - src_disp_reg)));
+
+ temp[d * cdisp_step1] = cost_min;
+ sum += cost_min;
+ }
+ sum /= nr_plane;
+
+ for(int d = 0; d < nr_plane; d++)
+ msg_dst[d * cdisp_step1] = temp[d * cdisp_step1] - sum;
+}
+__kernel void compute_message_0(__global short *u_, __global short *d_, __global short *l_, __global short *r_,
+ __global const short *data_cost_selected, __global const short *selected_disp_pyr_cur,
+ __global short *ctemp, int h, int w, int nr_plane, int i,
+ float cmax_disc_term, int cdisp_step1, int cmsg_step1, float cdisc_single_jump)
+{
+ int y = get_global_id(1);
+ int x = ((get_global_id(0)) << 1) + ((y + i) & 1);
+
+ if (y > 0 && y < h - 1 && x > 0 && x < w - 1)
+ {
+ __global const short *data = data_cost_selected + y * cmsg_step1 + x;
+
+ __global short *u = u_ + y * cmsg_step1 + x;
+ __global short *d = d_ + y * cmsg_step1 + x;
+ __global short *l = l_ + y * cmsg_step1 + x;
+ __global short *r = r_ + y * cmsg_step1 + x;
+
+ __global const short *disp = selected_disp_pyr_cur + y * cmsg_step1 + x;
+
+ __global short *temp = ctemp + y * cmsg_step1 + x;
+
+ message_per_pixel_0(data, u, r - 1, u + cmsg_step1, l + 1, disp, disp - cmsg_step1, nr_plane, temp,
+ cmax_disc_term, cdisp_step1, cdisc_single_jump);
+ message_per_pixel_0(data, d, d - cmsg_step1, r - 1, l + 1, disp, disp + cmsg_step1, nr_plane, temp,
+ cmax_disc_term, cdisp_step1, cdisc_single_jump);
+ message_per_pixel_0(data, l, u + cmsg_step1, d - cmsg_step1, l + 1, disp, disp - 1, nr_plane, temp,
+ cmax_disc_term, cdisp_step1, cdisc_single_jump);
+ message_per_pixel_0(data, r, u + cmsg_step1, d - cmsg_step1, r - 1, disp, disp + 1, nr_plane, temp,
+ cmax_disc_term, cdisp_step1, cdisc_single_jump);
+ }
+}
+__kernel void compute_message_1(__global float *u_, __global float *d_, __global float *l_, __global float *r_,
+ __global const float *data_cost_selected, __global const float *selected_disp_pyr_cur,
+ __global float *ctemp, int h, int w, int nr_plane, int i,
+ float cmax_disc_term, int cdisp_step1, int cmsg_step1, float cdisc_single_jump)
+{
+ int y = get_global_id(1);
+ int x = ((get_global_id(0)) << 1) + ((y + i) & 1);
+
+ if (y > 0 && y < h - 1 && x > 0 && x < w - 1)
+ {
+ __global const float *data = data_cost_selected + y * cmsg_step1 + x;
+
+ __global float *u = u_ + y * cmsg_step1 + x;
+ __global float *d = d_ + y * cmsg_step1 + x;
+ __global float *l = l_ + y * cmsg_step1 + x;
+ __global float *r = r_ + y * cmsg_step1 + x;
+
+ __global const float *disp = selected_disp_pyr_cur + y * cmsg_step1 + x;
+ __global float *temp = ctemp + y * cmsg_step1 + x;
+
+ message_per_pixel_1(data, u, r - 1, u + cmsg_step1, l + 1, disp, disp - cmsg_step1, nr_plane, temp,
+ cmax_disc_term, cdisp_step1, cdisc_single_jump);
+ message_per_pixel_1(data, d, d - cmsg_step1, r - 1, l + 1, disp, disp + cmsg_step1, nr_plane, temp,
+ cmax_disc_term, cdisp_step1, cdisc_single_jump);
+ message_per_pixel_1(data, l, u + cmsg_step1, d - cmsg_step1, l + 1, disp, disp - 1, nr_plane, temp,
+ cmax_disc_term, cdisp_step1, cdisc_single_jump);
+ message_per_pixel_1(data, r, u + cmsg_step1, d - cmsg_step1, r - 1, disp, disp + 1, nr_plane, temp,
+ cmax_disc_term, cdisp_step1, cdisc_single_jump);
+ }
+}
+
+///////////////////////////////////////////////////////////////
+/////////////////////////// output ////////////////////////////
+///////////////////////////////////////////////////////////////
+__kernel void compute_disp_0(__global const short *u_, __global const short *d_, __global const short *l_,
+ __global const short *r_, __global const short * data_cost_selected,
+ __global const short *disp_selected_pyr,
+ __global short* disp,
+ int res_step, int cols, int rows, int nr_plane,
+ int cmsg_step1, int cdisp_step1)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y > 0 && y < rows - 1 && x > 0 && x < cols - 1)
+ {
+ __global const short *data = data_cost_selected + y * cmsg_step1 + x;
+ __global const short *disp_selected = disp_selected_pyr + y * cmsg_step1 + x;
+
+ __global const short *u = u_ + (y+1) * cmsg_step1 + (x+0);
+ __global const short *d = d_ + (y-1) * cmsg_step1 + (x+0);
+ __global const short *l = l_ + (y+0) * cmsg_step1 + (x+1);
+ __global const short *r = r_ + (y+0) * cmsg_step1 + (x-1);
+
+ short best = 0;
+ short best_val = SHRT_MAX;
+
+ for (int i = 0; i < nr_plane; ++i)
+ {
+ int idx = i * cdisp_step1;
+ short val = data[idx]+ u[idx] + d[idx] + l[idx] + r[idx];
+
+ if (val < best_val)
+ {
+ best_val = val;
+ best = disp_selected[idx];
+ }
+ }
+ disp[res_step * y + x] = best;
+ }
+}
+__kernel void compute_disp_1(__global const float *u_, __global const float *d_, __global const float *l_,
+ __global const float *r_, __global const float *data_cost_selected,
+ __global const float *disp_selected_pyr,
+ __global short *disp,
