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Merge pull request #2566 from krodyush:pullreq/140319-PyrLKOpticalFlow

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pull/2585/merge
Andrey Pavlenko 11 years ago committed by OpenCV Buildbot
parent a6ef45aa13 616ec74beb
commit ac92d4c701
2 changed files with 115 additions and 95 deletions
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  1. 2
      modules/video/src/lkpyramid.cpp
  2. 208
      modules/video/src/opencl/pyrlk.cl

2
modules/video/src/lkpyramid.cpp
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@ -987,7 +987,7 @@ namespace cv
idxArg = kernel.set(idxArg, (int)winSize.height); // int c_winSize_y idxArg = kernel.set(idxArg, (int)winSize.height); // int c_winSize_y
idxArg = kernel.set(idxArg, (int)iters); // int c_iters idxArg = kernel.set(idxArg, (int)iters); // int c_iters
idxArg = kernel.set(idxArg, (char)calcErr); //char calcErr idxArg = kernel.set(idxArg, (char)calcErr); //char calcErr
return kernel.run(2, globalThreads, localThreads, true); return kernel.run(2, globalThreads, localThreads, false);
} }
private: private:
inline static bool isDeviceCPU() inline static bool isDeviceCPU()

208
modules/video/src/opencl/pyrlk.cl
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@ -45,11 +45,15 @@
// //
//M*/ //M*/
#define BUFFER 64 #define GRIDSIZE 3
#define BUFFER2 BUFFER>>1 #define LSx 8
#define LSy 8
#define BUFFER (LSx*LSy)
#define BUFFER2 BUFFER>>1
#ifndef WAVE_SIZE #ifndef WAVE_SIZE
#define WAVE_SIZE 1 #define WAVE_SIZE 1
#endif #endif
#ifdef CPU #ifdef CPU
inline void reduce3(float val1, float val2, float val3, __local float* smem1, __local float* smem2, __local float* smem3, int tid) inline void reduce3(float val1, float val2, float val3, __local float* smem1, __local float* smem2, __local float* smem3, int tid)
@ -128,24 +132,21 @@ inline void reduce3(float val1, float val2, float val3,
#if WAVE_SIZE <16 #if WAVE_SIZE <16
} }
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8) if (tid<1)
{ {
#endif #endif
smem1[tid] += smem1[tid + 8]; local float8* m1 = (local float8*)smem1;
smem2[tid] += smem2[tid + 8]; local float8* m2 = (local float8*)smem2;
smem3[tid] += smem3[tid + 8]; local float8* m3 = (local float8*)smem3;
float8 t1 = m1[0]+m1[1];
smem1[tid] += smem1[tid + 4]; float8 t2 = m2[0]+m2[1];
smem2[tid] += smem2[tid + 4]; float8 t3 = m3[0]+m3[1];
smem3[tid] += smem3[tid + 4]; float4 t14 = t1.lo + t1.hi;
float4 t24 = t2.lo + t2.hi;
smem1[tid] += smem1[tid + 2]; float4 t34 = t3.lo + t3.hi;
smem2[tid] += smem2[tid + 2]; smem1[0] = t14.x+t14.y+t14.z+t14.w;
smem3[tid] += smem3[tid + 2]; smem2[0] = t24.x+t24.y+t24.z+t24.w;
smem3[0] = t34.x+t34.y+t34.z+t34.w;
smem1[tid] += smem1[tid + 1];
smem2[tid] += smem2[tid + 1];
smem3[tid] += smem3[tid + 1];
} }
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
} }
@ -171,20 +172,17 @@ inline void reduce2(float val1, float val2, __local volatile float* smem1, __loc
#if WAVE_SIZE <16 #if WAVE_SIZE <16
} }
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8) if (tid<1)
{ {
#endif #endif
smem1[tid] += smem1[tid + 8]; local float8* m1 = (local float8*)smem1;
smem2[tid] += smem2[tid + 8]; local float8* m2 = (local float8*)smem2;
float8 t1 = m1[0]+m1[1];
