mirror of https://github.com/opencv/opencv.git
Merge pull request #299 from branch 'bitwangyaoyao_ocl' into 2.4
Andrey Kamaev
12 years ago
commit
311d799344
10 changed files with 2374 additions and 1162 deletions
@ -1,78 +1,138 @@ |
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if(APPLE) |
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set(OPENCL_FOUND YES) |
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set(OPENCL_LIBRARIES "-framework OpenCL") |
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set(OPENCL_FOUND YES) |
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set(OPENCL_LIBRARIES "-framework OpenCL") |
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else() |
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#find_package(OpenCL QUIET) |
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if(WITH_OPENCLAMDFFT) |
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find_path(CLAMDFFT_INCLUDE_DIR |
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NAMES clAmdFft.h) |
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find_library(CLAMDFFT_LIBRARIES |
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NAMES clAmdFft.Runtime) |
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find_package(OpenCL QUIET) |
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if(WITH_OPENCLAMDFFT) |
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set(CLAMDFFT_SEARCH_PATH $ENV{CLAMDFFT_PATH}) |
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if(NOT CLAMDFFT_SEARCH_PATH) |
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if(WIN32) |
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set( CLAMDFFT_SEARCH_PATH "C:\\Program Files (x86)\\AMD\\clAmdFft" ) |
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endif() |
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endif() |
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if(WITH_OPENCLAMDBLAS) |
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find_path(CLAMDBLAS_INCLUDE_DIR |
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NAMES clAmdBlas.h) |
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find_library(CLAMDBLAS_LIBRARIES |
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NAMES clAmdBlas) |
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set( CLAMDFFT_INCLUDE_SEARCH_PATH ${CLAMDFFT_SEARCH_PATH}/include ) |
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if(UNIX) |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(CLAMDFFT_LIB_SEARCH_PATH /usr/lib) |
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else() |
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set(CLAMDFFT_LIB_SEARCH_PATH /usr/lib64) |
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endif() |
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else() |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(CLAMDFFT_LIB_SEARCH_PATH ${CLAMDFFT_SEARCH_PATH}\\lib32\\import) |
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else() |
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set(CLAMDFFT_LIB_SEARCH_PATH ${CLAMDFFT_SEARCH_PATH}\\lib64\\import) |
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endif() |
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endif() |
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find_path(CLAMDFFT_INCLUDE_DIR |
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NAMES clAmdFft.h |
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PATHS ${CLAMDFFT_INCLUDE_SEARCH_PATH} |
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PATH_SUFFIXES clAmdFft |
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NO_DEFAULT_PATH) |
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find_library(CLAMDFFT_LIBRARY |
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NAMES clAmdFft.Runtime |
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PATHS ${CLAMDFFT_LIB_SEARCH_PATH} |
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NO_DEFAULT_PATH) |
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if(CLAMDFFT_LIBRARY) |
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set(CLAMDFFT_LIBRARIES ${CLAMDFFT_LIBRARY}) |
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else() |
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set(CLAMDFFT_LIBRARIES "") |
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endif() |
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endif() |
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if(WITH_OPENCLAMDBLAS) |
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set(CLAMDBLAS_SEARCH_PATH $ENV{CLAMDBLAS_PATH}) |
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if(NOT CLAMDBLAS_SEARCH_PATH) |
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if(WIN32) |
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set( CLAMDBLAS_SEARCH_PATH "C:\\Program Files (x86)\\AMD\\clAmdBlas" ) |
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endif() |
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endif() |
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set( CLAMDBLAS_INCLUDE_SEARCH_PATH ${CLAMDBLAS_SEARCH_PATH}/include ) |
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if(UNIX) |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(CLAMDBLAS_LIB_SEARCH_PATH /usr/lib) |
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else() |
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set(CLAMDBLAS_LIB_SEARCH_PATH /usr/lib64) |
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endif() |
