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Commit 168c0b03 authored by peng xiao's avatar peng xiao
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Optimize ocl::stereobm. 

1. Use macro defines for some parameters(radius).
2. Reduce local memory usage.
3. Fix accuracy problem on Intel GPU.
parent a9a26950
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Showing with 47 additions and 69 deletions
modules/ocl/src/opencl/stereobm.cl
View file @ 168c0b03
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modules/ocl/src/stereobm.cpp
View file @ 168c0b03
......@@ -74,28 +74,21 @@ namespace stereoBM
////////////////////////////////////////////////////////////////////////
static void prefilter_xsobel(const oclMat &input, oclMat &output, int prefilterCap)
{
Context *clCxt = input.clCxt;
string kernelName = "prefilter_xsobel";
cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereobm, kernelName);
size_t blockSize = 1;
size_t globalThreads[3] = { input.cols, input.rows, 1 };
size_t localThreads[3] = { blockSize, blockSize, 1 };
openCLVerifyKernel(clCxt, kernel, localThreads);
openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&input.data));
openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&output.data));
openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_int), (void *)&input.rows));
openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&input.cols));
openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_int), (void *)&prefilterCap));
openCLSafeCall(clEnqueueNDRangeKernel((cl_command_queue)clCxt->oclCommandQueue(), kernel, 3, NULL,
globalThreads, localThreads, 0, NULL, NULL));
clFinish((cl_command_queue)clCxt->oclCommandQueue());
openCLSafeCall(clReleaseKernel(kernel));
std::vector<std::pair<size_t, const void *>> args;
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&input.data));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&output.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&input.rows));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&input.cols));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&prefilterCap));
openCLExecuteKernel(Context::getContext(), &stereobm, kernelName,
globalThreads, localThreads, args, -1, -1);
}
//////////////////////////////////////////////////////////////////////////
//////////////////////////////common////////////////////////////////////
......@@ -115,19 +108,13 @@ static void stereo_bm(const oclMat &left, const oclMat &right, oclMat &disp,
{
int winsz2 = winSize >> 1;
//if(winsz2 == 0 || winsz2 >= calles_num)
//cv::ocl:error("Unsupported window size", __FILE__, __LINE__, __FUNCTION__);
Context *clCxt = left.clCxt;
string kernelName = "stereoKernel";
cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereobm, kernelName);
disp.setTo(Scalar_<unsigned char>::all(0));
minSSD_buf.setTo(Scalar_<unsigned int>::all(0xFFFFFFFF));
size_t minssd_step = minSSD_buf.step / minSSD_buf.elemSize();
size_t local_mem_size = (BLOCK_W + N_DISPARITIES * (BLOCK_W + 2 * winsz2)) *
size_t local_mem_size = (N_DISPARITIES * (BLOCK_W + 2 * winsz2)) *
sizeof(cl_uint);
//size_t blockSize = 1;
size_t localThreads[] = { BLOCK_W, 1,1};
......@@ -136,26 +123,23 @@ static void stereo_bm(const oclMat &left, const oclMat &right, oclMat &disp,
1
};
openCLVerifyKernel(clCxt, kernel, localThreads);
openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&left.data));
openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_mem), (void *)&right.data));
openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_mem), (void *)&minSSD_buf.data));
openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&minssd_step));
openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_mem), (void *)&disp.data));
openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&disp.step));
openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&left.cols));
openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&left.rows));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&left.step));
openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&maxdisp));
openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&winsz2));
openCLSafeCall(clSetKernelArg(kernel, 11, local_mem_size, (void *)NULL));
openCLSafeCall(clEnqueueNDRangeKernel((cl_command_queue)clCxt->oclCommandQueue(), kernel, 2, NULL,
globalThreads, localThreads, 0, NULL, NULL));
clFinish((cl_command_queue)clCxt->oclCommandQueue());
openCLSafeCall(clReleaseKernel(kernel));
std::vector<std::pair<size_t, const void *>> args;
