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Added NEON optimizations for LK optical flow (Intrinsics).

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pull/2407/head
Cody Rigney 11 years ago committed by Cody Rigney
parent 5327482b46
commit fbc69e444b
2 changed files with 253 additions and 0 deletions
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  1. 252
      modules/video/src/lkpyramid.cpp
  2. 1
      modules/video/src/precomp.hpp

252
modules/video/src/lkpyramid.cpp
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@ -87,6 +87,30 @@ static void calcSharrDeriv(const cv::Mat& src, cv::Mat& dst)
_mm_store_si128((__m128i*)(trow1 + x), t1);
}
#endif
#if CV_NEON
const uint16x8_t q8 = vdupq_n_u16(3);
const uint8x8_t d18 = vdup_n_u8(10);
const int16x8_t q8i = vdupq_n_s16(3);
const int16x8_t q9 = vdupq_n_s16(10);
for( ; x <= colsn - 8; x += 8)
{
uint8x8_t d0 = vld1_u8((const uint8_t*)&srow0[x]);
uint8x8_t d1 = vld1_u8((const uint8_t*)&srow1[x]);
uint8x8_t d2 = vld1_u8((const uint8_t*)&srow2[x]);
uint16x8_t q4 = vaddl_u8(d0, d2);
uint16x8_t q11 = vsubl_u8(d2, d0);
uint16x8_t q5 = vmulq_u16(q4, q8);
uint16x8_t q6 = vmull_u8(d1, d18);
uint16x8_t q10 = vaddq_u16(q6, q5);
vst1q_u16((uint16_t*)&trow0[x], q10);
vst1q_u16((uint16_t*)&trow1[x], q11);
}
#endif
for( ; x < colsn; x++ )
{
int t0 = (srow0[x] + srow2[x])*3 + srow1[x]*10;
@ -123,6 +147,35 @@ static void calcSharrDeriv(const cv::Mat& src, cv::Mat& dst)
_mm_storeu_si128((__m128i*)(drow + x*2 + 8), t0);
}
#endif
#if CV_NEON
for( ; x <= colsn - 8; x += 8 )
{
int16x8_t q0 = vld1q_s16((const int16_t*)&trow0[x+cn]);
int16x8_t q1 = vld1q_s16((const int16_t*)&trow0[x-cn]);
int16x8_t q2 = vld1q_s16((const int16_t*)&trow1[x+cn]);
int16x8_t q3 = vld1q_s16((const int16_t*)&trow1[x-cn]);
int16x8_t q5 = vsubq_s16(q0, q1);
int16x8_t q6 = vaddq_s16(q2, q3);
int16x8_t q4 = vld1q_s16((const int16_t*)&trow1[x]);
int16x8_t q7 = vmulq_s16(q6, q8i);
int16x8_t q10 = vmulq_s16(q4, q9);
int16x8_t q11 = vaddq_s16(q7, q10);
int16x4_t d22 = vget_low_s16(q11);
int16x4_t d23 = vget_high_s16(q11);
int16x4_t d11 = vget_high_s16(q5);
int16x4_t d10 = vget_low_s16(q5);
int16x4x2_t q5x2, q11x2;
q5x2.val[0] = d10; q5x2.val[1] = d22;
q11x2.val[0] = d11; q11x2.val[1] = d23;
vst2_s16((int16_t*)&drow[x*2], q5x2);
vst2_s16((int16_t*)&drow[(x*2)+8], q11x2);
}
#endif
for( ; x < colsn; x++ )
{
deriv_type t0 = (deriv_type)(trow0[x+cn] - trow0[x-cn]);
@ -226,6 +279,21 @@ void cv::detail::LKTrackerInvoker::operator()(const Range& range) const
__m128 qA11 = _mm_setzero_ps(), qA12 = _mm_setzero_ps(), qA22 = _mm_setzero_ps();
#endif
#if CV_NEON
int CV_DECL_ALIGNED(16) nA11[] = {0, 0, 0, 0}, nA12[] = {0, 0, 0, 0}, nA22[] = {0, 0, 0, 0};
const int shifter1 = -(W_BITS - 5); //negative so it shifts right
const int shifter2 = -(W_BITS);
const int16x4_t d26 = vdup_n_s16((int16_t)iw00);
const int16x4_t d27 = vdup_n_s16((int16_t)iw01);
const int16x4_t d28 = vdup_n_s16((int16_t)iw10);
const int16x4_t d29 = vdup_n_s16((int16_t)iw11);
