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Uniqueness ratio support for cuda::StereoBM #3081

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Merged
merged 10 commits into from
Dec 20, 2021
Merged

Uniqueness ratio support for cuda::StereoBM #3081

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7315455
Naive implementation of uniqueness ratio option for cuda::StereoBM.
asmorkalov Oct 15, 2021
966c94f
Optimized memory consumption in cuda::stereoBM with uniqueness check.
asmorkalov Oct 18, 2021
1ab12be
Got rid of line_disps array.
asmorkalov Oct 18, 2021
ea23bb9
Reduced line_ssds.
asmorkalov Oct 18, 2021
d5b7f0d
Apply streams for all parts of cuda::stereoBM::compute.
asmorkalov Oct 19, 2021
df5b1b2
Added perf test for CUDA stereoBM with uniqueness check.
asmorkalov Oct 25, 2021
3d75319
Optimized global memory transactions.
asmorkalov Oct 25, 2021
5d8a3a1
Restored sync data transfers as they use stack variables.
asmorkalov Oct 26, 2021
5d55c31
Do not use constant memory in stereoBM to exclude stream races.
asmorkalov Oct 28, 2021
24384b4
Code review fixes.
asmorkalov Dec 14, 2021
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39 changes: 39 additions & 0 deletions modules/cudastereo/perf/perf_stereo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,45 @@ PERF_TEST_P(ImagePair, StereoBM,
}
}

PERF_TEST_P(ImagePair, StereoBMwithUniqueness,
Values(pair_string("gpu/perf/aloe.png", "gpu/perf/aloeR.png")))
{
declare.time(300.0);

const cv::Mat imgLeft = readImage(GET_PARAM(0), cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(imgLeft.empty());

const cv::Mat imgRight = readImage(GET_PARAM(1), cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(imgRight.empty());

const int ndisp = 256;

if (PERF_RUN_CUDA())
{
cv::Ptr<cv::StereoBM> d_bm = cv::cuda::createStereoBM(ndisp);
d_bm->setUniquenessRatio(10);

const cv::cuda::GpuMat d_imgLeft(imgLeft);
const cv::cuda::GpuMat d_imgRight(imgRight);
cv::cuda::GpuMat dst;

TEST_CYCLE() d_bm->compute(d_imgLeft, d_imgRight, dst);

CUDA_SANITY_CHECK(dst);
}
else
{
cv::Ptr<cv::StereoBM> bm = cv::StereoBM::create(ndisp);
bm->setUniquenessRatio(10);

cv::Mat dst;

TEST_CYCLE() bm->compute(imgLeft, imgRight, dst);

CPU_SANITY_CHECK(dst);
}
}

//////////////////////////////////////////////////////////////////////
// StereoBeliefPropagation

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