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else() |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(CLAMDBLAS_LIB_SEARCH_PATH ${CLAMDBLAS_SEARCH_PATH}\\lib32\\import) |
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else() |
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set(CLAMDBLAS_LIB_SEARCH_PATH ${CLAMDBLAS_SEARCH_PATH}\\lib64\\import) |
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endif() |
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endif() |
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find_path(CLAMDBLAS_INCLUDE_DIR |
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NAMES clAmdBlas.h |
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PATHS ${CLAMDBLAS_INCLUDE_SEARCH_PATH} |
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PATH_SUFFIXES clAmdBlas |
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NO_DEFAULT_PATH) |
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find_library(CLAMDBLAS_LIBRARY |
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NAMES clAmdBlas |
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PATHS ${CLAMDBLAS_LIB_SEARCH_PATH} |
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NO_DEFAULT_PATH) |
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if(CLAMDBLAS_LIBRARY) |
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set(CLAMDBLAS_LIBRARIES ${CLAMDBLAS_LIBRARY}) |
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else() |
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set(CLAMDBLAS_LIBRARIES "") |
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endif() |
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endif() |
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# Try AMD/ATI Stream SDK |
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if (NOT OPENCL_FOUND) |
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set(ENV_AMDSTREAMSDKROOT $ENV{AMDAPPSDKROOT}) |
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set(ENV_OPENCLROOT $ENV{OPENCLROOT}) |
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set(ENV_CUDA_PATH $ENV{CUDA_PATH}) |
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if(ENV_AMDSTREAMSDKROOT) |
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set(OPENCL_INCLUDE_SEARCH_PATH ${ENV_AMDSTREAMSDKROOT}/include) |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} ${ENV_AMDSTREAMSDKROOT}/lib/x86) |
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else() |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} ${ENV_AMDSTREAMSDKROOT}/lib/x86_64) |
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endif() |
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elseif(ENV_CUDA_PATH AND WIN32) |
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set(OPENCL_INCLUDE_SEARCH_PATH ${ENV_CUDA_PATH}/include) |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} ${ENV_CUDA_PATH}/lib/Win32) |
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else() |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} ${ENV_CUDA_PATH}/lib/x64) |
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endif() |
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elseif(ENV_OPENCLROOT AND UNIX) |
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set(OPENCL_INCLUDE_SEARCH_PATH ${ENV_OPENCLROOT}/inc) |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} /usr/lib) |
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else() |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} /usr/lib64) |
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endif() |
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endif() |
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# Try AMD/ATI Stream SDK |
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if (NOT OPENCL_FOUND) |
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set(ENV_AMDSTREAMSDKROOT $ENV{AMDAPPSDKROOT}) |
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set(ENV_OPENCLROOT $ENV{OPENCLROOT}) |
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set(ENV_CUDA_PATH $ENV{CUDA_PATH}) |
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if(ENV_AMDSTREAMSDKROOT) |
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set(OPENCL_INCLUDE_SEARCH_PATH ${ENV_AMDSTREAMSDKROOT}/include) |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} ${ENV_AMDSTREAMSDKROOT}/lib/x86) |
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else() |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} ${ENV_AMDSTREAMSDKROOT}/lib/x86_64) |
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endif() |
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elseif(ENV_CUDA_PATH AND WIN32) |
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set(OPENCL_INCLUDE_SEARCH_PATH ${ENV_CUDA_PATH}/include) |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} ${ENV_CUDA_PATH}/lib/Win32) |
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else() |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} ${ENV_CUDA_PATH}/lib/x64) |
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endif() |
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elseif(ENV_OPENCLROOT AND UNIX) |
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set(OPENCL_INCLUDE_SEARCH_PATH ${ENV_OPENCLROOT}/inc) |
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if(CMAKE_SIZEOF_VOID_P EQUAL 4) |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} /usr/lib) |
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else() |
