add PyrLK to ocl module
This commit is contained in:
yao
831
modules/ocl/src/kernels/pyrlk.cl
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831
modules/ocl/src/kernels/pyrlk.cl
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// @Authors
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// Dachuan Zhao, dachuan@multicorewareinc.com
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other oclMaterials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors as is and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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//#pragma OPENCL EXTENSION cl_amd_printf : enable
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__kernel void calcSharrDeriv_vertical_C1_D0(__global const uchar* src, int srcStep, int rows, int cols, int cn, __global short* dx_buf, int dx_bufStep, __global short* dy_buf, int dy_bufStep)
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{
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const int x = get_global_id(0);
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const int y = get_global_id(1);
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if (y < rows && x < cols * cn)
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{
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const uchar src_val0 = (src + (y > 0 ? y-1 : rows > 1 ? 1 : 0) * srcStep)[x];
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const uchar src_val1 = (src + y * srcStep)[x];
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const uchar src_val2 = (src + (y < rows-1 ? y+1 : rows > 1 ? rows-2 : 0) * srcStep)[x];
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((__global short*)((__global char*)dx_buf + y * dx_bufStep / 2))[x] = (src_val0 + src_val2) * 3 + src_val1 * 10;
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((__global short*)((__global char*)dy_buf + y * dy_bufStep / 2))[x] = src_val2 - src_val0;
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}
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}
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__kernel void calcSharrDeriv_vertical_C4_D0(__global const uchar* src, int srcStep, int rows, int cols, int cn, __global short* dx_buf, int dx_bufStep, __global short* dy_buf, int dy_bufStep)
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{
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const int x = get_global_id(0);
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const int y = get_global_id(1);
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if (y < rows && x < cols * cn)
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{
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const uchar src_val0 = (src + (y > 0 ? y - 1 : 1) * srcStep)[x];
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const uchar src_val1 = (src + y * srcStep)[x];
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const uchar src_val2 = (src + (y < rows - 1 ? y + 1 : rows - 2) * srcStep)[x];
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((__global short*)((__global char*)dx_buf + y * dx_bufStep / 2))[x] = (src_val0 + src_val2) * 3 + src_val1 * 10;
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((__global short*)((__global char*)dy_buf + y * dy_bufStep / 2))[x] = src_val2 - src_val0;
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}
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}
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__kernel void calcSharrDeriv_horizontal_C1_D0(int rows, int cols, int cn, __global const short* dx_buf, int dx_bufStep, __global const short* dy_buf, int dy_bufStep, __global short* dIdx, int dIdxStep, __global short* dIdy, int dIdyStep)
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{
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const int x = get_global_id(0);
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const int y = get_global_id(1);
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const int colsn = cols * cn;
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if (y < rows && x < colsn)
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{
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__global const short* dx_buf_row = dx_buf + y * dx_bufStep;
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__global const short* dy_buf_row = dy_buf + y * dy_bufStep;
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const int xr = x + cn < colsn ? x + cn : (cols - 2) * cn + x + cn - colsn;