const int32x4_t q11 = vdupq_n_s32((int32_t)shifter1);
const int32x4_t q12 = vdupq_n_s32((int32_t)shifter2);
#endif
// extract the patch from the first image, compute covariation matrix of derivatives
int x, y;
for( y = 0; y < winSize.height; y++ )
@ -279,6 +347,92 @@ void cv::detail::LKTrackerInvoker::operator()(const Range& range) const
}
#endif
#if CV_NEON
for( ; x <= winSize.width*cn - 4; x += 4, dsrc += 4*2, dIptr += 4*2 )
{
uint8x8_t d0 = vld1_u8(&src[x]);
uint8x8_t d2 = vld1_u8(&src[x+cn]);
uint16x8_t q0 = vmovl_u8(d0);
uint16x8_t q1 = vmovl_u8(d2);
int32x4_t q5 = vmull_s16(vget_low_s16(vreinterpretq_s16_u16(q0)), d26);
int32x4_t q6 = vmull_s16(vget_low_s16(vreinterpretq_s16_u16(q1)), d27);
uint8x8_t d4 = vld1_u8(&src[x + stepI]);
uint8x8_t d6 = vld1_u8(&src[x + stepI + cn]);
uint16x8_t q2 = vmovl_u8(d4);
uint16x8_t q3 = vmovl_u8(d6);
int32x4_t q7 = vmull_s16(vget_low_s16(vreinterpretq_s16_u16(q2)), d28);
int32x4_t q8 = vmull_s16(vget_low_s16(vreinterpretq_s16_u16(q3)), d29);
q5 = vaddq_s32(q5, q6);
q7 = vaddq_s32(q7, q8);
q5 = vaddq_s32(q5, q7);
int16x4x2_t d0d1 = vld2_s16(dsrc);
int16x4x2_t d2d3 = vld2_s16(&dsrc[cn2]);
q5 = vqrshlq_s32(q5, q11);
int32x4_t q4 = vmull_s16(d0d1.val[0], d26);
q6 = vmull_s16(d0d1.val[1], d26);
int16x4_t nd0 = vmovn_s32(q5);
q7 = vmull_s16(d2d3.val[0], d27);
q8 = vmull_s16(d2d3.val[1], d27);
vst1_s16(&Iptr[x], nd0);
int16x4x2_t d4d5 = vld2_s16(&dsrc[dstep]);
int16x4x2_t d6d7 = vld2_s16(&dsrc[dstep+cn2]);
q4 = vaddq_s32(q4, q7);
q6 = vaddq_s32(q6, q8);
q7 = vmull_s16(d4d5.val[0], d28);
int32x4_t nq0 = vmull_s16(d4d5.val[1], d28);
q8 = vmull_s16(d6d7.val[0], d29);
int32x4_t q15 = vmull_s16(d6d7.val[1], d29);
q7 = vaddq_s32(q7, q8);
nq0 = vaddq_s32(nq0, q15);
q4 = vaddq_s32(q4, q7);
q6 = vaddq_s32(q6, nq0);
int32x4_t nq1 = vld1q_s32(nA12);
int32x4_t nq2 = vld1q_s32(nA22);
nq0 = vld1q_s32(nA11);
q4 = vqrshlq_s32(q4, q12);
q6 = vqrshlq_s32(q6, q12);
q7 = vmulq_s32(q4, q4);
q8 = vmulq_s32(q4, q6);
q15 = vmulq_s32(q6, q6);
nq0 = vaddq_s32(nq0, q7);
nq1 = vaddq_s32(nq1, q8);
nq2 = vaddq_s32(nq2, q15);
vst1q_s32(nA11, nq0);
vst1q_s32(nA12, nq1);
vst1q_s32(nA22, nq2);
int16x4_t d8 = vmovn_s32(q4);
int16x4_t d12 = vmovn_s32(q6);
int16x4x2_t d8d12;
d8d12.val[0] = d8; d8d12.val[1] = d12;
vst2_s16(dIptr, d8d12);
}
#endif
for( ; x < winSize.width*cn; x++, dsrc += 2, dIptr += 2 )
{
int ival = CV_DESCALE(src[x]*iw00 + src[x+cn]*iw01 +
@ -308,6 +462,12 @@ void cv::detail::LKTrackerInvoker::operator()(const Range& range) const
A22 += A22buf[0] + A22buf[1] + A22buf[2] + A22buf[3];
#endif
#if CV_NEON
A11 += (float)(nA11[0] + nA11[1] + nA11[2] + nA11[3]);
A12 += (float)(nA12[0] + nA12[1] + nA12[2] + nA12[3]);
A22 += (float)(nA22[0] + nA22[1] + nA22[2] + nA22[3]);
#endif
A11 *= FLT_SCALE;
A12 *= FLT_SCALE;
A22 *= FLT_SCALE;
@ -357,6 +517,17 @@ void cv::detail::LKTrackerInvoker::operator()(const Range& range) const
__m128 qb0 = _mm_setzero_ps(), qb1 = _mm_setzero_ps();
#endif
#if CV_NEON
int CV_DECL_ALIGNED(16) nB1[] = {0,0,0,0}, nB2[] = {0,0,0,0};