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set(OPENCL_LIB_SEARCH_PATH ${OPENCL_LIB_SEARCH_PATH} /usr/lib64) |
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endif() |
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endif() |
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|
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if(OPENCL_INCLUDE_SEARCH_PATH) |
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find_path(OPENCL_INCLUDE_DIR |
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NAMES CL/cl.h OpenCL/cl.h |
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PATHS ${OPENCL_INCLUDE_SEARCH_PATH} |
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NO_DEFAULT_PATH) |
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else() |
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find_path(OPENCL_INCLUDE_DIR |
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NAMES CL/cl.h OpenCL/cl.h) |
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endif() |
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if(OPENCL_INCLUDE_SEARCH_PATH) |
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find_path(OPENCL_INCLUDE_DIR |
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NAMES CL/cl.h OpenCL/cl.h |
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PATHS ${OPENCL_INCLUDE_SEARCH_PATH} |
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NO_DEFAULT_PATH) |
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else() |
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find_path(OPENCL_INCLUDE_DIR |
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NAMES CL/cl.h OpenCL/cl.h) |
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endif() |
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|
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if(OPENCL_LIB_SEARCH_PATH) |
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find_library(OPENCL_LIBRARY NAMES OpenCL PATHS ${OPENCL_LIB_SEARCH_PATH} NO_DEFAULT_PATH) |
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else() |
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find_library(OPENCL_LIBRARY NAMES OpenCL) |
||||
endif() |
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if(OPENCL_LIB_SEARCH_PATH) |
||||
find_library(OPENCL_LIBRARY NAMES OpenCL PATHS ${OPENCL_LIB_SEARCH_PATH} NO_DEFAULT_PATH) |
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else() |
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find_library(OPENCL_LIBRARY NAMES OpenCL) |
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endif() |
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|
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include(FindPackageHandleStandardArgs) |
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find_package_handle_standard_args( |
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OPENCL |
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DEFAULT_MSG |
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OPENCL_LIBRARY OPENCL_INCLUDE_DIR |
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) |
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include(FindPackageHandleStandardArgs) |
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find_package_handle_standard_args( |
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OPENCL |
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DEFAULT_MSG |
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OPENCL_LIBRARY OPENCL_INCLUDE_DIR |
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) |
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|
||||
if(OPENCL_FOUND) |
||||
set(OPENCL_LIBRARIES ${OPENCL_LIBRARY}) |
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set(HAVE_OPENCL 1) |
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else() |
||||
set(OPENCL_LIBRARIES) |
||||
endif() |
||||
if(OPENCL_FOUND) |
||||
set(OPENCL_LIBRARIES ${OPENCL_LIBRARY}) |
||||
set(HAVE_OPENCL 1) |
||||
else() |
||||
set(HAVE_OPENCL 1) |
||||
set(OPENCL_LIBRARIES) |
||||
endif() |
||||
else() |
||||
set(HAVE_OPENCL 1) |
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endif() |
||||
endif() |
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|
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File diff suppressed because it is too large
Load Diff
@ -0,0 +1,764 @@ |
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/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
||||
// 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. |
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved. |
||||
// Third party copyrights are property of their respective owners. |
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// |
||||
// @Authors |
||||
// Sen Liu, sen@multicorewareinc.com |
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// |
||||
// 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*/ |
||||
|
||||
#define BUFFER 256 |
||||
void reduce3(float val1, float val2, float val3, __local float *smem1, __local float *smem2, __local float *smem3, int tid) |
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{ |
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smem1[tid] = val1; |
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smem2[tid] = val2; |
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smem3[tid] = val3; |
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barrier(CLK_LOCAL_MEM_FENCE); |
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|
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#if BUFFER > 128 |
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|