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const int xl = x - cn >= 0 ? x - cn : cn + x;
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((__global short*)((__global char*)dIdx + y * dIdxStep / 2))[x] = dx_buf_row[xr] - dx_buf_row[xl];
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((__global short*)((__global char*)dIdy + y * dIdyStep / 2))[x] = (dy_buf_row[xr] + dy_buf_row[xl]) * 3 + dy_buf_row[x] * 10;
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}
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}
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__kernel void calcSharrDeriv_horizontal_C4_D0(int rows, int cols, int cn, __global const short* dx_buf, int dx_bufStep, __global const short* dy_buf, int dy_bufStep, __global short* dIdx, int dIdxStep, __global short* dIdy, int dIdyStep)
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{
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const int x = get_global_id(0);
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const int y = get_global_id(1);
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const int colsn = cols * cn;
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if (y < rows && x < colsn)
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{
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__global const short* dx_buf_row = dx_buf + y * dx_bufStep;
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__global const short* dy_buf_row = dy_buf + y * dy_bufStep;
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const int xr = x + cn < colsn ? x + cn : (cols - 2) * cn + x + cn - colsn;
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const int xl = x - cn >= 0 ? x - cn : cn + x;
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((__global short*)((__global char*)dIdx + y * dIdxStep / 2))[x] = dx_buf_row[xr] - dx_buf_row[xl];
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((__global short*)((__global char*)dIdy + y * dIdyStep / 2))[x] = (dy_buf_row[xr] + dy_buf_row[xl]) * 3 + dy_buf_row[x] * 10;
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}
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}
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#define W_BITS 14
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#define W_BITS1 14
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#define CV_DESCALE(x, n) (((x) + (1 << ((n)-1))) >> (n))
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int linearFilter_uchar(__global const uchar* src, int srcStep, int cn, float2 pt, int x, int y)
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{
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int2 ipt;
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ipt.x = convert_int_sat_rtn(pt.x);
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ipt.y = convert_int_sat_rtn(pt.y);
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float a = pt.x - ipt.x;
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float b = pt.y - ipt.y;
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int iw00 = convert_int_sat_rte((1.0f - a) * (1.0f - b) * (1 << W_BITS));
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int iw01 = convert_int_sat_rte(a * (1.0f - b) * (1 << W_BITS));
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int iw10 = convert_int_sat_rte((1.0f - a) * b * (1 << W_BITS));
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int iw11 = (1 << W_BITS) - iw00 - iw01 - iw10;
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__global const uchar* src_row = src + (ipt.y + y) * srcStep + ipt.x * cn;
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__global const uchar* src_row1 = src + (ipt.y + y + 1) * srcStep + ipt.x * cn;
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return CV_DESCALE(src_row[x] * iw00 + src_row[x + cn] * iw01 + src_row1[x] * iw10 + src_row1[x + cn] * iw11, W_BITS1 - 5);
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}
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int linearFilter_short(__global const short* src, int srcStep, int cn, float2 pt, int x, int y)
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{
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int2 ipt;
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ipt.x = convert_int_sat_rtn(pt.x);
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ipt.y = convert_int_sat_rtn(pt.y);
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float a = pt.x - ipt.x;
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float b = pt.y - ipt.y;