smem1[tid] += smem1[tid + 4]; float8 t2 = m2[0]+m2[1];
smem2[tid] += smem2[tid + 4]; float4 t14 = t1.lo + t1.hi;
float4 t24 = t2.lo + t2.hi;
smem1[tid] += smem1[tid + 2]; smem1[0] = t14.x+t14.y+t14.z+t14.w;
smem2[tid] += smem2[tid + 2]; smem2[0] = t24.x+t24.y+t24.z+t24.w;
smem1[tid] += smem1[tid + 1];
smem2[tid] += smem2[tid + 1];
} }
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
} }
@ -207,13 +205,13 @@ inline void reduce1(float val1, __local volatile float* smem1, int tid)
#if WAVE_SIZE <16 #if WAVE_SIZE <16
} }
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8) if (tid<1)
{ {
#endif #endif
smem1[tid] += smem1[tid + 8]; local float8* m1 = (local float8*)smem1;
smem1[tid] += smem1[tid + 4]; float8 t1 = m1[0]+m1[1];
smem1[tid] += smem1[tid + 2]; float4 t14 = t1.lo + t1.hi;
smem1[tid] += smem1[tid + 1]; smem1[0] = t14.x+t14.y+t14.z+t14.w;
} }
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
} }
@ -225,18 +223,21 @@ inline void reduce1(float val1, __local volatile float* smem1, int tid)
// Image read mode // Image read mode
__constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_LINEAR; __constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_LINEAR;
inline void SetPatch(image2d_t I, float x, float y, // macro to get pixel value from local memory
#define VAL(_y,_x,_yy,_xx) (IPatchLocal[yid+((_y)*LSy)+1+(_yy)][xid+((_x)*LSx)+1+(_xx)])
inline void SetPatch(local float IPatchLocal[LSy*GRIDSIZE+2][LSx*GRIDSIZE+2], int TileY, int TileX,
float* Pch, float* Dx, float* Dy, float* Pch, float* Dx, float* Dy,
float* A11, float* A12, float* A22) float* A11, float* A12, float* A22, float w)
{ {
*Pch = read_imagef(I, sampler, (float2)(x, y)).x; unsigned int xid=get_local_id(0);
unsigned int yid=get_local_id(1);
float dIdx = 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x + 1, y)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)).x - *Pch = VAL(TileY,TileX,0,0);
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x - 1, y)).x + 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)).x);
float dIdy = 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x, y + 1)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)).x - float dIdx = (3.0f*VAL(TileY,TileX,-1,1)+10.0f*VAL(TileY,TileX,0,1)+3.0f*VAL(TileY,TileX,+1,1))-(3.0f*VAL(TileY,TileX,-1,-1)+10.0f*VAL(TileY,TileX,0,-1)+3.0f*VAL(TileY,TileX,+1,-1));
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x, y - 1)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)).x); float dIdy = (3.0f*VAL(TileY,TileX,1,-1)+10.0f*VAL(TileY,TileX,1,0)+3.0f*VAL(TileY,TileX,1,+1))-(3.0f*VAL(TileY,TileX,-1,-1)+10.0f*VAL(TileY,TileX,-1,0)+3.0f*VAL(TileY,TileX,-1,+1));
dIdx *= w;
dIdy *= w;
*Dx = dIdx; *Dx = dIdx;
*Dy = dIdy; *Dy = dIdy;
@ -245,6 +246,7 @@ inline void SetPatch(image2d_t I, float x, float y,
*A12 += dIdx * dIdy; *A12 += dIdx * dIdy;
*A22 += dIdy * dIdy; *A22 += dIdy * dIdy;
} }
#undef VAL
inline void GetPatch(image2d_t J, float x, float y, inline void GetPatch(image2d_t J, float x, float y,
float* Pch, float* Dx, float* Dy, float* Pch, float* Dx, float* Dy,
@ -262,7 +264,38 @@ inline void GetError(image2d_t J, const float x, const float y, const float* Pch
*errval += fabs(diff); *errval += fabs(diff);
} }
#define GRIDSIZE 3
//macro to read pixel value into local memory.
