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Merge pull request #2451 from ilya-lavrenov:tapi_fast_covar_data

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pull/2444/merge
Andrey Pavlenko 11 years ago committed by OpenCV Buildbot
parent 8f3492851e 4a7289b22f
commit 3cb49eac49
2 changed files with 390 additions and 22 deletions
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  1. 97
      modules/imgproc/src/corner.cpp
  2. 315
      modules/imgproc/src/opencl/covardata.cl

97
modules/imgproc/src/corner.cpp
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@ -304,6 +304,65 @@ cornerEigenValsVecs( const Mat& src, Mat& eigenv, int block_size,
#ifdef HAVE_OPENCL
static bool extractCovData(InputArray _src, UMat & Dx, UMat & Dy, int depth,
float scale, int aperture_size, int borderType)
{
UMat src = _src.getUMat();
Size wholeSize;
Point ofs;
src.locateROI(wholeSize, ofs);
const int sobel_lsz = 16;
if ((aperture_size == 3 || aperture_size == 5 || aperture_size == 7 || aperture_size == -1) &&
wholeSize.height > sobel_lsz + (aperture_size >> 1) &&
wholeSize.width > sobel_lsz + (aperture_size >> 1))
{
CV_Assert(depth == CV_8U || depth == CV_32F);
Dx.create(src.size(), CV_32FC1);
Dy.create(src.size(), CV_32FC1);
size_t localsize[2] = { sobel_lsz, sobel_lsz };
size_t globalsize[2] = { localsize[0] * (1 + (src.cols - 1) / localsize[0]),
localsize[1] * (1 + (src.rows - 1) / localsize[1]) };
int src_offset_x = (int)((src.offset % src.step) / src.elemSize());
int src_offset_y = (int)(src.offset / src.step);
const char * const borderTypes[] = { "BORDER_CONSTANT", "BORDER_REPLICATE", "BORDER_REFLECT",
"BORDER_WRAP", "BORDER_REFLECT101" };
ocl::Kernel k(format("sobel%d", aperture_size).c_str(), ocl::imgproc::covardata_oclsrc,
cv::format("-D BLK_X=%d -D BLK_Y=%d -D %s -D SRCTYPE=%s%s",
(int)localsize[0], (int)localsize[1], borderTypes[borderType], ocl::typeToStr(depth),
aperture_size < 0 ? " -D SCHARR" : ""));
if (k.empty())
return false;
k.args(ocl::KernelArg::PtrReadOnly(src), (int)src.step, src_offset_x, src_offset_y,
ocl::KernelArg::WriteOnlyNoSize(Dx), ocl::KernelArg::WriteOnly(Dy),
wholeSize.height, wholeSize.width, scale);
return k.run(2, globalsize, localsize, false);
}
else
{
if (aperture_size > 0)
{
Sobel(_src, Dx, CV_32F, 1, 0, aperture_size, scale, 0, borderType);
Sobel(_src, Dy, CV_32F, 0, 1, aperture_size, scale, 0, borderType);
}
else
{
Scharr(_src, Dx, CV_32F, 1, 0, scale, 0, borderType);
Scharr(_src, Dy, CV_32F, 0, 1, scale, 0, borderType);
}
}
return true;
}
static bool ocl_cornerMinEigenValVecs(InputArray _src, OutputArray _dst, int block_size,
int aperture_size, double k, int borderType, int op_type)
{
@ -314,32 +373,25 @@ static bool ocl_cornerMinEigenValVecs(InputArray _src, OutputArray _dst, int blo
return false;
int type = _src.type(), depth = CV_MAT_DEPTH(type);
double scale = (double)(1 << ((aperture_size > 0 ? aperture_size : 3) - 1)) * block_size;
if( aperture_size < 0 )
scale *= 2.0;
if( depth == CV_8U )
scale *= 255.0;
scale = 1.0 / scale;
if ( !(type == CV_8UC1 || type == CV_32FC1) )
return false;
UMat Dx, Dy;
if (aperture_size > 0)
{
Sobel(_src, Dx, CV_32F, 1, 0, aperture_size, scale, 0, borderType);