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int iw00 = convert_int_sat_rte((1.0f - a) * (1.0f - b) * (1 << W_BITS));
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int iw01 = convert_int_sat_rte(a * (1.0f - b) * (1 << W_BITS));
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int iw10 = convert_int_sat_rte((1.0f - a) * b * (1 << W_BITS));
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int iw11 = (1 << W_BITS) - iw00 - iw01 - iw10;
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__global const short* src_row = src + (ipt.y + y) * srcStep + ipt.x * cn;
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__global const short* src_row1 = src + (ipt.y + y + 1) * srcStep + ipt.x * cn;
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return CV_DESCALE(src_row[x] * iw00 + src_row[x + cn] * iw01 + src_row1[x] * iw10 + src_row1[x + cn] * iw11, W_BITS1);
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}
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float linearFilter_float(__global const float* src, int srcStep, int cn, float2 pt, float x, float y)
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{
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int2 ipt;
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ipt.x = convert_int_sat_rtn(pt.x);
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ipt.y = convert_int_sat_rtn(pt.y);
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float a = pt.x - ipt.x;
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float b = pt.y - ipt.y;
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float iw00 = ((1.0f - a) * (1.0f - b) * (1 << W_BITS));
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float iw01 = (a * (1.0f - b) * (1 << W_BITS));
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float iw10 = ((1.0f - a) * b * (1 << W_BITS));
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float iw11 = (1 << W_BITS) - iw00 - iw01 - iw10;
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__global const float* src_row = src + (int)(ipt.y + y) * srcStep / 4 + ipt.x * cn;
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__global const float* src_row1 = src + (int)(ipt.y + y + 1) * srcStep / 4 + ipt.x * cn;
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return src_row[(int)x] * iw00 + src_row[(int)x + cn] * iw01 + src_row1[(int)x] * iw10 + src_row1[(int)x + cn] * iw11, W_BITS1 - 5;
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}
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void reduce3(float val1, float val2, float val3, __local float* smem1, __local float* smem2, __local float* smem3, int tid)
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{
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smem1[tid] = val1;
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smem2[tid] = val2;
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smem3[tid] = val3;
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 128)
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{
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smem1[tid] = val1 += smem1[tid + 128];
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smem2[tid] = val2 += smem2[tid + 128];
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smem3[tid] = val3 += smem3[tid + 128];
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 64)
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{
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smem1[tid] = val1 += smem1[tid + 64];
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smem2[tid] = val2 += smem2[tid + 64];
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smem3[tid] = val3 += smem3[tid + 64];
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 32)
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{
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volatile __local float* vmem1 = smem1;
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volatile __local float* vmem2 = smem2;
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volatile __local float* vmem3 = smem3;
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vmem1[tid] = val1 += vmem1[tid + 32];
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vmem2[tid] = val2 += vmem2[tid + 32];
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vmem3[tid] = val3 += vmem3[tid + 32];
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vmem1[tid] = val1 += vmem1[tid + 16];
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vmem2[tid] = val2 += vmem2[tid + 16];