#define READI(_y,_x) IPatchLocal[yid+((_y)*LSy)][xid+((_x)*LSx)] = read_imagef(I, sampler, (float2)(Point.x + xid+(_x)*LSx + 0.5f-1, Point.y + yid+(_y)*LSy+ 0.5f-1)).x;
void ReadPatchIToLocalMem(image2d_t I, float2 Point, local float IPatchLocal[LSy*GRIDSIZE+2][LSx*GRIDSIZE+2])
{
unsigned int xid=get_local_id(0);
unsigned int yid=get_local_id(1);
//read (3*LSx)*(3*LSy) window. each macro call read LSx*LSy pixels block
READI(0,0);READI(0,1);READI(0,2);
READI(1,0);READI(1,1);READI(1,2);
READI(2,0);READI(2,1);READI(2,2);
if(xid<2)
{// read last 2 columns border. each macro call reads 2*LSy pixels block
READI(0,3);
READI(1,3);
READI(2,3);
}
if(yid<2)
{// read last 2 row. each macro call reads LSx*2 pixels block
READI(3,0);READI(3,1);READI(3,2);
}
if(yid<2 && xid<2)
{// read right bottom 2x2 corner. one macro call reads 2*2 pixels block
READI(3,3);
}
barrier(CLK_LOCAL_MEM_FENCE);
}
#undef READI
__attribute__((reqd_work_group_size(LSx, LSy, 1)))
__kernel void lkSparse(image2d_t I, image2d_t J, __kernel void lkSparse(image2d_t I, image2d_t J,
__global const float2* prevPts, __global float2* nextPts, __global uchar* status, __global float* err, __global const float2* prevPts, __global float2* nextPts, __global uchar* status, __global float* err,
const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr) const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr)
@ -277,6 +310,8 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
unsigned int xsize=get_local_size(0); unsigned int xsize=get_local_size(0);
unsigned int ysize=get_local_size(1); unsigned int ysize=get_local_size(1);
int xBase, yBase, k; int xBase, yBase, k;
float wx = ((xid+2*xsize)<c_winSize_x)?1:0;
float wy = ((yid+2*ysize)<c_winSize_y)?1:0;
float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1); float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1);
@ -305,65 +340,54 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
float dIdx_patch[GRIDSIZE][GRIDSIZE]; float dIdx_patch[GRIDSIZE][GRIDSIZE];
float dIdy_patch[GRIDSIZE][GRIDSIZE]; float dIdy_patch[GRIDSIZE][GRIDSIZE];
yBase=yid; // local memory to read image with border to calc sobels
local float IPatchLocal[LSy*GRIDSIZE+2][LSx*GRIDSIZE+2];
ReadPatchIToLocalMem(I,prevPt,IPatchLocal);
{ {
xBase=xid; SetPatch(IPatchLocal, 0, 0,
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0], &I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0],
&A11, &A12, &A22); &A11, &A12, &A22,1);
xBase+=xsize; SetPatch(IPatchLocal, 0, 1,
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1], &I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1],
&A11, &A12, &A22); &A11, &A12, &A22,1);
xBase+=xsize; SetPatch(IPatchLocal, 0, 2,
if(xBase<c_winSize_x) &I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f, &A11, &A12, &A22,wx);
&I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
&A11, &A12, &A22);
} }
yBase+=ysize;
{ {
xBase=xid; SetPatch(IPatchLocal, 1, 0,
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0], &I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0],
&A11, &A12, &A22); &A11, &A12, &A22,1);
xBase+=xsize; SetPatch(IPatchLocal, 1,1,
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1], &I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1],
&A11, &A12, &A22); &A11, &A12, &A22,1);
xBase+=xsize; SetPatch(IPatchLocal, 1,2,
if(xBase<c_winSize_x) &I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f, &A11, &A12, &A22,wx);
&I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
&A11, &A12, &A22);
} }
yBase+=ysize;
if(yBase<c_winSize_y)
{ {
xBase=xid; SetPatch(IPatchLocal, 2,0,
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0], &I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0],
&A11, &A12, &A22); &A11, &A12, &A22,wy);
xBase+=xsize; SetPatch(IPatchLocal, 2,1,
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1], &I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1],
&A11, &A12, &A22); &A11, &A12, &A22,wy);
xBase+=xsize; SetPatch(IPatchLocal, 2,2,
if(xBase<c_winSize_x) &I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f, &A11, &A12, &A22,wx*wy);
&I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
&A11, &A12, &A22);
} }
reduce3(A11, A12, A22, smem1, smem2, smem3, tid); reduce3(A11, A12, A22, smem1, smem2, smem3, tid);
A11 = smem1[0]; A11 = smem1[0];
@ -412,10 +436,9 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
&b1, &b2); &b1, &b2);
xBase+=xsize; xBase+=xsize;
if(xBase<c_winSize_x) GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f, &I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
&I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2], &b1, &b2);
&b1, &b2);
} }
yBase+=ysize; yBase+=ysize;
{ {
@ -431,13 +454,11 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
&b1, &b2); &b1, &b2);
xBase+=xsize; xBase+=xsize;
if(xBase<c_winSize_x) GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f, &I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
&I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2], &b1, &b2);
&b1, &b2);
} }
yBase+=ysize; yBase+=ysize;
if(yBase<c_winSize_y)
{ {
xBase=xid; xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f, GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
@ -451,10 +472,9 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
&b1, &b2); &b1, &b2);
xBase+=xsize; xBase+=xsize;
if(xBase<c_winSize_x) GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f, &I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
&I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2], &b1, &b2);
&b1, &b2);
} }
reduce2(b1, b2, smem1, smem2, tid); reduce2(b1, b2, smem1, smem2, tid);

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