const int16x4_t d26_2 = vdup_n_s16((int16_t)iw00);
const int16x4_t d27_2 = vdup_n_s16((int16_t)iw01);
const int16x4_t d28_2 = vdup_n_s16((int16_t)iw10);
const int16x4_t d29_2 = vdup_n_s16((int16_t)iw11);
#endif
for( y = 0; y < winSize.height; y++ )
{
const uchar* Jptr = (const uchar*)J.data + (y + inextPt.y)*stepJ + inextPt.x*cn;
@ -400,6 +571,80 @@ void cv::detail::LKTrackerInvoker::operator()(const Range& range) const
}
#endif
#if CV_NEON
for( ; x <= winSize.width*cn - 8; x += 8, dIptr += 8*2 )
{
uint8x8_t d0 = vld1_u8(&Jptr[x]);
uint8x8_t d2 = vld1_u8(&Jptr[x+cn]);
uint8x8_t d4 = vld1_u8(&Jptr[x+stepJ]);
uint8x8_t d6 = vld1_u8(&Jptr[x+stepJ+cn]);
uint16x8_t q0 = vmovl_u8(d0);
uint16x8_t q1 = vmovl_u8(d2);
uint16x8_t q2 = vmovl_u8(d4);
uint16x8_t q3 = vmovl_u8(d6);
int32x4_t nq4 = vmull_s16(vget_low_s16(vreinterpretq_s16_u16(q0)), d26_2);
int32x4_t nq5 = vmull_s16(vget_high_s16(vreinterpretq_s16_u16(q0)), d26_2);
int32x4_t nq6 = vmull_s16(vget_low_s16(vreinterpretq_s16_u16(q1)), d27_2);
int32x4_t nq7 = vmull_s16(vget_high_s16(vreinterpretq_s16_u16(q1)), d27_2);
int32x4_t nq8 = vmull_s16(vget_low_s16(vreinterpretq_s16_u16(q2)), d28_2);
int32x4_t nq9 = vmull_s16(vget_high_s16(vreinterpretq_s16_u16(q2)), d28_2);
int32x4_t nq10 = vmull_s16(vget_low_s16(vreinterpretq_s16_u16(q3)), d29_2);
int32x4_t nq11 = vmull_s16(vget_high_s16(vreinterpretq_s16_u16(q3)), d29_2);
nq4 = vaddq_s32(nq4, nq6);
nq5 = vaddq_s32(nq5, nq7);
nq8 = vaddq_s32(nq8, nq10);
nq9 = vaddq_s32(nq9, nq11);
int16x8_t q6 = vld1q_s16(&Iptr[x]);
nq4 = vaddq_s32(nq4, nq8);
nq5 = vaddq_s32(nq5, nq9);
nq8 = vmovl_s16(vget_high_s16(q6));
nq6 = vmovl_s16(vget_low_s16(q6));
nq4 = vqrshlq_s32(nq4, q11);
nq5 = vqrshlq_s32(nq5, q11);
int16x8x2_t q0q1 = vld2q_s16(dIptr);
nq11 = vld1q_s32(nB1);
int32x4_t nq15 = vld1q_s32(nB2);
nq4 = vsubq_s32(nq4, nq6);
nq5 = vsubq_s32(nq5, nq8);
int32x4_t nq2 = vmovl_s16(vget_low_s16(q0q1.val[0]));
int32x4_t nq3 = vmovl_s16(vget_high_s16(q0q1.val[0]));
nq7 = vmovl_s16(vget_low_s16(q0q1.val[1]));
nq8 = vmovl_s16(vget_high_s16(q0q1.val[1]));
nq9 = vmulq_s32(nq4, nq2);
nq10 = vmulq_s32(nq5, nq3);
nq4 = vmulq_s32(nq4, nq7);
nq5 = vmulq_s32(nq5, nq8);
nq9 = vaddq_s32(nq9, nq10);
nq4 = vaddq_s32(nq4, nq5);
nq11 = vaddq_s32(nq11, nq9);
nq15 = vaddq_s32(nq15, nq4);
vst1q_s32(nB1, nq11);
vst1q_s32(nB2, nq15);
}
#endif
for( ; x < winSize.width*cn; x++, dIptr += 2 )
{
int diff = CV_DESCALE(Jptr[x]*iw00 + Jptr[x+cn]*iw01 +
@ -417,6 +662,13 @@ void cv::detail::LKTrackerInvoker::operator()(const Range& range) const
b2 += bbuf[1] + bbuf[3];
#endif
#if CV_NEON
b1 += (float)(nB1[0] + nB1[1] + nB1[2] + nB1[3]);
b2 += (float)(nB2[0] + nB2[1] + nB2[2] + nB2[3]);
#endif
b1 *= FLT_SCALE;
b2 *= FLT_SCALE;

1
modules/video/src/precomp.hpp
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@ -49,6 +49,7 @@
#include "opencv2/video/background_segm.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/core/internal.hpp"
#include "opencv2/core/core.hpp"
#include <list>

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