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vmem3[tid] = val3 += vmem3[tid + 16];
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vmem1[tid] = val1 += vmem1[tid + 8];
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vmem2[tid] = val2 += vmem2[tid + 8];
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vmem3[tid] = val3 += vmem3[tid + 8];
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vmem1[tid] = val1 += vmem1[tid + 4];
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vmem2[tid] = val2 += vmem2[tid + 4];
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vmem3[tid] = val3 += vmem3[tid + 4];
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vmem1[tid] = val1 += vmem1[tid + 2];
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vmem2[tid] = val2 += vmem2[tid + 2];
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vmem3[tid] = val3 += vmem3[tid + 2];
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vmem1[tid] = val1 += vmem1[tid + 1];
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vmem2[tid] = val2 += vmem2[tid + 1];
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vmem3[tid] = val3 += vmem3[tid + 1];
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}
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}
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void reduce2(float val1, float val2, __local float* smem1, __local float* smem2, int tid)
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{
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smem1[tid] = val1;
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smem2[tid] = val2;
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 128)
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{
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smem1[tid] = val1 += smem1[tid + 128];
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smem2[tid] = val2 += smem2[tid + 128];
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 64)
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{
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smem1[tid] = val1 += smem1[tid + 64];
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smem2[tid] = val2 += smem2[tid + 64];
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 32)
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{
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volatile __local float* vmem1 = smem1;
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volatile __local float* vmem2 = smem2;
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vmem1[tid] = val1 += vmem1[tid + 32];
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vmem2[tid] = val2 += vmem2[tid + 32];
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vmem1[tid] = val1 += vmem1[tid + 16];
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vmem2[tid] = val2 += vmem2[tid + 16];
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vmem1[tid] = val1 += vmem1[tid + 8];
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vmem2[tid] = val2 += vmem2[tid + 8];
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vmem1[tid] = val1 += vmem1[tid + 4];
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vmem2[tid] = val2 += vmem2[tid + 4];
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vmem1[tid] = val1 += vmem1[tid + 2];
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vmem2[tid] = val2 += vmem2[tid + 2];
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vmem1[tid] = val1 += vmem1[tid + 1];
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vmem2[tid] = val2 += vmem2[tid + 1];
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}
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}
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void reduce1(float val1, __local float* smem1, int tid)
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{
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smem1[tid] = val1;
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 128)
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{
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smem1[tid] = val1 += smem1[tid + 128];
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 64)
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{
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smem1[tid] = val1 += smem1[tid + 64];
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 32)
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{
