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Merge pull request #4195 from wangyan42164:ocl_pyrlk

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pull/4215/head
Alexander Alekhin 9 years ago
parent dac071ed78 2c1650ad33
commit b6d88f21af
1 changed files with 62 additions and 95 deletions
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  1. 151
      modules/video/src/opencl/pyrlk.cl

151
modules/video/src/opencl/pyrlk.cl
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@ -228,27 +228,24 @@ __constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAM
// macro to get pixel value from local memory
#define VAL(_y,_x,_yy,_xx) (IPatchLocal[(yid+((_y)*LSy)+1+(_yy))*LM_W+(xid+((_x)*LSx)+1+(_xx))])
#define VAL(_y,_x,_yy,_xx) (IPatchLocal[mad24(((_y) + (_yy)), LM_W, ((_x) + (_xx)))])
inline void SetPatch(local float* IPatchLocal, int TileY, int TileX,
float* Pch, float* Dx, float* Dy,
float* A11, float* A12, float* A22, float w)
{
unsigned int xid=get_local_id(0);
unsigned int yid=get_local_id(1);
*Pch = VAL(TileY,TileX,0,0);
int xid=get_local_id(0);
int yid=get_local_id(1);
int xBase = mad24(TileX, LSx, (xid + 1));
int yBase = mad24(TileY, LSy, (yid + 1));
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));
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));
*Pch = VAL(yBase,xBase,0,0);
dIdx *= w;
dIdy *= w;
*Dx = mad((VAL(yBase,xBase,-1,1) + VAL(yBase,xBase,+1,1) - VAL(yBase,xBase,-1,-1) - VAL(yBase,xBase,+1,-1)), 3.0f, (VAL(yBase,xBase,0,1) - VAL(yBase,xBase,0,-1)) * 10.0f) * w;
*Dy = mad((VAL(yBase,xBase,1,-1) + VAL(yBase,xBase,1,+1) - VAL(yBase,xBase,-1,-1) - VAL(yBase,xBase,-1,+1)), 3.0f, (VAL(yBase,xBase,1,0) - VAL(yBase,xBase,-1,0)) * 10.0f) * w;
*Dx = dIdx;
*Dy = dIdy;
*A11 += dIdx * dIdx;
*A12 += dIdx * dIdy;
*A22 += dIdy * dIdy;
*A11 = mad(*Dx, *Dx, *A11);
*A12 = mad(*Dx, *Dy, *A12);
*A22 = mad(*Dy, *Dy, *A22);
}
#undef VAL
@ -258,8 +255,8 @@ inline void GetPatch(image2d_t J, float x, float y,
{
float J_val = read_imagef(J, sampler, (float2)(x, y)).x;
float diff = (J_val - *Pch) * 32.0f;
*b1 += diff**Dx;
*b2 += diff**Dy;
*b1 = mad(diff, *Dx, *b1);
*b2 = mad(diff, *Dy, *b2);
}
inline void GetError(image2d_t J, const float x, const float y, const float* Pch, float* errval)
@ -270,11 +267,11 @@ inline void GetError(image2d_t J, const float x, const float y, const float* Pch
//macro to read pixel value into local memory.
#define READI(_y,_x) IPatchLocal[(yid+((_y)*LSy))*LM_W+(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;
#define READI(_y,_x) IPatchLocal[mad24(mad24((_y), LSy, yid), LM_W, mad24((_x), LSx, xid))] = read_imagef(I, sampler, (float2)(mad((_x), LSx, Point.x + xid - 0.5f), mad((_y), LSy, Point.y + yid - 0.5f))).x;
void ReadPatchIToLocalMem(image2d_t I, float2 Point, local float* IPatchLocal)
{
unsigned int xid=get_local_id(0);
unsigned int yid=get_local_id(1);
int xid=get_local_id(0);
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);
@ -308,14 +305,16 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
__local float smem2[BUFFER];
__local float smem3[BUFFER];
unsigned int xid=get_local_id(0);
unsigned int yid=get_local_id(1);
unsigned int gid=get_group_id(0);
unsigned int xsize=get_local_size(0);
unsigned int ysize=get_local_size(1);
int xBase, yBase, k;
float wx = ((xid+2*xsize)<c_winSize_x)?1:0;
float wy = ((yid+2*ysize)<c_winSize_y)?1:0;
int xid=get_local_id(0);
int yid=get_local_id(1);
int gid=get_group_id(0);
int xsize=get_local_size(0);
int ysize=get_local_size(1);
int k;
int xBase = mad24(xsize, 2, xid);
int yBase = mad24(ysize, 2, yid);
