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Merge pull request #2106 from savuor:kinfu_fix_ocl

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KinFu: try to fix OCL fails (#2106)

* some TODOs closed

* temporary turn on NaNs patching

* reverted

* temporary debug code added

* more debug code

* inf check; more debug code

* debug code in kernel

* debug code, try to disable some optimizations

* -cl-fast-relaxed-math option removed, debug code removed
pull/2121/head
Rostislav Vasilikhin 6 years ago committed by Alexander Alekhin
parent 8049208c8f
commit 5eaa25c950
4 changed files with 17 additions and 21 deletions
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  1. 5
      modules/rgbd/src/fast_icp.cpp
  2. 13
      modules/rgbd/src/kinfu_frame.cpp
  3. 6
      modules/rgbd/src/opencl/icp.cl
  4. 14
      modules/rgbd/src/tsdf.cpp

5
modules/rgbd/src/fast_icp.cpp
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@ -545,7 +545,7 @@ void ICPImpl::getAb<UMat>(const UMat& oldPts, const UMat& oldNrm, const UMat& ne
cv::String errorStr;
ocl::ProgramSource source = ocl::rgbd::icp_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
ocl::Kernel k;
k.create("getAb", source, options, &errorStr);
@ -594,8 +594,7 @@ void ICPImpl::getAb<UMat>(const UMat& oldPts, const UMat& oldNrm, const UMat& ne
fxy.val, cxy.val,
distanceThreshold*distanceThreshold,
cos(angleThreshold),
//TODO: replace by KernelArg::Local(lsz)
ocl::KernelArg(ocl::KernelArg::LOCAL, 0, 1, 1, 0, lsz),
ocl::KernelArg::Local(lsz),
ocl::KernelArg::WriteOnlyNoSize(groupedSumGpu)
);

13
modules/rgbd/src/kinfu_frame.cpp
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@ -335,7 +335,7 @@ bool computePointsNormalsGpu(const Intr intr, float depthFactor, const UMat& dep
cv::String errorStr;
cv::String name = "computePointsNormals";
ocl::ProgramSource source = ocl::rgbd::kinfu_frame_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
ocl::Kernel k;
k.create(name.c_str(), source, options, &errorStr);
@ -368,7 +368,7 @@ bool pyrDownBilateralGpu(const UMat& depth, UMat& depthDown, float sigma)
cv::String errorStr;
cv::String name = "pyrDownBilateral";
ocl::ProgramSource source = ocl::rgbd::kinfu_frame_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
ocl::Kernel k;
k.create(name.c_str(), source, options, &errorStr);
@ -402,7 +402,7 @@ bool customBilateralFilterGpu(const UMat src /* udepth */, UMat& dst /* smooth *
cv::String errorStr;
cv::String name = "customBilateral";
ocl::ProgramSource source = ocl::rgbd::kinfu_frame_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
ocl::Kernel k;
k.create(name.c_str(), source, options, &errorStr);
@ -431,7 +431,7 @@ bool pyrDownPointsNormalsGpu(const UMat p, const UMat n, UMat &pdown, UMat &ndow
cv::String errorStr;
cv::String name = "pyrDownPointsNormals";
ocl::ProgramSource source = ocl::rgbd::kinfu_frame_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
ocl::Kernel k;
k.create(name.c_str(), source, options, &errorStr);
@ -462,7 +462,7 @@ static bool ocl_renderPointsNormals(const UMat points, const UMat normals,
cv::String errorStr;
cv::String name = "render";
ocl::ProgramSource source = ocl::rgbd::kinfu_frame_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
ocl::Kernel k;
k.create(name.c_str(), source, options, &errorStr);
@ -616,9 +616,6 @@ void makeFrameFromDepth(InputArray _depth,
// looks like OpenCV's bilateral filter works the same as KinFu's
Depth smooth;
//TODO: remove it when OpenCV's bilateral works properly
patchNaNs(depth);
bilateralFilter(depth, smooth, kernelSize, sigmaDepth*depthFactor, sigmaSpatial);
// depth truncation is not used by default

6
modules/rgbd/src/opencl/icp.cl
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@ -56,7 +56,8 @@ inline void calcAb7(__global const char * oldPointsptr,
float3 newP = newPtsRow[x].xyz;
float3 newN = newNrmRow[x].xyz;
if(any(isnan(newP)) || any(isnan(newN)))
if( any(isnan(newP)) || any(isnan(newN)) ||
any(isinf(newP)) || any(isinf(newN)) )
return;
//transform to old coord system
@ -114,7 +115,8 @@ inline void calcAb7(__global const char * oldPointsptr,
float3 n1 = mix(n10, n11, t.x);
oldN = mix(n0, n1, t.y);
if(any(isnan(oldP)) || any(isnan(oldN)))
if( any(isnan(oldP)) || any(isnan(oldN)) ||
any(isinf(oldP)) || any(isinf(oldN)) )
return;
//filter by distance

14
modules/rgbd/src/tsdf.cpp
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@ -1204,7 +1204,7 @@ void TSDFVolumeGPU::integrate(InputArray _depth, float depthFactor,
cv::String errorStr;
cv::String name = "integrate";
ocl::ProgramSource source = ocl::rgbd::tsdf_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
ocl::Kernel k;
k.create(name.c_str(), source, options, &errorStr);
@ -1250,7 +1250,7 @@ void TSDFVolumeGPU::raycast(cv::Affine3f cameraPose, Intr intrinsics, Size frame
cv::String errorStr;
cv::String name = "raycast";
ocl::ProgramSource source = ocl::rgbd::tsdf_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
ocl::Kernel k;
k.create(name.c_str(), source, options, &errorStr);
@ -1318,7 +1318,7 @@ void TSDFVolumeGPU::fetchNormals(InputArray _points, OutputArray _normals) const
cv::String errorStr;
cv::String name = "getNormals";
ocl::ProgramSource source = ocl::rgbd::tsdf_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
ocl::Kernel k;
k.create(name.c_str(), source, options, &errorStr);
@ -1365,7 +1365,7 @@ void TSDFVolumeGPU::fetchPointsNormals(OutputArray points, OutputArray normals)
cv::String errorStr;
ocl::ProgramSource source = ocl::rgbd::tsdf_oclsrc;
cv::String options = "-cl-fast-relaxed-math -cl-mad-enable";
cv::String options = "-cl-mad-enable";
kscan.create("scanSize", source, options, &errorStr);
@ -1409,8 +1409,7 @@ void TSDFVolumeGPU::fetchPointsNormals(OutputArray points, OutputArray normals)
ocl::KernelArg::PtrReadOnly(volPoseGpu),
voxelSize,
voxelSizeInv,
//TODO: replace by KernelArg::Local(lsz)
ocl::KernelArg(ocl::KernelArg::LOCAL, 0, 1, 1, 0, lsz),
ocl::KernelArg::Local(lsz),
ocl::KernelArg::WriteOnlyNoSize(groupedSum));
if(!kscan.run(3, globalSize, localSize, true))
@ -1455,8 +1454,7 @@ void TSDFVolumeGPU::fetchPointsNormals(OutputArray points, OutputArray normals)
voxelSize,
voxelSizeInv,
((int)needNormals),
//TODO: replace by ::Local(lsz)
ocl::KernelArg(ocl::KernelArg::LOCAL, 0, 1, 1, 0, lsz),
ocl::KernelArg::Local(lsz),
ocl::KernelArg::PtrReadWrite(atomicCtr),
ocl::KernelArg::ReadOnlyNoSize(groupedSum),
ocl::KernelArg::WriteOnlyNoSize(pts),

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