+ int res_step, int cols, int rows, int nr_plane,
+ int cmsg_step1, int cdisp_step1)
+{
+ int x = get_global_id(0);
+ int y = get_global_id(1);
+
+ if (y > 0 && y < rows - 1 && x > 0 && x < cols - 1)
+ {
+ __global const float *data = data_cost_selected + y * cmsg_step1 + x;
+ __global const float *disp_selected = disp_selected_pyr + y * cmsg_step1 + x;
+
+ __global const float *u = u_ + (y+1) * cmsg_step1 + (x+0);
+ __global const float *d = d_ + (y-1) * cmsg_step1 + (x+0);
+ __global const float *l = l_ + (y+0) * cmsg_step1 + (x+1);
+ __global const float *r = r_ + (y+0) * cmsg_step1 + (x-1);
+
+ short best = 0;
+ short best_val = SHRT_MAX;
+ for (int i = 0; i < nr_plane; ++i)
+ {
+ int idx = i * cdisp_step1;
+ float val = data[idx]+ u[idx] + d[idx] + l[idx] + r[idx];
+
+ if (val < best_val)
+ {
+ best_val = val;
+ best = convert_short_sat_rte(disp_selected[idx]);
+ }
+ }
+ disp[res_step * y + x] = best;
+ }
+}
+
--- /dev/null
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
+// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
+// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// @Authors
+// Jia Haipeng, jiahaipeng95@gmail.com
+// Jin Ma, jin@multicorewareinc.com
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other oclMaterials provided with the distribution.
+//
+// * The name of the copyright holders may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"
+
+using namespace cv;
+using namespace cv::ocl;
+using namespace std;
+
+#if !defined (HAVE_OPENCL)
+
+namespace cv
+{
+ namespace ocl
+ {
+
+ void cv::ocl::StereoConstantSpaceBP::estimateRecommendedParams(int, int, int &, int &, int &, int &)
+ {
+ throw_nogpu();
+ }
+ cv::ocl::StereoConstantSpaceBP::StereoConstantSpaceBP(int, int, int, int, int)
+ {
+ throw_nogpu();
+ }
+ cv::ocl::StereoConstantSpaceBP::StereoConstantSpaceBP(int, int, int, int, float, float,
+ float, float, int, int)
+ {
+ throw_nogpu();
+ }
+
+ void cv::ocl::StereoConstantSpaceBP::operator()(const oclMat &, const oclMat &, oclMat &)
+ {
+ throw_nogpu();
+ }
+ }
+}
+
+#else /* !defined (HAVE_OPENCL) */
+
+namespace cv
+{
+ namespace ocl
+ {
+
+ ///////////////////////////OpenCL kernel strings///////////////////////////
+ extern const char *stereocsbp;
+ }
+
+}
+namespace cv
+{
+ namespace ocl
+ {
+ namespace stereoCSBP
+ {
+ //////////////////////////////////////////////////////////////////////////
+ //////////////////////////////common////////////////////////////////////
+ ////////////////////////////////////////////////////////////////////////
+ static inline int divUp(int total, int grain)
+ {
+ return (total + grain - 1) / grain;
+ }
+ static string get_kernel_name(string kernel_name, int data_type)
+ {
+ stringstream idxStr;
+ if(data_type == CV_16S)
+ idxStr << "0";
+ else
+ idxStr << "1";
+ kernel_name += idxStr.str();
+
+ return kernel_name;
+ }
+ using cv::ocl::StereoConstantSpaceBP;
+ //////////////////////////////////////////////////////////////////////////////////
+ /////////////////////////////////init_data_cost//////////////////////////////////
+ //////////////////////////////////////////////////////////////////////////////////
+ static void init_data_cost_caller(const oclMat &left, const oclMat &right, oclMat &temp,
+ StereoConstantSpaceBP &rthis,
+ int msg_step, int h, int w, int level)
+ {
+ Context *clCxt = left.clCxt;
+ int data_type = rthis.msg_type;
+ int channels = left.oclchannels();
+
+ string kernelName = get_kernel_name("init_data_cost_", data_type);
+
+ cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
+
+ //size_t blockSize = 256;
+ size_t localThreads[] = {32, 8 ,1};
+ size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
+ divUp(h, localThreads[1]) *localThreads[1],
+ 1
+ };
+
+ int cdisp_step1 = msg_step * h;
+ openCLVerifyKernel(clCxt, kernel, localThreads);
+ openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&temp.data));
+ openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&left.data));
+ openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&right.data));
+ openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&h));
+ openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_int), (void *)&w));
+ openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&level));
+ openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&channels));
+ openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&msg_step));
+ openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_float), (void *)&rthis.data_weight));
+ openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_float), (void *)&rthis.max_data_term));
+ openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&cdisp_step1));
+ openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&rthis.min_disp_th));
+ openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&left.step));
+ openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&rthis.ndisp));
+ openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getoclCommandQueue(), kernel, 2, NULL,
+ globalThreads, localThreads, 0, NULL, NULL));
+
+ clFinish(*(cl_command_queue*)getoclCommandQueue());
+ openCLSafeCall(clReleaseKernel(kernel));
+ }
+
+ static void init_data_cost_reduce_caller(const oclMat &left, const oclMat &right, oclMat &temp,
+ StereoConstantSpaceBP &rthis,
+ int msg_step, int h, int w, int level)
+ {
+
+ Context *clCxt = left.clCxt;
+ int data_type = rthis.msg_type;
+ int channels = left.oclchannels();
+ int win_size = (int)std::pow(2.f, level);
+
+ string kernelName = get_kernel_name("init_data_cost_reduce_", data_type);
+
+ cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
+
+ const int threadsNum = 256;
+ //size_t blockSize = threadsNum;
+ size_t localThreads[3] = {win_size, 1, threadsNum / win_size};
+ size_t globalThreads[3] = {w *localThreads[0],
+ h * divUp(rthis.ndisp, localThreads[2]) *localThreads[1], 1 * localThreads[2]
+ };
+
+ int local_mem_size = threadsNum * sizeof(float);
+ int cdisp_step1 = msg_step * h;
+
+ openCLVerifyKernel(clCxt, kernel, localThreads);
+
+ openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&temp.data));
+ openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&left.data));
+ openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&right.data));
+ openCLSafeCall(clSetKernelArg(kernel, 3, local_mem_size, (void *)NULL));
+ openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_int), (void *)&level));
+ 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 *)&h));
+ openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&win_size));
+ openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&channels));
+ openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&rthis.ndisp));
+ openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&left.step));
+ openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_float), (void *)&rthis.data_weight));
+ openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&rthis.max_data_term));
+ openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_int), (void *)&rthis.min_disp_th));
+ openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&cdisp_step1));
+ openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_int), (void *)&msg_step));
+ openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getoclCommandQueue(), kernel, 3, NULL,
+ globalThreads, localThreads, 0, NULL, NULL));
+ clFinish(*(cl_command_queue*)getoclCommandQueue());
+ openCLSafeCall(clReleaseKernel(kernel));
+ }
+
+ static void get_first_initial_local_caller(uchar *data_cost_selected, uchar *disp_selected_pyr,
+ oclMat &temp, StereoConstantSpaceBP &rthis,
+ int h, int w, int nr_plane, int msg_step)
+ {
+ Context *clCxt = temp.clCxt;
+ int data_type = rthis.msg_type;
+
+ string kernelName = get_kernel_name("get_first_k_initial_local_", data_type);
+
+ cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
+
+ //size_t blockSize = 256;
+ size_t localThreads[] = {32, 8 ,1};
+ size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
+ divUp(h, localThreads[1]) *localThreads[1],
+ 1
+ };
+
+ int disp_step = msg_step * h;
+ openCLVerifyKernel(clCxt, kernel, localThreads);
+ openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&data_cost_selected));
+ openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&disp_selected_pyr));
+ openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&temp.data));
+ openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&h));
+ openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_int), (void *)&w));
+ openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&nr_plane));
+ openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&msg_step));
+ openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&disp_step));
+ openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&rthis.ndisp));
+ openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getoclCommandQueue(), kernel, 2, NULL,
+ globalThreads, localThreads, 0, NULL, NULL));
+
+ clFinish(*(cl_command_queue*)getoclCommandQueue());
+ openCLSafeCall(clReleaseKernel(kernel));
+ }
+ static void get_first_initial_global_caller(uchar *data_cost_selected, uchar *disp_selected_pyr,
+ oclMat &temp, StereoConstantSpaceBP &rthis,
+ int h, int w, int nr_plane, int msg_step)
+ {
+ Context *clCxt = temp.clCxt;
+ int data_type = rthis.msg_type;
+
+ string kernelName = get_kernel_name("get_first_k_initial_global_", data_type);
+
+ cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
+
+ //size_t blockSize = 256;
+ size_t localThreads[] = {32, 8, 1};