Sobel(_src, Dy, CV_32F, 0, 1, aperture_size, scale, 0, borderType);
}
else
{
Scharr(_src, Dx, CV_32F, 1, 0, scale, 0, borderType);
Scharr(_src, Dy, CV_32F, 0, 1, scale, 0, borderType);
}
const char * const borderTypes[] = { "BORDER_CONSTANT", "BORDER_REPLICATE", "BORDER_REFLECT",
0, "BORDER_REFLECT101" };
"BORDER_WRAP", "BORDER_REFLECT101" };
const char * const cornerType[] = { "CORNER_MINEIGENVAL", "CORNER_HARRIS", 0 };
float scale = (float)(1 << ((aperture_size > 0 ? aperture_size : 3) - 1)) * block_size;
if (aperture_size < 0)
scale *= 2.0f;
if (depth == CV_8U)
scale *= 255.0f;
scale = 1.0f / scale;
UMat Dx, Dy;
if (!extractCovData(_src, Dx, Dy, depth, scale, aperture_size, borderType))
return false;
ocl::Kernel cornelKernel("corner", ocl::imgproc::corner_oclsrc,
format("-D anX=%d -D anY=%d -D ksX=%d -D ksY=%d -D %s -D %s",
block_size / 2, block_size / 2, block_size, block_size,
@ -369,8 +421,9 @@ static bool ocl_preCornerDetect( InputArray _src, OutputArray _dst, int ksize, i
{
UMat Dx, Dy, D2x, D2y, Dxy;
Sobel( _src, Dx, CV_32F, 1, 0, ksize, 1, 0, borderType );
Sobel( _src, Dy, CV_32F, 0, 1, ksize, 1, 0, borderType );
if (!extractCovData(_src, Dx, Dy, depth, 1, ksize, borderType))
return false;
Sobel( _src, D2x, CV_32F, 2, 0, ksize, 1, 0, borderType );
Sobel( _src, D2y, CV_32F, 0, 2, ksize, 1, 0, borderType );
Sobel( _src, Dxy, CV_32F, 1, 1, ksize, 1, 0, borderType );

315
modules/imgproc/src/opencl/covardata.cl
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@ -0,0 +1,315 @@
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
// Copyright (C) 2014, Advanced Micro Devices, Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
///////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////Macro for border type////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////
#ifdef BORDER_CONSTANT
//CCCCCC|abcdefgh|CCCCCCC
#define EXTRAPOLATE(x, maxV)
#elif defined BORDER_REPLICATE
//aaaaaa|abcdefgh|hhhhhhh
#define EXTRAPOLATE(x, maxV) \
{ \
(x) = max(min((x), (maxV) - 1), 0); \
}
#elif defined BORDER_WRAP
//cdefgh|abcdefgh|abcdefg
#define EXTRAPOLATE(x, maxV) \
{ \
(x) = ( (x) + (maxV) ) % (maxV); \
}
#elif defined BORDER_REFLECT
//fedcba|abcdefgh|hgfedcb
#define EXTRAPOLATE(x, maxV) \
{ \
(x) = min( mad24((maxV)-1,2,-(x))+1 , max((x),-(x)-1) ); \
}
#elif defined BORDER_REFLECT_101 || defined BORDER_REFLECT101
//gfedcb|abcdefgh|gfedcba
#define EXTRAPOLATE(x, maxV) \
{ \
(x) = min( mad24((maxV)-1,2,-(x)), max((x),-(x)) ); \
}
#else
#error No extrapolation method
#endif
#define SRC(_x,_y) convert_float(((global SRCTYPE*)(Src+(_y)*src_step))[_x])
#ifdef BORDER_CONSTANT
//CCCCCC|abcdefgh|CCCCCCC
#define ELEM(_x,_y,r_edge,t_edge,const_v) (_x)<0 | (_x) >= (r_edge) | (_y)<0 | (_y) >= (t_edge) ? (const_v) : SRC((_x),(_y))
#else
#define ELEM(_x,_y,r_edge,t_edge,const_v) SRC((_x),(_y))
#endif
#define DSTX(_x,_y) (((global float*)(DstX+DstXOffset+(_y)*DstXPitch))[_x])
#define DSTY(_x,_y) (((global float*)(DstY+DstYOffset+(_y)*DstYPitch))[_x])
#define INIT_AND_READ_LOCAL_SOURCE(width, height, fill_const, kernel_border) \
int srcX = x + srcOffsetX - (kernel_border); \
int srcY = y + srcOffsetY - (kernel_border); \
int xb = srcX; \
int yb = srcY; \
