/*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 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(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 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 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::type); d[0].create(msg_size, DataType::type); l[0].create(msg_size, DataType::type); r[0].create(msg_size, DataType::type); u[1].create(msg_size, DataType::type); d[1].create(msg_size, DataType::type); l[1].create(msg_size, DataType::type); r[1].create(msg_size, DataType::type); disp_selected_pyr[0].create(msg_size, DataType::type); disp_selected_pyr[1].create(msg_size, DataType::type); data_cost.create(data_cost_size, DataType::type); data_cost_selected.create(msg_size, DataType::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::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, 0, csbp_operator, 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) */