+ size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
+ divUp(h, localThreads[1]) *localThreads[1],
+ 1
+ };
+
+ int disp_step = msg_step * h;
+ openCLVerifyKernel(clCxt, kernel, localThreads);
+ openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&data_cost_selected));
+ openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&disp_selected_pyr));
+ openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&temp.data));
+ openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&h));
+ openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_int), (void *)&w));
+ openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&nr_plane));
+ openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&msg_step));
+ openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&disp_step));
+ openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&rthis.ndisp));
+ openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getoclCommandQueue(), kernel, 2, NULL,
+ globalThreads, localThreads, 0, NULL, NULL));
+
+ clFinish(*(cl_command_queue*)getoclCommandQueue());
+ openCLSafeCall(clReleaseKernel(kernel));
+ }
+
+ static void init_data_cost(const oclMat &left, const oclMat &right, oclMat &temp, StereoConstantSpaceBP &rthis,
+ uchar *disp_selected_pyr, uchar *data_cost_selected,
+ size_t msg_step, int h, int w, int level, int nr_plane)
+ {
+
+ if(level <= 1)
+ init_data_cost_caller(left, right, temp, rthis, msg_step, h, w, level);
+ else
+ init_data_cost_reduce_caller(left, right, temp, rthis, msg_step, h, w, level);
+
+ if(rthis.use_local_init_data_cost == true)
+ {
+ get_first_initial_local_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w, nr_plane, msg_step);
+ }
+ else
+ {
+ get_first_initial_global_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w,
+ nr_plane, msg_step);
+ }
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////
+ ///////////////////////////////////compute_data_cost//////////////////////////////////////////////
+ ////////////////////////////////////////////////////////////////////////////////////////////////
+ static void compute_data_cost_caller(uchar *disp_selected_pyr, uchar *data_cost,
+ StereoConstantSpaceBP &rthis, int msg_step1,
+ int msg_step2, const oclMat &left, const oclMat &right, int h,
+ int w, int h2, int level, int nr_plane)
+ {
+ Context *clCxt = left.clCxt;
+ int channels = left.oclchannels();
+ int data_type = rthis.msg_type;
+
+ string kernelName = get_kernel_name("compute_data_cost_", data_type);
+
+ cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
+
+ //size_t blockSize = 256;
+ size_t localThreads[] = {32, 8, 1};
+ size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
+ divUp(h, localThreads[1]) *localThreads[1],
+ 1
+ };
+
+ int disp_step1 = msg_step1 * h;
+ int disp_step2 = msg_step2 * h2;
+ openCLVerifyKernel(clCxt, kernel, localThreads);
+ openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&disp_selected_pyr));
+ openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&data_cost));
+ openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&left.data));
+ openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_mem), (void *)&right.data));
+ openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_int), (void *)&h));
+ openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&w));
+ openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&level));
+ openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&nr_plane));
+ openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&channels));
+ openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&msg_step1));
+ openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&msg_step2));
+ openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&disp_step1));
+ openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&disp_step2));
+ openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&rthis.data_weight));
+ openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&rthis.max_data_term));
+ openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&left.step));
+ openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_int), (void *)&rthis.min_disp_th));
+ openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getoclCommandQueue(), kernel, 2, NULL,
+ globalThreads, localThreads, 0, NULL, NULL));
+
+ clFinish(*(cl_command_queue*)getoclCommandQueue());
+ openCLSafeCall(clReleaseKernel(kernel));
+ }
+ static void compute_data_cost_reduce_caller(uchar *disp_selected_pyr, uchar *data_cost,
+ StereoConstantSpaceBP &rthis, int msg_step1,
+ int msg_step2, const oclMat &left, const oclMat &right, int h,
+ int w, int h2, int level, int nr_plane)
+ {
+ Context *clCxt = left.clCxt;
+ int data_type = rthis.msg_type;
+ int channels = left.oclchannels();
+ int win_size = (int)std::pow(2.f, level);