||||
if (tid < 128) |
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{ |
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smem1[tid] = val1 += smem1[tid + 128]; |
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smem2[tid] = val2 += smem2[tid + 128]; |
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smem3[tid] = val3 += smem3[tid + 128]; |
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} |
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|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
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#endif |
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|
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#if BUFFER > 64 |
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|
||||
if (tid < 64) |
||||
{ |
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smem1[tid] = val1 += smem1[tid + 64]; |
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smem2[tid] = val2 += smem2[tid + 64]; |
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smem3[tid] = val3 += smem3[tid + 64]; |
||||
} |
||||
|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
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#endif |
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|
||||
if (tid < 32) |
||||
{ |
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smem1[tid] = val1 += smem1[tid + 32]; |
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smem2[tid] = val2 += smem2[tid + 32]; |
||||
smem3[tid] = val3 += smem3[tid + 32]; |
||||
} |
||||
|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
|
||||
if (tid < 16) |
||||
{ |
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smem1[tid] = val1 += smem1[tid + 16]; |
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smem2[tid] = val2 += smem2[tid + 16]; |
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smem3[tid] = val3 += smem3[tid + 16]; |
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} |
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|
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barrier(CLK_LOCAL_MEM_FENCE); |
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|
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if (tid < 8) |
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{ |
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volatile __local float *vmem1 = smem1; |
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volatile __local float *vmem2 = smem2; |
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volatile __local float *vmem3 = smem3; |
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|
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vmem1[tid] = val1 += vmem1[tid + 8]; |
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vmem2[tid] = val2 += vmem2[tid + 8]; |
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vmem3[tid] = val3 += vmem3[tid + 8]; |
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|
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vmem1[tid] = val1 += vmem1[tid + 4]; |
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vmem2[tid] = val2 += vmem2[tid + 4]; |
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vmem3[tid] = val3 += vmem3[tid + 4]; |
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|
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vmem1[tid] = val1 += vmem1[tid + 2]; |
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vmem2[tid] = val2 += vmem2[tid + 2]; |
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vmem3[tid] = val3 += vmem3[tid + 2]; |
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|
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vmem1[tid] = val1 += vmem1[tid + 1]; |
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vmem2[tid] = val2 += vmem2[tid + 1]; |
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vmem3[tid] = val3 += vmem3[tid + 1]; |
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} |
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} |
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|
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void reduce2(float val1, float val2, __local float *smem1, __local float *smem2, int tid) |
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{ |
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smem1[tid] = val1; |
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smem2[tid] = val2; |
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barrier(CLK_LOCAL_MEM_FENCE); |
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|
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#if BUFFER > 128 |
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|
||||
if (tid < 128) |
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{ |
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smem1[tid] = val1 += smem1[tid + 128]; |
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smem2[tid] = val2 += smem2[tid + 128]; |
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} |
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|
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barrier(CLK_LOCAL_MEM_FENCE); |
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#endif |
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|
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#if BUFFER > 64 |
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|
||||
if (tid < 64) |
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{ |
