optimizations

modules/calib3d/perf/opencl/perf_stereobm.cpp

@@ -51,7 +51,7 @@ namespace ocl {
 typedef std::tr1::tuple<int, int> StereoBMFixture_t;
 typedef TestBaseWithParam<StereoBMFixture_t> StereoBMFixture;
 
-OCL_PERF_TEST_P(StereoBMFixture, StereoBM, ::testing::Combine(OCL_PERF_ENUM(32, 64, 128), OCL_PERF_ENUM(11,21) ) )
+OCL_PERF_TEST_P(StereoBMFixture, StereoBM, ::testing::Combine(OCL_PERF_ENUM(32, 64), OCL_PERF_ENUM(11,21) ) )
 {
     const int n_disp = get<0>(GetParam()), winSize = get<1>(GetParam());
     UMat left, right, disp;
@@ -64,11 +64,11 @@ OCL_PERF_TEST_P(StereoBMFixture, StereoBM, ::testing::Combine(OCL_PERF_ENUM(32,
     declare.in(left, right);
 
     Ptr<StereoBM> bm = createStereoBM( n_disp, winSize );
-    bm->setPreFilterType(bm->PREFILTER_NORMALIZED_RESPONSE);
+    bm->setPreFilterType(bm->PREFILTER_XSOBEL);
 
     OCL_TEST_CYCLE() bm->compute(left, right, disp);
 
-    SANITY_CHECK(disp, 0.05, ERROR_RELATIVE);
+    SANITY_CHECK(disp, 1e-3, ERROR_RELATIVE);
 }
 
 }//ocl

modules/calib3d/src/stereobm.cpp

@@ -180,13 +180,11 @@ static bool ocl_prefilter_xsobel(InputArray _input, OutputArray _output, int pre
     _output.create(input.size(), input.type());
     output = _output.getUMat();
 
-    size_t blockSize = 1;
     size_t globalThreads[3] = { input.cols, input.rows, 1 };
-    size_t localThreads[3]  = { blockSize, blockSize, 1 };
 
     k.args(ocl::KernelArg::PtrReadOnly(input), ocl::KernelArg::PtrWriteOnly(output), input.rows, input.cols, prefilterCap);
 
-    return k.run(2, globalThreads, localThreads, false);
+    return k.run(2, globalThreads, NULL, false);
 }
 
 static void
@@ -655,6 +653,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
                     mind = d;
                 }
             }
+
             tsum += htext[y + wsz2] - htext[y - wsz2 - 1];
             if( tsum < textureThreshold )
             {
@@ -738,9 +737,9 @@ struct PrefilterInvoker : public ParallelLoopBody
 
 static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
                        OutputArray _disp, StereoBMParams* state)
-{
+{//printf("opt\n");
     int ndisp = state->numDisparities;
-    ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D tsize=%d", ndisp*ndisp, ndisp) );
+    ocl::Kernel k("stereoBM_opt", ocl::calib3d::stereobm_oclsrc, cv::format("-D csize=%d -D tsize=%d -D wsz=%d", ndisp*ndisp, ndisp, state->SADWindowSize) );
     if(k.empty())
         return false;
 
@@ -748,8 +747,9 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
     _disp.create(_left.size(), CV_16S);
     UMat disp = _disp.getUMat();
 
-    size_t globalThreads[3] = { left.cols, left.rows, 1 };
-    size_t localThreads[3] = {ndisp, 1, 1};
+    int nthreads = (ndisp <= 64) ? 2 : 4;
+    size_t globalThreads[3] = { left.cols, (left.rows - left.rows%ndisp + ndisp), nthreads};
+    size_t localThreads[3] = {1, ndisp, nthreads};
 
     int idx = 0;
     idx = k.set(idx, ocl::KernelArg::PtrReadOnly(left));
@@ -758,11 +758,11 @@ static bool ocl_stereobm_opt( InputArray _left, InputArray _right,
     idx = k.set(idx, state->minDisparity);
     idx = k.set(idx, ndisp);
     idx = k.set(idx, state->preFilterCap);
-    idx = k.set(idx, state->SADWindowSize);
+    idx = k.set(idx, nthreads);
     idx = k.set(idx, state->textureThreshold);
     idx = k.set(idx, state->uniquenessRatio);
 
-    return k.run(2, globalThreads, localThreads, false);
+    return k.run(3, globalThreads, localThreads, false);
 }
 
 static bool ocl_stereobm_bf(InputArray _left, InputArray _right,
@@ -790,15 +790,16 @@ static bool ocl_stereobm_bf(InputArray _left, InputArray _right,
     idx = k.set(idx, state->uniquenessRatio);
 
     return k.run(2, globalThreads, NULL, false);
+    return false;
 }
 
 static bool ocl_stereo(InputArray _left, InputArray _right,
                        OutputArray _disp, StereoBMParams* state)
 {
-    if(ocl::Device::getDefault().localMemSize() > state->numDisparities * state->numDisparities * sizeof(int) )
+    if(ocl::Device::getDefault().localMemSize() > state->numDisparities * state->numDisparities * sizeof(short) )
         return ocl_stereobm_opt(_left, _right, _disp, state);
     else
-        return ocl_stereobm_bf(_left, _right, _disp, state);
+        return false;//ocl_stereobm_bf(_left, _right, _disp, state);
 }
 
 struct FindStereoCorrespInvoker : public ParallelLoopBody
@@ -992,7 +993,7 @@ public:
             bufSize2 = width*height*(sizeof(Point_<short>) + sizeof(int) + sizeof(uchar));
 
 #if CV_SSE2
-        bool useShorts = false;//params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
+        bool useShorts = params.preFilterCap <= 31 && params.SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
 #else
         const bool useShorts = false;
 #endif

modules/calib3d/test/opencl/test_stereobm.cpp

@@ -81,11 +81,27 @@ OCL_TEST_P(StereoBMFixture, StereoBM)
 {
     Ptr<StereoBM> bm = createStereoBM( n_disp, winSize);
     bm->setPreFilterType(bm->PREFILTER_XSOBEL);
+//    bm->setMinDisparity(15);
 
+    long t1 = clock();
     OCL_OFF(bm->compute(left, right, disp));
+    long t2 = clock();
     OCL_ON(bm->compute(uleft, uright, udisp));
-
-    Near(0.05);
+    cv::ocl::finish();
+    long t3 = clock();
+    std::cout << (double)(t2-t1)/CLOCKS_PER_SEC << "     " << (double)(t3-t2)/CLOCKS_PER_SEC << std::endl;
+/*
+    Mat t; absdiff(disp, udisp, t);
+/*    for(int i = 0; i<t.rows; i++)
+        for(int j = 0; j< t.cols; j++)
+       //    if(t.at<short>(i,j) > 0)
+            if(i>=5 && i <=16 && j == 36+15)
+                printf("%d  %d  cv: %d    ocl: %d\n", i, j, disp.at<short>(i,j), udisp.getMat(ACCESS_READ).at<short>(i,j) );*/
+/*    imshow("diff.png", t*100);
+    imshow("cv.png", disp*100);
+    imshow("ocl.png", udisp.getMat(ACCESS_READ)*100);
+    waitKey(0);*/
+    Near(1e-3);
 }
 
 OCL_INSTANTIATE_TEST_CASE_P(StereoMatcher, StereoBMFixture, testing::Combine(testing::Values(32, 64, 128),