+
+ string kernelName = get_kernel_name("compute_data_cost_reduce_", data_type);
+
+ cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
+
+ const size_t threadsNum = 256;
+ //size_t blockSize = threadsNum;
+ size_t localThreads[3] = {win_size, 1, threadsNum / win_size};
+ size_t globalThreads[3] = {w *localThreads[0],
+ h * divUp(nr_plane, localThreads[2]) *localThreads[1], 1 * localThreads[2]
+ };
+
+ int disp_step1 = msg_step1 * h;
+ int disp_step2 = msg_step2 * h2;
+ size_t local_mem_size = threadsNum * sizeof(float);
+ openCLVerifyKernel(clCxt, kernel, localThreads);
+ openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&disp_selected_pyr));
+ openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&data_cost));
+ openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&left.data));
+ openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_mem), (void *)&right.data));
+ openCLSafeCall(clSetKernelArg(kernel, 4, local_mem_size, (void *)NULL));
+ openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&level));
+ openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&left.rows));
+ openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&left.cols));
+ openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&h));
+ openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&nr_plane));
+ openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&channels));
+ openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&win_size));
+ openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&msg_step1));
+ openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&msg_step2));
+ openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_int), (void *)&disp_step1));
+ openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&disp_step2));
+ openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_float), (void *)&rthis.data_weight));
+ openCLSafeCall(clSetKernelArg(kernel, 17, sizeof(cl_float), (void *)&rthis.max_data_term));
+ openCLSafeCall(clSetKernelArg(kernel, 18, sizeof(cl_int), (void *)&left.step));
+ openCLSafeCall(clSetKernelArg(kernel, 19, sizeof(cl_int), (void *)&rthis.min_disp_th));
+ openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getoclCommandQueue(), kernel, 3, NULL,
+ globalThreads, localThreads, 0, NULL, NULL));
+
+ clFinish(*(cl_command_queue*)getoclCommandQueue());
+ openCLSafeCall(clReleaseKernel(kernel));
+ }
+ static void compute_data_cost(uchar *disp_selected_pyr, uchar *data_cost, StereoConstantSpaceBP &rthis,
+ int msg_step1, int msg_step2, const oclMat &left, const oclMat &right, int h, int w,
+ int h2, int level, int nr_plane)
+ {
+ if(level <= 1)
+ compute_data_cost_caller(disp_selected_pyr, data_cost, rthis, msg_step1, msg_step2,
+ left, right, h, w, h2, level, nr_plane);
+ else
+ compute_data_cost_reduce_caller(disp_selected_pyr, data_cost, rthis, msg_step1, msg_step2,
+ left, right, h, w, h2, level, nr_plane);
+ }
+ ////////////////////////////////////////////////////////////////////////////////////////////////
+ //////////////////////////////////////init message//////////////////////////////////////////////
+ ////////////////////////////////////////////////////////////////////////////////////////////////
+ static void init_message(uchar *u_new, uchar *d_new, uchar *l_new, uchar *r_new,
+ uchar *u_cur, uchar *d_cur, uchar *l_cur, uchar *r_cur,
+ uchar *disp_selected_pyr_new, uchar *disp_selected_pyr_cur,
+ uchar *data_cost_selected, uchar *data_cost, oclMat &temp, StereoConstantSpaceBP rthis,
+ size_t msg_step1, size_t msg_step2, int h, int w, int nr_plane,
+ int h2, int w2, int nr_plane2)
+ {
+ Context *clCxt = temp.clCxt;
+ int data_type = rthis.msg_type;
+
+ string kernelName = get_kernel_name("init_message_", data_type);
+
+ cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
+
+ //size_t blockSize = 256;
+ size_t localThreads[] = {32, 8, 1};
+ size_t globalThreads[] = {divUp(w, localThreads[0]) *localThreads[0],
+ divUp(h, localThreads[1]) *localThreads[1],
+ 1
+ };
+
+ int disp_step1 = msg_step1 * h;
+ int disp_step2 = msg_step2 * h2;
+ openCLVerifyKernel(clCxt, kernel, localThreads);
+ openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&u_new));
+ openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&d_new));
+ openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&l_new));
+ openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_mem), (void *)&r_new));
+ openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_mem), (void *)&u_cur));
+ openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_mem), (void *)&d_cur));
+ openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_mem), (void *)&l_cur));
+ openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_mem), (void *)&r_cur));
+ openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_mem), (void *)&temp.data));
+ openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_mem), (void *)&disp_selected_pyr_new));
+ openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_mem), (void *)&disp_selected_pyr_cur));
+ openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_mem), (void *)&data_cost_selected));
+ openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_mem), (void *)&data_cost));
+ openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&h));
+ openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_int), (void *)&w));
+ openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&nr_plane));
+ openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_int), (void *)&h2));
+ openCLSafeCall(clSetKernelArg(kernel, 17, sizeof(cl_int), (void *)&w2));
+ openCLSafeCall(clSetKernelArg(kernel, 18, sizeof(cl_int), (void *)&nr_plane2));
+ openCLSafeCall(clSetKernelArg(kernel, 19, sizeof(cl_int), (void *)&disp_step1));
+ openCLSafeCall(clSetKernelArg(kernel, 20, sizeof(cl_int), (void *)&disp_step2));
+ openCLSafeCall(clSetKernelArg(kernel, 21, sizeof(cl_int), (void *)&msg_step1));
+ openCLSafeCall(clSetKernelArg(kernel, 22, sizeof(cl_int), (void *)&msg_step2));
+ openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getoclCommandQueue(), kernel, 2, NULL,
+ globalThreads, localThreads, 0, NULL, NULL));
+
+ clFinish(*(cl_command_queue*)getoclCommandQueue());
+ openCLSafeCall(clReleaseKernel(kernel));
+ }
+ ////////////////////////////////////////////////////////////////////////////////////////////////
+ ///////////////////////////calc_all_iterations////////////////////////////////////////////////
+ //////////////////////////////////////////////////////////////////////////////////////////////
+ static void calc_all_iterations_caller(uchar *u, uchar *d, uchar *l, uchar *r, uchar *data_cost_selected,
+ uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP rthis,
+ int msg_step, int h, int w, int nr_plane, int i)
+ {
+ Context *clCxt = temp.clCxt;
+ int data_type = rthis.msg_type;
+
+ string kernelName = get_kernel_name("compute_message_", data_type);
+
+ cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
+ size_t localThreads[] = {32, 8, 1};
+ size_t globalThreads[] = {divUp(w, (localThreads[0]) << 1) *localThreads[0],
+ divUp(h, localThreads[1]) *localThreads[1],
+ 1
+ };
+
+ int disp_step = msg_step * h;
+ openCLVerifyKernel(clCxt, kernel, localThreads);
+ openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&u));
+ openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&d));
+ openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&l));
+ openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_mem), (void *)&r));
+ openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_mem), (void *)&data_cost_selected));
+ openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_mem), (void *)&disp_selected_pyr));
+ openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_mem), (void *)&temp.data));
+ openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&h));
+ openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&w));
+ openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&nr_plane));
+ openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&i));
+ openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_float), (void *)&rthis.max_disc_term));
+ openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&disp_step));
+ openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&msg_step));
+ openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&rthis.disc_single_jump));
+ openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getoclCommandQueue(), kernel, 2, NULL,
+ globalThreads, localThreads, 0, NULL, NULL));
+
+ clFinish(*(cl_command_queue*)getoclCommandQueue());
+ openCLSafeCall(clReleaseKernel(kernel));
+ }
+ static void calc_all_iterations(uchar *u, uchar *d, uchar *l, uchar *r, uchar *data_cost_selected,
+ uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP rthis,
+ int msg_step, int h, int w, int nr_plane)
+ {
+ for(int t = 0; t < rthis.iters; t++)
+ calc_all_iterations_caller(u, d, l, r, data_cost_selected, disp_selected_pyr, temp, rthis,
+ msg_step, h, w, nr_plane, t & 1);
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////
+ //////////////////////////compute_disp////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////////////////////////////////////////
+ static void compute_disp(uchar *u, uchar *d, uchar *l, uchar *r, uchar *data_cost_selected,
+ uchar *disp_selected_pyr, StereoConstantSpaceBP &rthis, size_t msg_step,
+ oclMat &disp, int nr_plane)
+ {
+ Context *clCxt = disp.clCxt;
+ int data_type = rthis.msg_type;
+
+ string kernelName = get_kernel_name("compute_disp_", data_type);