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smem1[tid] = val1 += smem1[tid + 64]; |
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smem2[tid] = val2 += smem2[tid + 64]; |
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} |
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|
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barrier(CLK_LOCAL_MEM_FENCE); |
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#endif |
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|
||||
if (tid < 32) |
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{ |
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smem1[tid] = val1 += smem1[tid + 32]; |
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smem2[tid] = val2 += smem2[tid + 32]; |
||||
} |
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|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
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|
||||
if (tid < 16) |
||||
{ |
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smem1[tid] = val1 += smem1[tid + 16]; |
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smem2[tid] = val2 += smem2[tid + 16]; |
||||
} |
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|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
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|
||||
if (tid < 8) |
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{ |
||||
volatile __local float *vmem1 = smem1; |
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volatile __local float *vmem2 = smem2; |
||||
|
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vmem1[tid] = val1 += vmem1[tid + 8]; |
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vmem2[tid] = val2 += vmem2[tid + 8]; |
||||
|
||||
vmem1[tid] = val1 += vmem1[tid + 4]; |
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vmem2[tid] = val2 += vmem2[tid + 4]; |
||||
|
||||
vmem1[tid] = val1 += vmem1[tid + 2]; |
||||
vmem2[tid] = val2 += vmem2[tid + 2]; |
||||
|
||||
vmem1[tid] = val1 += vmem1[tid + 1]; |
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vmem2[tid] = val2 += vmem2[tid + 1]; |
||||
} |
||||
} |
||||
|
||||
void reduce1(float val1, __local float *smem1, int tid) |
||||
{ |
||||
smem1[tid] = val1; |
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
|
||||
#if BUFFER > 128 |
||||
|
||||
if (tid < 128) |
||||
{ |
||||
smem1[tid] = val1 += smem1[tid + 128]; |
||||
} |
||||
|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
#endif |
||||
|
||||
#if BUFFER > 64 |
||||
|
||||
if (tid < 64) |
||||
{ |
||||
smem1[tid] = val1 += smem1[tid + 64]; |
||||
} |
||||
|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
#endif |
||||
|
||||
if (tid < 32) |
||||
{ |
||||
smem1[tid] = val1 += smem1[tid + 32]; |
||||
} |
||||
|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
|
||||
if (tid < 16) |
||||
{ |
||||
volatile __local float *vmem1 = smem1; |
||||
|
||||
vmem1[tid] = val1 += vmem1[tid + 16]; |
||||
} |
||||
|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
|
||||
if (tid < 8) |
||||
{ |
||||
volatile __local float *vmem1 = smem1; |
||||
|
||||
vmem1[tid] = val1 += vmem1[tid + 8]; |
||||
vmem1[tid] = val1 += vmem1[tid + 4]; |
||||
vmem1[tid] = val1 += vmem1[tid + 2]; |
||||
vmem1[tid] = val1 += vmem1[tid + 1]; |
||||
} |
||||
} |
||||
|
||||
#define SCALE (1.0f / (1 << 20)) |
||||
#define THRESHOLD 0.01f |
||||
#define DIMENSION 21 |
||||
|
||||
float readImage2Df_C1(__global const float *image, const float x, const float y, const int rows, const int cols, const int elemCntPerRow) |
||||
{ |
||||
float2 coor = (float2)(x, y); |
||||
|
||||
int i0 = clamp((int)floor(coor.x), 0, cols - 1); |
||||
int j0 = clamp((int)floor(coor.y), 0, rows - 1); |
||||
int i1 = clamp((int)floor(coor.x) + 1, 0, cols - 1); |
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int j1 = clamp((int)floor(coor.y) + 1, 0, rows - 1); |
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float a = coor.x - floor(coor.x); |
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float b = coor.y - floor(coor.y); |
||||
|
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return (1 - a) * (1 - b) * image[mad24(j0, elemCntPerRow, i0)] |
||||
+ a * (1 - b) * image[mad24(j0, elemCntPerRow, i1)] |
||||
+ (1 - a) * b * image[mad24(j1, elemCntPerRow, i0)] |
||||
+ a * b * image[mad24(j1, elemCntPerRow, i1)]; |
||||
} |
||||
|
||||
__kernel void lkSparse_C1_D5(__global const float *I, __global const float *J, |
||||
__global const float2 *prevPts, int prevPtsStep, __global float2 *nextPts, int nextPtsStep, __global uchar *status, __global float *err, |
||||
const int level, const int rows, const int cols, const int elemCntPerRow, |
||||
int PATCH_X, int PATCH_Y, int cn, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr) |
||||
{ |
||||
__local float smem1[BUFFER]; |
||||
__local float smem2[BUFFER]; |
||||
__local float smem3[BUFFER]; |
||||
|
||||
float2 c_halfWin = (float2)((c_winSize_x - 1) >> 1, (c_winSize_y - 1) >> 1); |
||||
|
||||
const int tid = mad24(get_local_id(1), get_local_size(0), get_local_id(0)); |
||||
|
||||
float2 prevPt = prevPts[get_group_id(0)] * (1.0f / (1 << level)); |
||||
|
||||
if (prevPt.x < 0 || prevPt.x >= cols || prevPt.y < 0 || prevPt.y >= rows) |
||||
{ |
||||
if (tid == 0 && level == 0) |
||||
{ |
||||
status[get_group_id(0)] = 0; |
||||
} |
||||
|
||||
return; |
||||
} |
||||
|
||||
prevPt -= c_halfWin; |
||||
|
||||
// extract the patch from the first image, compute covariation matrix of derivatives |
||||
|
||||
float A11 = 0; |
||||