\
EXTRAPOLATE(xb, (width)); \
EXTRAPOLATE(yb, (height)); \
lsmem[liy][lix] = ELEM(xb, yb, (width), (height), (fill_const) ); \
\
if(lix < ((kernel_border)*2)) \
{ \
int xb = srcX+BLK_X; \
EXTRAPOLATE(xb,(width)); \
lsmem[liy][lix+BLK_X] = ELEM(xb, yb, (width), (height), (fill_const) ); \
} \
if(liy< ((kernel_border)*2)) \
{ \
int yb = srcY+BLK_Y; \
EXTRAPOLATE(yb, (height)); \
lsmem[liy+BLK_Y][lix] = ELEM(xb, yb, (width), (height), (fill_const) ); \
} \
if(lix<((kernel_border)*2) && liy<((kernel_border)*2)) \
{ \
int xb = srcX+BLK_X; \
int yb = srcY+BLK_Y; \
EXTRAPOLATE(xb,(width)); \
EXTRAPOLATE(yb,(height)); \
lsmem[liy+BLK_Y][lix+BLK_X] = ELEM(xb, yb, (width), (height), (fill_const) ); \
}
__kernel void sobel3(__global const uchar * Src, int src_step, int srcOffsetX, int srcOffsetY,
__global uchar * DstX, int DstXPitch, int DstXOffset,
__global uchar * DstY, int DstYPitch, int DstYOffset, int dstHeight, int dstWidth,
int height, int width, float scale)
{
__local float lsmem[BLK_Y+2][BLK_X+2];
int lix = get_local_id(0);
int liy = get_local_id(1);
int x = (int)get_global_id(0);
int y = (int)get_global_id(1);
INIT_AND_READ_LOCAL_SOURCE(width, height, 0, 1)
barrier(CLK_LOCAL_MEM_FENCE);
if( x >= dstWidth || y >=dstHeight ) return;
float u1 = lsmem[liy][lix];
float u2 = lsmem[liy][lix+1];
float u3 = lsmem[liy][lix+2];
float m1 = lsmem[liy+1][lix];
float m3 = lsmem[liy+1][lix+2];
float b1 = lsmem[liy+2][lix];
float b2 = lsmem[liy+2][lix+1];
float b3 = lsmem[liy+2][lix+2];
//calc and store dx and dy;//
#ifdef SCHARR
DSTX(x,y) = mad(10.0f, m3 - m1, 3.0f * (u3 - u1 + b3 - b1)) * scale;
DSTY(x,y) = mad(10.0f, b2 - u2, 3.0f * (b1 - u1 + b3 - u3)) * scale;
#else
DSTX(x,y) = mad(2.0f, m3 - m1, u3 - u1 + b3 - b1) * scale;
DSTY(x,y) = mad(2.0f, b2 - u2, b1 - u1 + b3 - u3) * scale;
#endif
}
__kernel void sobel5(__global const uchar * Src, int src_step, int srcOffsetX, int srcOffsetY,
__global uchar * DstX, int DstXPitch, int DstXOffset,
__global uchar * DstY, int DstYPitch, int DstYOffset, int dstHeight, int dstWidth,
int height, int width, float scale)
{
__local float lsmem[BLK_Y+4][BLK_X+4];
int lix = get_local_id(0);
int liy = get_local_id(1);
int x = (int)get_global_id(0);
int y = (int)get_global_id(1);
INIT_AND_READ_LOCAL_SOURCE(width, height, 0, 2)
barrier(CLK_LOCAL_MEM_FENCE);
if( x >= dstWidth || y >=dstHeight ) return;
float t1 = lsmem[liy][lix];
float t2 = lsmem[liy][lix+1];
float t3 = lsmem[liy][lix+2];
float t4 = lsmem[liy][lix+3];
float t5 = lsmem[liy][lix+4];
float u1 = lsmem[liy+1][lix];
float u2 = lsmem[liy+1][lix+1];
float u3 = lsmem[liy+1][lix+2];
float u4 = lsmem[liy+1][lix+3];
float u5 = lsmem[liy+1][lix+4];
float m1 = lsmem[liy+2][lix];
float m2 = lsmem[liy+2][lix+1];
float m4 = lsmem[liy+2][lix+3];
float m5 = lsmem[liy+2][lix+4];
float l1 = lsmem[liy+3][lix];
float l2 = lsmem[liy+3][lix+1];
float l3 = lsmem[liy+3][lix+2];
float l4 = lsmem[liy+3][lix+3];
float l5 = lsmem[liy+3][lix+4];
float b1 = lsmem[liy+4][lix];
float b2 = lsmem[liy+4][lix+1];
float b3 = lsmem[liy+4][lix+2];
float b4 = lsmem[liy+4][lix+3];
float b5 = lsmem[liy+4][lix+4];
//calc and store dx and dy;//
DSTX(x,y) = scale *
mad(12.0f, m4 - m2,
mad(6.0f, m5 - m1,