+
+ cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereocsbp, kernelName);
+
+ //size_t blockSize = 256;
+ size_t localThreads[] = {32, 8, 1};
+ size_t globalThreads[] = {divUp(disp.cols, localThreads[0]) *localThreads[0],
+ divUp(disp.rows, localThreads[1]) *localThreads[1],
+ 1
+ };
+
+ int step_size = disp.step / disp.elemSize();
+ int disp_step = disp.rows * msg_step;
+ openCLVerifyKernel(clCxt, kernel, localThreads);
+ openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&u));
+ openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&d));
+ openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&l));
+ openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_mem), (void *)&r));
+ openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_mem), (void *)&data_cost_selected));
+ openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_mem), (void *)&disp_selected_pyr));
+ openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_mem), (void *)&disp.data));
+ openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&step_size));
+ openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&disp.cols));
+ openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&disp.rows));
+ openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&nr_plane));
+ openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&msg_step));
+ openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&disp_step));
+ openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getoclCommandQueue(), kernel, 2, NULL,
+ globalThreads, localThreads, 0, NULL, NULL));
+
+ clFinish(*(cl_command_queue*)getoclCommandQueue());
+ openCLSafeCall(clReleaseKernel(kernel));
+ }
+ }
+ }
+}
+namespace
+{
+ const float DEFAULT_MAX_DATA_TERM = 30.0f;
+ const float DEFAULT_DATA_WEIGHT = 1.0f;
+ const float DEFAULT_MAX_DISC_TERM = 160.0f;
+ const float DEFAULT_DISC_SINGLE_JUMP = 10.0f;
+
+ template<typename T>
+ void print_gpu_mat(const oclMat &mat)
+ {
+ T *data_1 = new T[mat.rows * mat.cols * mat.channels()];
+ Context *clCxt = mat.clCxt;
+ int status = clEnqueueReadBuffer(clCxt -> impl->clCmdQueue, (cl_mem)mat.data, CL_TRUE, 0,
+ mat.rows * mat.cols * mat.channels() * sizeof(T), data_1, 0, NULL, NULL);
+
+ if(status != CL_SUCCESS)
+ cout << "error " << status << endl;
+
+ cout << ".........................................................." << endl;
+ cout << "elemSize() " << mat.elemSize() << endl;
+ cout << "elemSize() " << mat.elemSize1() << endl;
+ cout << "channels: " << mat.channels() << endl;
+ cout << "rows: " << mat.rows << endl;
+ cout << "cols: " << mat.cols << endl;
+
+ for(int i = 0; i < 100; i++)
+ {
+ for(int j = 0; j < 30; j++)
+ {
+ cout << (int)data_1[i * mat.cols * mat.channels() + j] << " ";
+ }
+ cout << endl;
+ }
+ }
+}
+
+
+void cv::ocl::StereoConstantSpaceBP::estimateRecommendedParams(int width, int height, int &ndisp, int &iters, int &levels, int &nr_plane)
+{
+ ndisp = (int) ((float) width / 3.14f);
+ if ((ndisp & 1) != 0)
+ ndisp++;
+
+ int mm = ::max(width, height);
+ iters = mm / 100 + ((mm > 1200) ? - 4 : 4);
+
+ levels = (int)::log(static_cast<double>(mm)) * 2 / 3;
+ if (levels == 0) levels++;
+
+ nr_plane = (int) ((float) ndisp / std::pow(2.0, levels + 1));
+}
+
+cv::ocl::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
+ int msg_type_)
+
+ : ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
+ max_data_term(DEFAULT_MAX_DATA_TERM), data_weight(DEFAULT_DATA_WEIGHT),
+ max_disc_term(DEFAULT_MAX_DISC_TERM), disc_single_jump(DEFAULT_DISC_SINGLE_JUMP), min_disp_th(0),
+ msg_type(msg_type_), use_local_init_data_cost(true)
+{
+ CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
+}
+
+
+cv::ocl::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, int levels_, int nr_plane_,
+ float max_data_term_, float data_weight_, float max_disc_term_, float disc_single_jump_,
+ int min_disp_th_, int msg_type_)
+ : ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
+ max_data_term(max_data_term_), data_weight(data_weight_),
+ max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_), min_disp_th(min_disp_th_),
+ msg_type(msg_type_), use_local_init_data_cost(true)
+{
+ CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
+}
+
+template<class T>
+static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2], oclMat l[2], oclMat r[2],
+ oclMat disp_selected_pyr[2], oclMat &data_cost, oclMat &data_cost_selected,
+ oclMat &temp, oclMat &out, const oclMat &left, const oclMat &right, oclMat &disp)
+{
+ CV_DbgAssert(0 < rthis.ndisp && 0 < rthis.iters && 0 < rthis.levels && 0 < rthis.nr_plane
+ && left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
+
+ CV_Assert(rthis.levels <= 8 && (left.type() == CV_8UC1 || left.type() == CV_8UC3));
+
+ const Scalar zero = Scalar::all(0);