float A12 = 0; |
||||
float A22 = 0; |
||||
|
||||
float I_patch[1][3]; |
||||
float dIdx_patch[1][3]; |
||||
float dIdy_patch[1][3]; |
||||
|
||||
for (int yBase = get_local_id(1), i = 0; yBase < c_winSize_y; yBase += get_local_size(1), ++i) |
||||
{ |
||||
for (int xBase = get_local_id(0), j = 0; xBase < c_winSize_x; xBase += get_local_size(0), ++j) |
||||
{ |
||||
float x = (prevPt.x + xBase); |
||||
float y = (prevPt.y + yBase); |
||||
|
||||
I_patch[i][j] = readImage2Df_C1(I, x, y, rows, cols, elemCntPerRow); |
||||
float dIdx = 3.0f * readImage2Df_C1(I, x + 1, y - 1, rows, cols, elemCntPerRow) + 10.0f * readImage2Df_C1(I, x + 1, y, rows, cols, elemCntPerRow) + 3.0f * readImage2Df_C1(I, x + 1, y + 1, rows, cols, elemCntPerRow) - |
||||
(3.0f * readImage2Df_C1(I, x - 1, y - 1, rows, cols, elemCntPerRow) + 10.0f * readImage2Df_C1(I, x - 1, y, rows, cols, elemCntPerRow) + 3.0f * readImage2Df_C1(I, x - 1, y + 1, rows, cols, elemCntPerRow)); |
||||
|
||||
float dIdy = 3.0f * readImage2Df_C1(I, x - 1, y + 1, rows, cols, elemCntPerRow) + 10.0f * readImage2Df_C1(I, x, y + 1, rows, cols, elemCntPerRow) + 3.0f * readImage2Df_C1(I, x + 1, y + 1, rows, cols, elemCntPerRow) - |
||||
(3.0f * readImage2Df_C1(I, x - 1, y - 1, rows, cols, elemCntPerRow) + 10.0f * readImage2Df_C1(I, x, y - 1, rows, cols, elemCntPerRow) + 3.0f * readImage2Df_C1(I, x + 1, y - 1, rows, cols, elemCntPerRow)); |
||||
|
||||
dIdx_patch[i][j] = dIdx; |
||||
dIdy_patch[i][j] = dIdy; |
||||
|
||||
A11 += dIdx * dIdx; |
||||
A12 += dIdx * dIdy; |
||||
A22 += dIdy * dIdy; |
||||
} |
||||
} |
||||
|
||||
reduce3(A11, A12, A22, smem1, smem2, smem3, tid); |
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
|
||||
A11 = smem1[0]; |
||||
A12 = smem2[0]; |
||||
A22 = smem3[0]; |
||||
|
||||
float D = A11 * A22 - A12 * A12; |
||||
|
||||
if (D < 1.192092896e-07f) |
||||
{ |
||||
if (tid == 0 && level == 0) |
||||
{ |
||||
status[get_group_id(0)] = 0; |
||||
} |
||||
|
||||
return; |
||||
} |
||||
|
||||
D = 1.f / D; |
||||
|
||||
A11 *= D; |
||||
A12 *= D; |
||||
A22 *= D; |
||||
|
||||
float2 nextPt = nextPts[get_group_id(0)]; |
||||
nextPt = nextPt * 2.0f - c_halfWin; |
||||
|
||||
for (int k = 0; k < c_iters; ++k) |
||||
{ |
||||
if (nextPt.x < -c_halfWin.x || nextPt.x >= cols || nextPt.y < -c_halfWin.y || nextPt.y >= rows) |
||||
{ |
||||
if (tid == 0 && level == 0) |
||||
{ |
||||
status[get_group_id(0)] = 0; |
||||
} |
||||
|
||||
return; |
||||
} |
||||
|
||||
float b1 = 0; |
||||
float b2 = 0; |
||||
|
||||
for (int y = get_local_id(1), i = 0; y < c_winSize_y; y += get_local_size(1), ++i) |
||||
{ |
||||
for (int x = get_local_id(0), j = 0; x < c_winSize_x; x += get_local_size(0), ++j) |
||||
{ |
||||
float diff = (readImage2Df_C1(J, nextPt.x + x, nextPt.y + y, rows, cols, elemCntPerRow) - I_patch[i][j]) * 32.0f; |
||||
|
||||
b1 += diff * dIdx_patch[i][j]; |
||||
b2 += diff * dIdy_patch[i][j]; |
||||
} |
||||
} |
||||
|
||||
reduce2(b1, b2, smem1, smem2, tid); |
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
|
||||
b1 = smem1[0]; |
||||
b2 = smem2[0]; |
||||
|
||||
float2 delta; |
||||
delta.x = A12 * b2 - A22 * b1; |
||||
delta.y = A12 * b1 - A11 * b2; |
||||
|
||||
nextPt += delta; |
||||
|
||||
//if (fabs(delta.x) < THRESHOLD && fabs(delta.y) < THRESHOLD) |
||||
// break; |
||||
} |
||||
|
||||
float errval = 0.0f; |
||||
|
||||
if (calcErr) |
||||
{ |
||||
for (int y = get_local_id(1), i = 0; y < c_winSize_y; y += get_local_size(1), ++i) |
||||
{ |
||||
for (int x = get_local_id(0), j = 0; x < c_winSize_x; x += get_local_size(0), ++j) |
||||
{ |
||||
float diff = readImage2Df_C1(J, nextPt.x + x, nextPt.y + y, rows, cols, elemCntPerRow) - I_patch[i][j]; |
||||
|
||||
errval += fabs(diff); |
||||
} |
||||
} |
||||
|
||||
reduce1(errval, smem1, tid); |
||||
} |
||||
|
||||
if (tid == 0) |
||||
{ |
||||
nextPt += c_halfWin; |
||||
|
||||
nextPts[get_group_id(0)] = nextPt; |
||||
|
||||
if (calcErr) |
||||
{ |
||||
err[get_group_id(0)] = smem1[0] / (c_winSize_x * c_winSize_y); |
||||
} |
||||
} |
||||
} |
||||
|
||||
float4 readImage2Df_C4(__global const float4 *image, const float x, const float y, const int rows, const int cols, const int elemCntPerRow) |
||||
{ |
||||
float2 coor = (float2)(x, y); |
||||
|
||||
int i0 = clamp((int)floor(coor.x), 0, cols - 1); |
||||
int j0 = clamp((int)floor(coor.y), 0, rows - 1); |
||||
int i1 = clamp((int)floor(coor.x) + 1, 0, cols - 1); |
||||
int j1 = clamp((int)floor(coor.y) + 1, 0, rows - 1); |
||||
float a = coor.x - floor(coor.x); |
||||
float b = coor.y - floor(coor.y); |
||||
|
||||
return (1 - a) * (1 - b) * image[mad24(j0, elemCntPerRow, i0)] |
||||
+ a * (1 - b) * image[mad24(j0, elemCntPerRow, i1)] |
||||
+ (1 - a) * b * image[mad24(j1, elemCntPerRow, i0)] |
||||
+ a * b * image[mad24(j1, elemCntPerRow, i1)]; |
||||
} |
||||
|
||||
__kernel void lkSparse_C4_D5(__global const float *I, __global const float *J, |
||||
__global const float2 *prevPts, int prevPtsStep, __global float2 *nextPts, int nextPtsStep, __global uchar *status, __global float *err, |
||||
const int level, const int rows, const int cols, const int elemCntPerRow, |
||||
int PATCH_X, int PATCH_Y, int cn, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr) |
||||
{ |
||||
__local float smem1[BUFFER]; |
||||
__local float smem2[BUFFER]; |
||||
__local float smem3[BUFFER]; |
||||
|
||||
float2 c_halfWin = (float2)((c_winSize_x - 1) >> 1, (c_winSize_y - 1) >> 1); |
||||
|
||||
const int tid = mad24(get_local_id(1), get_local_size(0), get_local_id(0)); |