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volatile __local float* vmem1 = smem1;
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vmem1[tid] = val1 += vmem1[tid + 32];
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vmem1[tid] = val1 += vmem1[tid + 16];
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vmem1[tid] = val1 += vmem1[tid + 8];
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vmem1[tid] = val1 += vmem1[tid + 4];
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vmem1[tid] = val1 += vmem1[tid + 2];
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vmem1[tid] = val1 += vmem1[tid + 1];
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}
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}
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#define SCALE (1.0f / (1 << 20))
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// Image read mode
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__constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_LINEAR;
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__kernel void lkSparse_C1_D5(image2d_t I, image2d_t J,
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__global const float2* prevPts, int prevPtsStep, __global float2* nextPts, int nextPtsStep, __global uchar* status/*, __global float* err*/, const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int cn, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr, char GET_MIN_EIGENVALS)
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{
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__local float smem1[256];
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__local float smem2[256];
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__local float smem3[256];
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int c_halfWin_x = (c_winSize_x - 1) / 2;
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int c_halfWin_y = (c_winSize_y - 1) / 2;
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const int tid = get_local_id(1) * get_local_size(0) + get_local_id(0);
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float2 prevPt = prevPts[get_group_id(0)];
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prevPt.x *= (1.0f / (1 << level));
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prevPt.y *= (1.0f / (1 << level));
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if (prevPt.x < 0 || prevPt.x >= cols || prevPt.y < 0 || prevPt.y >= rows)
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{
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if (level == 0 && tid == 0)
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{
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status[get_group_id(0)] = 0;
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//if (calcErr)
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// err[get_group_id(0)] = 0;
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}
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return;
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}
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prevPt.x -= c_halfWin_x;
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prevPt.y -= c_halfWin_y;
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// extract the patch from the first image, compute covariation matrix of derivatives
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float A11 = 0;
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float A12 = 0;
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float A22 = 0;
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float I_patch[21][21];
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float dIdx_patch[21][21];
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float dIdy_patch[21][21];
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for (int yBase = get_local_id(1), i = 0; yBase < c_winSize_y; yBase += get_local_size(1), ++i)
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{
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for (int xBase = get_local_id(0), j = 0; xBase < c_winSize_x; xBase += get_local_size(0), ++j)
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{
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float x = (prevPt.x + xBase + 0.5f);
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float y = (prevPt.y + yBase + 0.5f);
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I_patch[i][j] = read_imagef(I, sampler, (float2)(x, y)).x;
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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 -