+
+ ////////////////////////////////////Init///////////////////////////////////////////////////
+ int rows = left.rows;
+ int cols = left.cols;
+
+ rthis.levels = min(rthis.levels, int(log((double)rthis.ndisp) / log(2.0)));
+ int levels = rthis.levels;
+
+ AutoBuffer<int> buf(levels * 4);
+
+ int *cols_pyr = buf;
+ int *rows_pyr = cols_pyr + levels;
+ int *nr_plane_pyr = rows_pyr + levels;
+ int *step_pyr = nr_plane_pyr + levels;
+
+ cols_pyr[0] = cols;
+ rows_pyr[0] = rows;
+ nr_plane_pyr[0] = rthis.nr_plane;
+
+ const int n = 64;
+ step_pyr[0] = alignSize(cols * sizeof(T), n) / sizeof(T);
+ for (int i = 1; i < levels; i++)
+ {
+ cols_pyr[i] = cols_pyr[i - 1] / 2;
+ rows_pyr[i] = rows_pyr[i - 1]/ 2;
+
+ nr_plane_pyr[i] = nr_plane_pyr[i - 1] * 2;
+
+ step_pyr[i] = alignSize(cols_pyr[i] * sizeof(T), n) / sizeof(T);
+ }
+
+ Size msg_size(step_pyr[0], rows * nr_plane_pyr[0]);
+ Size data_cost_size(step_pyr[0], rows * nr_plane_pyr[0] * 2);
+
+ u[0].create(msg_size, DataType<T>::type);
+ d[0].create(msg_size, DataType<T>::type);
+ l[0].create(msg_size, DataType<T>::type);
+ r[0].create(msg_size, DataType<T>::type);
+
+ u[1].create(msg_size, DataType<T>::type);
+ d[1].create(msg_size, DataType<T>::type);
+ l[1].create(msg_size, DataType<T>::type);
+ r[1].create(msg_size, DataType<T>::type);
+
+ disp_selected_pyr[0].create(msg_size, DataType<T>::type);
+ disp_selected_pyr[1].create(msg_size, DataType<T>::type);
+
+ data_cost.create(data_cost_size, DataType<T>::type);
+ data_cost_selected.create(msg_size, DataType<T>::type);
+
+ Size temp_size = data_cost_size;
+ if (data_cost_size.width * data_cost_size.height < step_pyr[0] * rows_pyr[levels - 1] * rthis.ndisp)
+ temp_size = Size(step_pyr[0], rows_pyr[levels - 1] * rthis.ndisp);
+
+ temp.create(temp_size, DataType<T>::type);
+ temp = zero;
+
+ ///////////////////////////////// Compute////////////////////////////////////////////////
+
+ //csbp::load_constants(rthis.ndisp, rthis.max_data_term, rthis.data_weight,
+ // rthis.max_disc_term, rthis.disc_single_jump, rthis.min_disp_th, left, right, temp);
+
+ l[0] = zero;
+ d[0] = zero;
+ r[0] = zero;
+ u[0] = zero;
+ disp_selected_pyr[0] = zero;
+
+ l[1] = zero;
+ d[1] = zero;
+ r[1] = zero;
+ u[1] = zero;
+ disp_selected_pyr[1] = zero;
+
+ data_cost = zero;
+
+ data_cost_selected = zero;
+
+ int cur_idx = 0;
+
+ for (int i = levels - 1; i >= 0; i--)
+ {
+ if (i == levels - 1)
+ {
+ cv::ocl::stereoCSBP::init_data_cost(left, right, temp, rthis, disp_selected_pyr[cur_idx].data,
+ data_cost_selected.data, step_pyr[0], rows_pyr[i], cols_pyr[i],
+ i, nr_plane_pyr[i]);
+ }
+ else
+ {
+ cv::ocl::stereoCSBP::compute_data_cost(
+ disp_selected_pyr[cur_idx].data, data_cost.data, rthis, step_pyr[0],
+ step_pyr[0], left, right, rows_pyr[i], cols_pyr[i], rows_pyr[i + 1], i,
+ nr_plane_pyr[i + 1]);
+
+ int new_idx = (cur_idx + 1) & 1;
+
+ cv::ocl::stereoCSBP::init_message(u[new_idx].data, d[new_idx].data, l[new_idx].data, r[new_idx].data,
+ u[cur_idx].data, d[cur_idx].data, l[cur_idx].data, r[cur_idx].data,
+ disp_selected_pyr[new_idx].data, disp_selected_pyr[cur_idx].data,
+ data_cost_selected.data, data_cost.data, temp, rthis, step_pyr[0],
+ step_pyr[0], rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], rows_pyr[i + 1],
+ cols_pyr[i + 1], nr_plane_pyr[i + 1]);
+ cur_idx = new_idx;
+ }
+ cv::ocl::stereoCSBP::calc_all_iterations(u[cur_idx].data, d[cur_idx].data, l[cur_idx].data, r[cur_idx].data,
+ data_cost_selected.data, disp_selected_pyr[cur_idx].data, temp,
+ rthis, step_pyr[0], rows_pyr[i], cols_pyr[i], nr_plane_pyr[i]);
+ }
+
+ if (disp.empty())
+ disp.create(rows, cols, CV_16S);
+
+ out = ((disp.type() == CV_16S) ? disp : (out.create(rows, cols, CV_16S), out));
+ out = zero;
+
+ stereoCSBP::compute_disp(u[cur_idx].data, d[cur_idx].data, l[cur_idx].data, r[cur_idx].data,
+ data_cost_selected.data, disp_selected_pyr[cur_idx].data, rthis, step_pyr[0],
+ out, nr_plane_pyr[0]);
+ if (disp.type() != CV_16S)
+ out.convertTo(disp, disp.type());
+}
+
+
+typedef void (*csbp_operator_t)(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2], oclMat l[2], oclMat r[2],
+ oclMat disp_selected_pyr[2], oclMat &data_cost, oclMat &data_cost_selected,
+ oclMat &temp, oclMat &out, const oclMat &left, const oclMat &right, oclMat &disp);
+
+const static csbp_operator_t operators[] = {0, 0, 0, csbp_operator<short>, 0, csbp_operator<float>, 0, 0};
+
+void cv::ocl::StereoConstantSpaceBP::operator()(const oclMat &left, const oclMat &right, oclMat &disp)
+{
+
+ CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
+ operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out,
+ left, right, disp);
+}
+
+#endif /* !defined (HAVE_OPENCL) */
projects / platform / upstream / opencv.git / commitdiff