||||
|
||||
float2 prevPt = prevPts[get_group_id(0)] * (1.0f / (1 << level)); |
||||
|
||||
if (prevPt.x < 0 || prevPt.x >= cols || prevPt.y < 0 || prevPt.y >= rows) |
||||
{ |
||||
if (tid == 0 && level == 0) |
||||
{ |
||||
status[get_group_id(0)] = 0; |
||||
} |
||||
|
||||
return; |
||||
} |
||||
|
||||
prevPt -= c_halfWin; |
||||
|
||||
// extract the patch from the first image, compute covariation matrix of derivatives |
||||
|
||||
float A11 = 0; |
||||
float A12 = 0; |
||||
float A22 = 0; |
||||
|
||||
float4 I_patch[1][3]; |
||||
float4 dIdx_patch[1][3]; |
||||
float4 dIdy_patch[1][3]; |
||||
|
||||
__global float4 *ptrI = (__global float4 *)I; |
||||
|
||||
for (int yBase = get_local_id(1), i = 0; yBase < c_winSize_y; yBase += get_local_size(1), ++i) |
||||
{ |
||||
for (int xBase = get_local_id(0), j = 0; xBase < c_winSize_x; xBase += get_local_size(0), ++j) |
||||
{ |
||||
float x = (prevPt.x + xBase); |
||||
float y = (prevPt.y + yBase); |
||||
|
||||
I_patch[i][j] = readImage2Df_C4(ptrI, x, y, rows, cols, elemCntPerRow); |
||||
|
||||
float4 dIdx = 3.0f * readImage2Df_C4(ptrI, x + 1, y - 1, rows, cols, elemCntPerRow) + 10.0f * readImage2Df_C4(ptrI, x + 1, y, rows, cols, elemCntPerRow) + 3.0f * readImage2Df_C4(ptrI, x + 1, y + 1, rows, cols, elemCntPerRow) - |
||||
(3.0f * readImage2Df_C4(ptrI, x - 1, y - 1, rows, cols, elemCntPerRow) + 10.0f * readImage2Df_C4(ptrI, x - 1, y, rows, cols, elemCntPerRow) + 3.0f * readImage2Df_C4(ptrI, x - 1, y + 1, rows, cols, elemCntPerRow)); |
||||
|
||||
float4 dIdy = 3.0f * readImage2Df_C4(ptrI, x - 1, y + 1, rows, cols, elemCntPerRow) + 10.0f * readImage2Df_C4(ptrI, x, y + 1, rows, cols, elemCntPerRow) + 3.0f * readImage2Df_C4(ptrI, x + 1, y + 1, rows, cols, elemCntPerRow) - |
||||
(3.0f * readImage2Df_C4(ptrI, x - 1, y - 1, rows, cols, elemCntPerRow) + 10.0f * readImage2Df_C4(ptrI, x, y - 1, rows, cols, elemCntPerRow) + 3.0f * readImage2Df_C4(ptrI, x + 1, y - 1, rows, cols, elemCntPerRow)); |
||||
|
||||
dIdx_patch[i][j] = dIdx; |
||||
dIdy_patch[i][j] = dIdy; |
||||
|
||||
A11 += (dIdx * dIdx).x + (dIdx * dIdx).y + (dIdx * dIdx).z; |
||||
A12 += (dIdx * dIdy).x + (dIdx * dIdy).y + (dIdx * dIdy).z; |
||||
A22 += (dIdy * dIdy).x + (dIdy * dIdy).y + (dIdy * dIdy).z; |
||||
} |
||||
} |
||||
|
||||
reduce3(A11, A12, A22, smem1, smem2, smem3, tid); |
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
|
||||
A11 = smem1[0]; |
||||
A12 = smem2[0]; |
||||
A22 = smem3[0]; |
||||
|
||||
float D = A11 * A22 - A12 * A12; |
||||
//pD[get_group_id(0)] = D; |
||||
|
||||
if (D < 1.192092896e-07f) |
||||
{ |
||||
if (tid == 0 && level == 0) |
||||
{ |
||||
status[get_group_id(0)] = 0; |
||||
} |
||||
|
||||
return; |
||||
} |
||||
|
||||
D = 1.f / D; |
||||
|
||||
A11 *= D; |
||||
A12 *= D; |
||||
A22 *= D; |
||||
|
||||
float2 nextPt = nextPts[get_group_id(0)]; |
||||
|
||||
nextPt = nextPt * 2.0f - c_halfWin; |
||||
|
||||
__global float4 *ptrJ = (__global float4 *)J; |
||||
|
||||
for (int k = 0; k < c_iters; ++k) |
||||
{ |
||||
if (nextPt.x < -c_halfWin.x || nextPt.x >= cols || nextPt.y < -c_halfWin.y || nextPt.y >= rows) |
||||
{ |
||||
if (tid == 0 && level == 0) |
||||
{ |
||||
status[get_group_id(0)] = 0; |
||||
} |
||||
|
||||
return; |
||||
} |
||||
|
||||
float b1 = 0; |
||||
float b2 = 0; |
||||
|
||||
for (int y = get_local_id(1), i = 0; y < c_winSize_y; y += get_local_size(1), ++i) |
||||
{ |
||||
for (int x = get_local_id(0), j = 0; x < c_winSize_x; x += get_local_size(0), ++j) |
||||
{ |
||||
float4 diff = (readImage2Df_C4(ptrJ, nextPt.x + x, nextPt.y + y, rows, cols, elemCntPerRow) - I_patch[i][j]) * 32.0f; |
||||
|
||||
b1 += (diff * dIdx_patch[i][j]).x + (diff * dIdx_patch[i][j]).y + (diff * dIdx_patch[i][j]).z; |
||||
b2 += (diff * dIdy_patch[i][j]).x + (diff * dIdy_patch[i][j]).y + (diff * dIdy_patch[i][j]).z; |
||||
} |
||||
} |
||||
|
||||
reduce2(b1, b2, smem1, smem2, tid); |
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
|
||||
b1 = smem1[0]; |
||||
b2 = smem2[0]; |
||||
|
||||
float2 delta; |
||||
delta.x = A12 * b2 - A22 * b1; |
||||
delta.y = A12 * b1 - A11 * b2; |
||||
|
||||
nextPt += delta; |
||||
|
||||
//if (fabs(delta.x) < THRESHOLD && fabs(delta.y) < THRESHOLD) |
||||
// break; |
||||
} |
||||
|
||||
float errval = 0.0f; |
||||
|
||||
if (calcErr) |
||||
{ |
||||
for (int y = get_local_id(1), i = 0; y < c_winSize_y; y += get_local_size(1), ++i) |
||||
{ |
||||
for (int x = get_local_id(0), j = 0; x < c_winSize_x; x += get_local_size(0), ++j) |
||||
{ |
||||
float4 diff = readImage2Df_C4(ptrJ, nextPt.x + x, nextPt.y + y, rows, cols, elemCntPerRow) - I_patch[i][j]; |
||||
|
||||
errval += fabs(diff.x) + fabs(diff.y) + fabs(diff.z); |
||||
} |
||||
} |
||||
|
||||
reduce1(errval, smem1, tid); |
||||
} |
||||
|
||||
if (tid == 0) |
||||
{ |
||||
nextPt += c_halfWin; |
||||
nextPts[get_group_id(0)] = nextPt; |
||||
|
||||
if (calcErr) |
||||
{ |
||||
err[get_group_id(0)] = smem1[0] / (3 * c_winSize_x * c_winSize_y); |
||||
} |
||||
} |
||||
} |
||||
|
||||
int readImage2Di_C1(__global const int *image, float2 coor, int2 size, const int elemCntPerRow) |
||||
{ |
||||
int i = clamp((int)floor(coor.x), 0, size.x - 1); |
||||
int j = clamp((int)floor(coor.y), 0, size.y - 1); |
||||
return image[mad24(j, elemCntPerRow, i)]; |
||||
} |
||||
|
||||
__kernel void lkDense_C1_D0(__global const int *I, __global const int *J, __global float *u, int uStep, __global float *v, int vStep, __global const float *prevU, int prevUStep, __global const float *prevV, int prevVStep, |
||||