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&left.data));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&right.data));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&minSSD_buf.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&minssd_step));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&disp.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disp.step));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.cols));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.rows));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.step));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&maxdisp));
args.push_back(std::make_pair(local_mem_size, (void *)NULL));
char opt [128];
sprintf(opt, "-D radius=%d", winsz2);
openCLExecuteKernel(Context::getContext(), &stereobm, kernelName,
globalThreads, localThreads, args, -1, -1, opt);
}
////////////////////////////////////////////////////////////////////////////
///////////////////////////////postfilter_textureness///////////////////////
......@@ -163,10 +147,7 @@ static void stereo_bm(const oclMat &left, const oclMat &right, oclMat &disp,
static void postfilter_textureness(oclMat &left, int winSize,
float avergeTexThreshold, oclMat &disparity)
{
Context *clCxt = left.clCxt;
string kernelName = "textureness_kernel";
cl_kernel kernel = openCLGetKernelFromSource(clCxt, &stereobm, kernelName);
size_t blockSize = 1;
size_t localThreads[] = { BLOCK_W, blockSize ,1};
......@@ -177,22 +158,19 @@ static void postfilter_textureness(oclMat &left, int winSize,
size_t local_mem_size = (localThreads[0] + localThreads[0] + (winSize / 2) * 2) * sizeof(float);
openCLVerifyKernel(clCxt, kernel, localThreads);
openCLSafeCall(clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)&disparity.data));
openCLSafeCall(clSetKernelArg(kernel, 1, sizeof(cl_int), (void *)&disparity.rows));
openCLSafeCall(clSetKernelArg(kernel, 2, sizeof(cl_int), (void *)&disparity.cols));
openCLSafeCall(clSetKernelArg(kernel, 3, sizeof(cl_int), (void *)&disparity.step));
openCLSafeCall(clSetKernelArg(kernel, 4, sizeof(cl_mem), (void *)&left.data));
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 *)&winSize));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_float), (void *)&avergeTexThreshold));
openCLSafeCall(clSetKernelArg(kernel, 9, local_mem_size, NULL));
openCLSafeCall(clEnqueueNDRangeKernel((cl_command_queue)clCxt->oclCommandQueue(), kernel, 2, NULL,
globalThreads, localThreads, 0, NULL, NULL));
clFinish((cl_command_queue)clCxt->oclCommandQueue());
openCLSafeCall(clReleaseKernel(kernel));
std::vector<std::pair<size_t, const void *>> args;
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&disparity.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disparity.rows));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disparity.cols));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&disparity.step));
args.push_back(std::make_pair(sizeof(cl_mem), (void *)&left.data));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.rows));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&left.cols));
args.push_back(std::make_pair(sizeof(cl_int), (void *)&winSize));
args.push_back(std::make_pair(sizeof(cl_float), (void *)&avergeTexThreshold));
args.push_back(std::make_pair(local_mem_size, (void*)NULL));
openCLExecuteKernel(Context::getContext(), &stereobm, kernelName,
globalThreads, localThreads, args, -1, -1);
}
//////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////operator/////////////////////////////////
......
modules/ocl/test/test_calib3d.cpp
View file @ 168c0b03
......@@ -59,7 +59,7 @@ PARAM_TEST_CASE(StereoMatchBM, int, int)
virtual void SetUp()
{
n_disp = GET_PARAM(0);
winSize = GET_PARAM(1);
winSize = GET_PARAM(1);
}
};
......@@ -69,27 +69,27 @@ TEST_P(StereoMatchBM, Regression)
Mat left_image = readImage("stereobm/aloe-L.png", IMREAD_GRAYSCALE);
Mat right_image = readImage("stereobm/aloe-R.png", IMREAD_GRAYSCALE);
Mat disp_gold = readImage("stereobm/aloe-disp.png", IMREAD_GRAYSCALE);
ocl::oclMat d_left, d_right;
ocl::oclMat d_disp(left_image.size(), CV_8U);
Mat disp;
ocl::oclMat d_left, d_right;
ocl::oclMat d_disp(left_image.size(), CV_8U);
Mat disp;
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
d_left.upload(left_image);
d_right.upload(right_image);
d_left.upload(left_image);
d_right.upload(right_image);
ocl::StereoBM_OCL bm(0, n_disp, winSize);
bm(d_left, d_right, d_disp);
d_disp.download(disp);
d_disp.download(disp);
EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3);
}
INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
testing::Values(19)));
testing::Values(19)));
PARAM_TEST_CASE(StereoMatchBP, int, int, int, float, float, float, float)
{
......
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