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(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);
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|
||||
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 -
|
||||
(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);
|
||||
|
||||
dIdx_patch[i][j] = dIdx;
|
||||
dIdy_patch[i][j] = dIdy;
|
||||
|
||||
A11 += dIdx * dIdx;
|
||||
A12 += dIdx * dIdy;
|
||||
A22 += dIdy * dIdy;
|
||||
}
|
||||
}
|
||||
|
||||
reduce3(A11, A12, A22, smem1, smem2, smem3, tid);
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
A11 = smem1[0];
|
||||
A12 = smem2[0];
|
||||
A22 = smem3[0];
|
||||
|
||||
float D = A11 * A22 - A12 * A12;
|
||||
|
||||
//if (calcErr && GET_MIN_EIGENVALS && tid == 0)
|
||||
// err[get_group_id(0)] = minEig;
|
||||
|
||||
if (D < 1.192092896e-07f)
|
||||
{
|
||||
if (level == 0 && tid == 0)
|
||||
status[get_group_id(0)] = 0;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
D = 1.f / D;
|
||||
|
||||
A11 *= D;
|
||||
A12 *= D;
|
||||
A22 *= D;
|
||||
|
||||
float2 nextPt = nextPts[get_group_id(0)];
|
||||
nextPt.x *= 2.0f;
|
||||
nextPt.y *= 2.0f;
|
||||
|
||||
nextPt.x -= c_halfWin_x;
|
||||
nextPt.y -= c_halfWin_y;
|
||||
|
||||
for (int k = 0; k < c_iters; ++k)
|
||||
{
|
||||
if (nextPt.x < -c_halfWin_x || nextPt.x >= cols || nextPt.y < -c_halfWin_y || nextPt.y >= rows)
|
||||
{
|
||||
if (tid == 0 && level == 0)
|
||||
status[get_group_id(0)] = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
float b1 = 0;
|
||||
float b2 = 0;
|
||||
|
||||
for (int y = get_local_id(1), i = 0; y < c_winSize_y; y += get_local_size(1), ++i)
|
||||
{
|
||||
for (int x = get_local_id(0), j = 0; x < c_winSize_x; x += get_local_size(0), ++j)
|
||||
{
|
||||
float a = (nextPt.x + x + 0.5f);
|
||||
float b = (nextPt.y + y + 0.5f);
|
||||
|
||||
float I_val = I_patch[i][j];
|
||||
float J_val = read_imagef(J, sampler, (float2)(a, b)).x;
|
||||
|
||||
float diff = (J_val - I_val) * 32.0f;
|
||||
|
||||
b1 += diff * dIdx_patch[i][j];
|
||||
b2 += diff * dIdy_patch[i][j];
|
||||
}
|
||||
}
|
||||
|
||||
reduce2(b1, b2, smem1, smem2, tid);
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
b1 = smem1[0];
|
||||
b2 = smem2[0];
|
||||
|
||||
float2 delta;
|
||||
delta.x = A12 * b2 - A22 * b1;
|
||||
delta.y = A12 * b1 - A11 * b2;
|
||||
|
||||
nextPt.x += delta.x;
|
||||
nextPt.y += delta.y;
|
||||
|
||||
if (fabs(delta.x) < 0.01f && fabs(delta.y) < 0.01f)
|
||||
break;
|
||||
}
|
||||
|
||||
float errval = 0.0f;
|
||||
if (calcErr)
|
||||
{
|
||||
for (int y = get_local_id(1), i = 0; y < c_winSize_y; y += get_local_size(1), ++i)
|
||||
{
|
||||
for (int x = get_local_id(0), j = 0; x < c_winSize_x; x += get_local_size(0), ++j)
|
||||
{
|
||||
float a = (nextPt.x + x + 0.5f);
|
||||
float b = (nextPt.y + y + 0.5f);
|
||||
|
||||
float I_val = I_patch[i][j];
|
||||
float J_val = read_imagef(J, sampler, (float2)(a, b)).x;
|
||||
|
||||
float diff = J_val - I_val;
|
||||
|
||||
errval += fabs((float)diff);
|
||||
}
|
||||
}
|
||||
|
||||
reduce1(errval, smem1, tid);
|
||||
}
|
||||
|
||||
if (tid == 0)
|
||||
{
|
||||
nextPt.x += c_halfWin_x;
|
||||
nextPt.y += c_halfWin_y;
|
||||
|
||||
nextPts[get_group_id(0)] = nextPt;
|
||||
|
||||
//if (calcErr && !GET_MIN_EIGENVALS)
|
||||
// err[get_group_id(0)] = errval;
|
||||
}
|
||||
}
|
||||
__kernel void lkSparse_C4_D5(image2d_t I, image2d_t J,
|
||||
__global const float2* prevPts, int prevPtsStep, __global float2* nextPts, int nextPtsStep, __global uchar* status/*, __global float* err*/, const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int cn, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr, char GET_MIN_EIGENVALS)
|
||||
{
|
||||
__local float smem1[256];
|
||||
__local float smem2[256];
|
||||
__local float smem3[256];
|
||||
|
||||
int c_halfWin_x = (c_winSize_x - 1) / 2;
|
||||
int c_halfWin_y = (c_winSize_y - 1) / 2;
|
||||
|
||||
const int tid = get_local_id(1) * get_local_size(0) + get_local_id(0);
|
||||
|
||||
float2 prevPt = prevPts[get_group_id(0)];
|
||||
prevPt.x *= (1.0f / (1 << level));
|
||||
prevPt.y *= (1.0f / (1 << level));
|
||||
|
||||
if (prevPt.x < 0 || prevPt.x >= cols || prevPt.y < 0 || prevPt.y >= rows)
|
||||
{
|
||||
if (level == 0 && tid == 0)
|
||||
{
|
||||
status[get_group_id(0)] = 0;
|
||||
|
||||
//if (calcErr)
|
||||
// err[get_group_id(0)] = 0;
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
prevPt.x -= c_halfWin_x;
|
||||
prevPt.y -= c_halfWin_y;
|