const int rows, const int cols, /*__global float* err, int errStep, int cn,*/ |
||||
const int elemCntPerRow, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr) |
||||
{ |
||||
int c_halfWin_x = (c_winSize_x - 1) / 2; |
||||
int c_halfWin_y = (c_winSize_y - 1) / 2; |
||||
|
||||
const int patchWidth = get_local_size(0) + 2 * c_halfWin_x; |
||||
const int patchHeight = get_local_size(1) + 2 * c_halfWin_y; |
||||
|
||||
__local int smem[8192]; |
||||
|
||||
__local int *I_patch = smem; |
||||
__local int *dIdx_patch = I_patch + patchWidth * patchHeight; |
||||
__local int *dIdy_patch = dIdx_patch + patchWidth * patchHeight; |
||||
|
||||
const int xBase = get_group_id(0) * get_local_size(0); |
||||
const int yBase = get_group_id(1) * get_local_size(1); |
||||
int2 size = (int2)(cols, rows); |
||||
|
||||
for (int i = get_local_id(1); i < patchHeight; i += get_local_size(1)) |
||||
{ |
||||
for (int j = get_local_id(0); j < patchWidth; j += get_local_size(0)) |
||||
{ |
||||
float x = xBase - c_halfWin_x + j + 0.5f; |
||||
float y = yBase - c_halfWin_y + i + 0.5f; |
||||
|
||||
I_patch[i * patchWidth + j] = readImage2Di_C1(I, (float2)(x, y), size, elemCntPerRow); |
||||
|
||||
// Sharr Deriv |
||||
|
||||
dIdx_patch[i * patchWidth + j] = 3 * readImage2Di_C1(I, (float2)(x + 1, y - 1), size, elemCntPerRow) + 10 * readImage2Di_C1(I, (float2)(x + 1, y), size, elemCntPerRow) + 3 * readImage2Di_C1(I, (float2)(x + 1, y + 1), size, elemCntPerRow) - |
||||
(3 * readImage2Di_C1(I, (float2)(x - 1, y - 1), size, elemCntPerRow) + 10 * readImage2Di_C1(I, (float2)(x - 1, y), size, elemCntPerRow) + 3 * readImage2Di_C1(I, (float2)(x - 1, y + 1), size, elemCntPerRow)); |
||||
|
||||
dIdy_patch[i * patchWidth + j] = 3 * readImage2Di_C1(I, (float2)(x - 1, y + 1), size, elemCntPerRow) + 10 * readImage2Di_C1(I, (float2)(x, y + 1), size, elemCntPerRow) + 3 * readImage2Di_C1(I, (float2)(x + 1, y + 1), size, elemCntPerRow) - |
||||
(3 * readImage2Di_C1(I, (float2)(x - 1, y - 1), size, elemCntPerRow) + 10 * readImage2Di_C1(I, (float2)(x, y - 1), size, elemCntPerRow) + 3 * readImage2Di_C1(I, (float2)(x + 1, y - 1), size, elemCntPerRow)); |
||||
} |
||||
} |
||||
|
||||
barrier(CLK_LOCAL_MEM_FENCE); |
||||
|
||||
// extract the patch from the first image, compute covariation matrix of derivatives |
||||
|
||||
const int x = get_global_id(0); |
||||
const int y = get_global_id(1); |
||||
|
||||
if (x >= cols || y >= rows) |
||||
{ |
||||
return; |
||||
} |
||||
|
||||
int A11i = 0; |
||||
int A12i = 0; |
||||
int A22i = 0; |
||||
|
||||
for (int i = 0; i < c_winSize_y; ++i) |
||||
{ |
||||
for (int j = 0; j < c_winSize_x; ++j) |
||||
{ |
||||
int dIdx = dIdx_patch[(get_local_id(1) + i) * patchWidth + (get_local_id(0) + j)]; |
||||
int dIdy = dIdy_patch[(get_local_id(1) + i) * patchWidth + (get_local_id(0) + j)]; |
||||
|
||||
A11i += dIdx * dIdx; |
||||
A12i += dIdx * dIdy; |
||||
A22i += dIdy * dIdy; |
||||
} |
||||
} |
||||
|
||||
float A11 = A11i; |
||||
float A12 = A12i; |
||||
float A22 = A22i; |
||||
|
||||
float D = A11 * A22 - A12 * A12; |
||||
|
||||
//if (calcErr && GET_MIN_EIGENVALS) |
||||
// (err + y * errStep)[x] = minEig; |
||||
|
||||
if (D < 1.192092896e-07f) |
||||
{ |
||||
//if (calcErr) |
||||
// err(y, x) = 3.402823466e+38f; |
||||
|
||||
return; |
||||
} |
||||
|
||||
D = 1.f / D; |
||||
|
||||
A11 *= D; |
||||
A12 *= D; |
||||
A22 *= D; |
||||
|
||||
float2 nextPt; |
||||
nextPt.x = x + prevU[y / 2 * prevUStep / 4 + x / 2] * 2.0f; |
||||
nextPt.y = y + prevV[y / 2 * prevVStep / 4 + x / 2] * 2.0f; |
||||
|
||||
for (int k = 0; k < c_iters; ++k) |
||||
{ |
||||
if (nextPt.x < 0 || nextPt.x >= cols || nextPt.y < 0 || nextPt.y >= rows) |
||||
{ |
||||
//if (calcErr) |
||||
// err(y, x) = 3.402823466e+38f; |
||||
|
||||
return; |
||||
} |
||||
|
||||
int b1 = 0; |
||||
int b2 = 0; |
||||
|
||||
for (int i = 0; i < c_winSize_y; ++i) |
||||
{ |
||||
for (int j = 0; j < c_winSize_x; ++j) |
||||
{ |
||||
int iI = I_patch[(get_local_id(1) + i) * patchWidth + get_local_id(0) + j]; |
||||
int iJ = readImage2Di_C1(J, (float2)(nextPt.x - c_halfWin_x + j + 0.5f, nextPt.y - c_halfWin_y + i + 0.5f), size, elemCntPerRow); |
||||
|
||||
int diff = (iJ - iI) * 32; |
||||
|
||||
int dIdx = dIdx_patch[(get_local_id(1) + i) * patchWidth + (get_local_id(0) + j)]; |
||||
int dIdy = dIdy_patch[(get_local_id(1) + i) * patchWidth + (get_local_id(0) + j)]; |
||||
|
||||
b1 += diff * dIdx; |
||||
b2 += diff * dIdy; |
||||
} |
||||
} |
||||
|
||||
float2 delta; |
||||
delta.x = A12 * b2 - A22 * b1; |
||||
delta.y = A12 * b1 - A11 * b2; |
||||
|
||||
nextPt.x += delta.x; |
||||
nextPt.y += delta.y; |
||||
|
||||
if (fabs(delta.x) < 0.01f && fabs(delta.y) < 0.01f) |
||||
{ |
||||
break; |
||||
} |
||||
} |
||||
|
||||
u[y * uStep / 4 + x] = nextPt.x - x; |
||||
v[y * vStep / 4 + x] = nextPt.y - y; |
||||
|
||||
if (calcErr) |
||||
{ |
||||
int errval = 0; |
||||
|
||||
for (int i = 0; i < c_winSize_y; ++i) |
||||
{ |
||||
for (int j = 0; j < c_winSize_x; ++j) |
||||
{ |
||||
int iI = I_patch[(get_local_id(1) + i) * patchWidth + get_local_id(0) + j]; |
||||
int iJ = readImage2Di_C1(J, (float2)(nextPt.x - c_halfWin_x + j + 0.5f, nextPt.y - c_halfWin_y + i + 0.5f), size, elemCntPerRow); |
||||
|
||||
errval += abs(iJ - iI); |
||||
} |
||||
} |
||||
|
||||
//err[y * errStep / 4 + x] = static_cast<float>(errval) / (c_winSize_x * c_winSize_y); |
||||
} |
||||
} |
||||
Loading…
Reference in new issue