float wx = (xBase < c_winSize_x) ? 1 : 0;
float wy = (yBase < c_winSize_y) ? 1 : 0;
float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1);
@ -399,7 +398,7 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
A22 = smem3[0];
barrier(CLK_LOCAL_MEM_FENCE);
float D = A11 * A22 - A12 * A12;
float D = mad(A11, A22, - A12 * A12);
if (D < 1.192092896e-07f)
{
@ -413,7 +412,13 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
A12 /= D;
A22 /= D;
prevPt = nextPts[gid] * 2.0f - c_halfWin;
prevPt = mad(nextPts[gid], 2.0f, - c_halfWin);
float2 offset0 = (float2)(xid + 0.5f, yid + 0.5f);
float2 offset1 = (float2)(xsize, ysize);
float2 loc0 = prevPt + offset0;
float2 loc1 = loc0 + offset1;
float2 loc2 = loc1 + offset1;
for (k = 0; k < c_iters; ++k)
{
@ -426,57 +431,45 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
float b1 = 0;
float b2 = 0;
yBase=yid;
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, loc0.x, loc0.y,
&I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, loc1.x, loc0.y,
&I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, loc2.x, loc0.y,
&I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
&b1, &b2);
}
yBase+=ysize;
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, loc0.x, loc1.y,
&I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, loc1.x, loc1.y,
&I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, loc2.x, loc1.y,
&I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
&b1, &b2);
}
yBase+=ysize;
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, loc0.x, loc2.y,
&I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, loc1.x, loc2.y,
&I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
GetPatch(J, loc2.x, loc2.y,
&I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
&b1, &b2);
}
@ -488,10 +481,13 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
barrier(CLK_LOCAL_MEM_FENCE);
float2 delta;
delta.x = A12 * b2 - A22 * b1;
delta.y = A12 * b1 - A11 * b2;
delta.x = mad(A12, b2, - A22 * b1);
delta.y = mad(A12, b1, - A11 * b2);
prevPt += delta;
loc0 += delta;
loc1 += delta;
loc2 += delta;
if (fabs(delta.x) < THRESHOLD && fabs(delta.y) < THRESHOLD)
break;
@ -500,54 +496,25 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
D = 0.0f;
if (calcErr)
{
yBase=yid;
{
xBase=xid;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][0], &D);
xBase+=xsize;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][1], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][2], &D);
GetError(J, loc0.x, loc0.y, &I_patch[0][0], &D);
GetError(J, loc1.x, loc0.y, &I_patch[0][1], &D);
}
yBase+=ysize;
{
xBase=xid;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][0], &D);
xBase+=xsize;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][1], &D);
xBase+=xsize;
GetError(J, loc0.x, loc1.y, &I_patch[1][0], &D);
GetError(J, loc1.x, loc1.y, &I_patch[1][1], &D);
}
if(xBase < c_winSize_x)
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][2], &D);
{
GetError(J, loc2.x, loc0.y, &I_patch[0][2], &D);
GetError(J, loc2.x, loc1.y, &I_patch[1][2], &D);
}
yBase+=ysize;
if(yBase < c_winSize_y)
{
xBase=xid;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][0], &D);
xBase+=xsize;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][1], &D);
xBase+=xsize;
GetError(J, loc0.x, loc2.y, &I_patch[2][0], &D);
GetError(J, loc1.x, loc2.y, &I_patch[2][1], &D);
if(xBase < c_winSize_x)
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][2], &D);
GetError(J, loc2.x, loc2.y, &I_patch[2][2], &D);
}
reduce1(D, smem1, tid);

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