||||
|
||||
// extract the patch from the first image, compute covariation matrix of derivatives
|
||||
|
||||
float A11 = 0;
|
||||
float A12 = 0;
|
||||
float A22 = 0;
|
||||
|
||||
float4 I_patch[21][21];
|
||||
float4 dIdx_patch[21][21];
|
||||
float4 dIdy_patch[21][21];
|
||||
|
||||
for (int yBase = get_local_id(1), i = 0; yBase < c_winSize_y; yBase += get_local_size(1), ++i)
|
||||
{
|
||||
for (int xBase = get_local_id(0), j = 0; xBase < c_winSize_x; xBase += get_local_size(0), ++j)
|
||||
{
|
||||
float x = (prevPt.x + xBase + 0.5f);
|
||||
float y = (prevPt.y + yBase + 0.5f);
|
||||
|
||||
I_patch[i][j] = read_imagef(I, sampler, (float2)(x, y)).x;
|
||||
|
||||
float4 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 -
|
||||
(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);
|
||||
|
||||
float4 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 -
|
||||
(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);
|
||||
|
||||
dIdx_patch[i][j] = dIdx;
|
||||
dIdy_patch[i][j] = dIdy;
|
||||
|
||||
A11 += (dIdx * dIdx).x + (dIdx * dIdx).y + (dIdx * dIdx).z;
|
||||
A12 += (dIdx * dIdy).x + (dIdx * dIdy).y + (dIdx * dIdy).z;
|
||||
A22 += (dIdy * dIdy).x + (dIdy * dIdy).y + (dIdy * dIdy).z;
|
||||
}
|
||||
}
|
||||
|
||||
reduce3(A11, A12, A22, smem1, smem2, smem3, tid);
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
A11 = smem1[0];
|
||||
A12 = smem2[0];
|
||||
A22 = smem3[0];
|
||||
|
||||
float D = A11 * A22 - A12 * A12;
|
||||
|
||||
//if (calcErr && GET_MIN_EIGENVALS && tid == 0)
|
||||
// err[get_group_id(0)] = minEig;
|
||||
|
||||
if (D < 1.192092896e-07f)
|
||||
{
|
||||
if (level == 0 && tid == 0)
|
||||
status[get_group_id(0)] = 0;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
D = 1.f / D;
|
||||
|
||||
A11 *= D;
|
||||
A12 *= D;
|
||||
A22 *= D;
|
||||
|
||||
float2 nextPt = nextPts[get_group_id(0)];
|
||||
nextPt.x *= 2.0f;
|
||||
nextPt.y *= 2.0f;
|
||||
|
||||
nextPt.x -= c_halfWin_x;
|
||||
nextPt.y -= c_halfWin_y;
|
||||
|
||||
for (int k = 0; k < c_iters; ++k)
|
||||
{
|
||||
if (nextPt.x < -c_halfWin_x || nextPt.x >= cols || nextPt.y < -c_halfWin_y || nextPt.y >= rows)
|
||||
{
|
||||
if (tid == 0 && level == 0)
|
||||
status[get_group_id(0)] = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
float b1 = 0;
|
||||
float b2 = 0;
|
||||
|
||||
for (int y = get_local_id(1), i = 0; y < c_winSize_y; y += get_local_size(1), ++i)
|
||||
{
|
||||
for (int x = get_local_id(0), j = 0; x < c_winSize_x; x += get_local_size(0), ++j)
|
||||
{
|
||||
float a = (nextPt.x + x + 0.5f);
|
||||
float b = (nextPt.y + y + 0.5f);
|
||||
|
||||
float4 I_val = I_patch[i][j];
|
||||
float4 J_val = read_imagef(J, sampler, (float2)(a, b)).x;
|
||||
|
||||
float4 diff = (J_val - I_val) * 32.0f;
|
||||
|
||||
b1 += (diff * dIdx_patch[i][j]).x + (diff * dIdx_patch[i][j]).y + (diff * dIdx_patch[i][j]).z;
|
||||
b2 += (diff * dIdy_patch[i][j]).x + (diff * dIdy_patch[i][j]).y + (diff * dIdy_patch[i][j]).z;
|
||||
}
|
||||
}
|
||||
|
||||
reduce2(b1, b2, smem1, smem2, tid);
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
b1 = smem1[0];
|
||||
b2 = smem2[0];
|
||||
|
||||
float2 delta;
|
||||
delta.x = A12 * b2 - A22 * b1;
|
||||
delta.y = A12 * b1 - A11 * b2;
|
||||
|
||||
nextPt.x += delta.x;
|
||||
nextPt.y += delta.y;
|
||||
|
||||
if (fabs(delta.x) < 0.01f && fabs(delta.y) < 0.01f)
|
||||
break;
|
||||
}
|
||||
|
||||
float errval = 0.0f;
|
||||
if (calcErr)
|
||||
{
|
||||
for (int y = get_local_id(1), i = 0; y < c_winSize_y; y += get_local_size(1), ++i)
|
||||
{
|
||||
for (int x = get_local_id(0), j = 0; x < c_winSize_x; x += get_local_size(0), ++j)
|
||||
{
|
||||
float a = (nextPt.x + x + 0.5f);
|
||||
float b = (nextPt.y + y + 0.5f);
|
||||
|
||||
float4 I_val = I_patch[i][j];
|
||||
float4 J_val = read_imagef(J, sampler, (float2)(a, b)).x;
|
||||
|
||||
float4 diff = J_val - I_val;
|
||||
|
||||
errval += fabs(diff.x) + fabs(diff.y) + fabs(diff.z);
|
||||
}
|
||||
}
|
||||
|
||||
reduce1(errval, smem1, tid);
|
||||
}
|
||||
|
||||
if (tid == 0)
|
||||
{
|
||||
nextPt.x += c_halfWin_x;
|
||||
nextPt.y += c_halfWin_y;
|
||||
|
||||
nextPts[get_group_id(0)] = nextPt;
|
||||
|
||||
//if (calcErr && !GET_MIN_EIGENVALS)
|
||||
// err[get_group_id(0)] = errval;
|
||||
}
|
||||
}
|
||||
|
||||
__kernel void lkDense_C1_D0(image2d_t I, image2d_t J, __global float* u, int uStep, __global float* v, int vStep, __global const float* prevU, int prevUStep, __global const float* prevV, int prevVStep,
|
||||