mad(8.0f, u4 - u2 + l4 - l2,
mad(4.0f, u5 - u1 + l5 - l1,
mad(2.0f, t4 - t2 + b4 - b2, t5 - t1 + b5 - b1 )
)
)
)
);
DSTY(x,y) = scale *
mad(12.0f, l3 - u3,
mad(6.0f, b3 - t3,
mad(8.0f, l2 - u2 + l4 - u4,
mad(4.0f, b2 - t2 + b4 - t4,
mad(2.0f, l1 - u1 + l5 - u5, b1 - t1 + b5 - t5 )
)
)
)
);
}
__kernel void sobel7(__global const uchar * Src, int src_step, int srcOffsetX, int srcOffsetY,
__global uchar * DstX, int DstXPitch, int DstXOffset,
__global uchar * DstY, int DstYPitch, int DstYOffset, int dstHeight, int dstWidth,
int height, int width, float scale)
{
__local float lsmem[BLK_Y+6][BLK_X+6];
int lix = get_local_id(0);
int liy = get_local_id(1);
int x = (int)get_global_id(0);
int y = (int)get_global_id(1);
INIT_AND_READ_LOCAL_SOURCE(width, height, 0, 3)
barrier(CLK_LOCAL_MEM_FENCE);
if( x >= dstWidth || y >=dstHeight ) return;
float tt1 = lsmem[liy][lix];
float tt2 = lsmem[liy][lix+1];
float tt3 = lsmem[liy][lix+2];
float tt4 = lsmem[liy][lix+3];
float tt5 = lsmem[liy][lix+4];
float tt6 = lsmem[liy][lix+5];
float tt7 = lsmem[liy][lix+6];
float t1 = lsmem[liy+1][lix];
float t2 = lsmem[liy+1][lix+1];
float t3 = lsmem[liy+1][lix+2];
float t4 = lsmem[liy+1][lix+3];
float t5 = lsmem[liy+1][lix+4];
float t6 = lsmem[liy+1][lix+5];
float t7 = lsmem[liy+1][lix+6];
float u1 = lsmem[liy+2][lix];
float u2 = lsmem[liy+2][lix+1];
float u3 = lsmem[liy+2][lix+2];
float u4 = lsmem[liy+2][lix+3];
float u5 = lsmem[liy+2][lix+4];
float u6 = lsmem[liy+2][lix+5];
float u7 = lsmem[liy+2][lix+6];
float m1 = lsmem[liy+3][lix];
float m2 = lsmem[liy+3][lix+1];
float m3 = lsmem[liy+3][lix+2];
float m5 = lsmem[liy+3][lix+4];
float m6 = lsmem[liy+3][lix+5];
float m7 = lsmem[liy+3][lix+6];
float l1 = lsmem[liy+4][lix];
float l2 = lsmem[liy+4][lix+1];
float l3 = lsmem[liy+4][lix+2];
float l4 = lsmem[liy+4][lix+3];
float l5 = lsmem[liy+4][lix+4];
float l6 = lsmem[liy+4][lix+5];
float l7 = lsmem[liy+4][lix+6];
float b1 = lsmem[liy+5][lix];
float b2 = lsmem[liy+5][lix+1];
float b3 = lsmem[liy+5][lix+2];
float b4 = lsmem[liy+5][lix+3];
float b5 = lsmem[liy+5][lix+4];
float b6 = lsmem[liy+5][lix+5];
float b7 = lsmem[liy+5][lix+6];
float bb1 = lsmem[liy+6][lix];
float bb2 = lsmem[liy+6][lix+1];
float bb3 = lsmem[liy+6][lix+2];
float bb4 = lsmem[liy+6][lix+3];
float bb5 = lsmem[liy+6][lix+4];
float bb6 = lsmem[liy+6][lix+5];
float bb7 = lsmem[liy+6][lix+6];
//calc and store dx and dy
DSTX(x,y) = scale *
mad(100.0f, m5 - m3,
mad(80.0f, m6 - m2,
mad(20.0f, m7 - m1,
mad(75.0f, u5 - u3 + l5 - l3,
mad(60.0f, u6 - u2 + l6 - l2,
mad(15.0f, u7 - u1 + l7 - l1,
mad(30.0f, t5 - t3 + b5 - b3,
mad(24.0f, t6 - t2 + b6 - b2,
mad(6.0f, t7 - t1 + b7 - b1,
mad(5.0f, tt5 - tt3 + bb5 - bb3,
mad(4.0f, tt6 - tt2 + bb6 - bb2, tt7 - tt1 + bb7 - bb1 )
)
)
)
)
)
)
)
)
)
);
DSTY(x,y) = scale *
mad(100.0f, l4 - u4,
mad(80.0f, b4 - t4,
mad(20.0f, bb4 - tt4,
mad(75.0f, l5 - u5 + l3 - u3,
mad(60.0f, b5 - t5 + b3 - t3,
mad(15.0f, bb5 - tt5 + bb3 - tt3,
mad(30.0f, l6 - u6 + l2 - u2,
mad(24.0f, b6 - t6 + b2 - t2,
mad(6.0f, bb6 - tt6 + bb2 - tt2,
mad(5.0f, l7 - u7 + l1 - u1,
mad(4.0f, b7 - t7 + b1 - t1, bb7 - tt7 + bb1 - tt1 )
)
)
)
)
)
)
)
)
)
);
}
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