const int rows, const int cols, /*__global float* err, int errStep, int cn,*/ int c_winSize_x, int c_winSize_y, int c_iters, char calcErr)
|
||||
{
|
||||
int c_halfWin_x = (c_winSize_x - 1) / 2;
|
||||
int c_halfWin_y = (c_winSize_y - 1) / 2;
|
||||
|
||||
const int patchWidth = get_local_size(0) + 2 * c_halfWin_x;
|
||||
const int patchHeight = get_local_size(1) + 2 * c_halfWin_y;
|
||||
|
||||
__local int smem[8192];
|
||||
|
||||
__local int* I_patch = smem;
|
||||
__local int* dIdx_patch = I_patch + patchWidth * patchHeight;
|
||||
__local int* dIdy_patch = dIdx_patch + patchWidth * patchHeight;
|
||||
|
||||
const int xBase = get_group_id(0) * get_local_size(0);
|
||||
const int yBase = get_group_id(1) * get_local_size(1);
|
||||
|
||||
sampler_t sampleri = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_NEAREST;
|
||||
|
||||
for (int i = get_local_id(1); i < patchHeight; i += get_local_size(1))
|
||||
{
|
||||
for (int j = get_local_id(0); j < patchWidth; j += get_local_size(0))
|
||||
{
|
||||
float x = xBase - c_halfWin_x + j + 0.5f;
|
||||
float y = yBase - c_halfWin_y + i + 0.5f;
|
||||
|
||||
I_patch[i * patchWidth + j] = read_imagei(I, sampleri, (float2)(x, y)).x;
|
||||
|
||||
// Sharr Deriv
|
||||
|
||||
dIdx_patch[i * patchWidth + j] = 3 * read_imagei(I, sampleri, (float2)(x+1, y-1)).x + 10 * read_imagei(I, sampleri, (float2)(x+1, y)).x + 3 * read_imagei(I, sampleri, (float2)(x+1, y+1)).x -
|
||||
(3 * read_imagei(I, sampleri, (float2)(x-1, y-1)).x + 10 * read_imagei(I, sampleri, (float2)(x-1, y)).x + 3 * read_imagei(I, sampleri, (float2)(x-1, y+1)).x);
|
||||
|
||||
dIdy_patch[i * patchWidth + j] = 3 * read_imagei(I, sampleri, (float2)(x-1, y+1)).x + 10 * read_imagei(I, sampleri, (float2)(x, y+1)).x + 3 * read_imagei(I, sampleri, (float2)(x+1, y+1)).x -
|
||||
(3 * read_imagei(I, sampleri, (float2)(x-1, y-1)).x + 10 * read_imagei(I, sampleri, (float2)(x, y-1)).x + 3 * read_imagei(I, sampleri, (float2)(x+1, y-1)).x);
|
||||
}
|
||||
}
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
// extract the patch from the first image, compute covariation matrix of derivatives
|
||||
|
||||
const int x = get_global_id(0);
|
||||
const int y = get_global_id(1);
|
||||
|
||||
if (x >= cols || y >= rows)
|
||||
return;
|
||||
|
||||
int A11i = 0;
|
||||
int A12i = 0;
|
||||
int A22i = 0;
|
||||
|
||||
for (int i = 0; i < c_winSize_y; ++i)
|
||||
{
|
||||
for (int j = 0; j < c_winSize_x; ++j)
|
||||
{
|
||||
int dIdx = dIdx_patch[(get_local_id(1) + i) * patchWidth + (get_local_id(0) + j)];
|
||||
int dIdy = dIdy_patch[(get_local_id(1) + i) * patchWidth + (get_local_id(0) + j)];
|
||||
|
||||
A11i += dIdx * dIdx;
|
||||
A12i += dIdx * dIdy;
|
||||
A22i += dIdy * dIdy;
|
||||
}
|
||||
}
|
||||
|
||||
float A11 = A11i;
|
||||
float A12 = A12i;
|
||||
float A22 = A22i;
|
||||
|
||||
float D = A11 * A22 - A12 * A12;
|
||||
|
||||
//if (calcErr && GET_MIN_EIGENVALS)
|
||||
// (err + y * errStep)[x] = minEig;
|
||||
|
||||
if (D < 1.192092896e-07f)
|
||||
{
|
||||
//if (calcErr)
|
||||
// err(y, x) = 3.402823466e+38f;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
D = 1.f / D;
|
||||
|
||||
A11 *= D;
|
||||
A12 *= D;
|
||||
A22 *= D;
|
||||
|
||||
float2 nextPt;
|
||||
nextPt.x = x + prevU[y/2 * prevUStep / 4 + x/2] * 2.0f;
|
||||
nextPt.y = y + prevV[y/2 * prevVStep / 4 + x/2] * 2.0f;
|
||||
|
||||
for (int k = 0; k < c_iters; ++k)
|
||||
{
|
||||
if (nextPt.x < 0 || nextPt.x >= cols || nextPt.y < 0 || nextPt.y >= rows)
|
||||
{
|
||||
//if (calcErr)
|
||||
// err(y, x) = 3.402823466e+38f;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
int b1 = 0;
|
||||
int b2 = 0;
|
||||
|
||||
for (int i = 0; i < c_winSize_y; ++i)
|
||||
{
|
||||
for (int j = 0; j < c_winSize_x; ++j)
|
||||
{
|
||||
int iI = I_patch[(get_local_id(1) + i) * patchWidth + get_local_id(0) + j];
|
||||
int iJ = read_imagei(J, sampler, (float2)(nextPt.x - c_halfWin_x + j + 0.5f, nextPt.y - c_halfWin_y + i + 0.5f)).x;
|
||||
|
||||
int diff = (iJ - iI) * 32;
|
||||
|
||||
int dIdx = dIdx_patch[(get_local_id(1) + i) * patchWidth + (get_local_id(0) + j)];
|
||||
int dIdy = dIdy_patch[(get_local_id(1) + i) * patchWidth + (get_local_id(0) + j)];
|
||||
|
||||
b1 += diff * dIdx;
|
||||
b2 += diff * dIdy;
|
||||
}
|
||||
}
|
||||
|
||||
float2 delta;
|
||||
delta.x = A12 * b2 - A22 * b1;
|
||||
delta.y = A12 * b1 - A11 * b2;
|
||||
|
||||
nextPt.x += delta.x;
|
||||
nextPt.y += delta.y;
|
||||
|
||||
if (fabs(delta.x) < 0.01f && fabs(delta.y) < 0.01f)
|
||||
break;
|
||||
}
|
||||
|
||||
u[y * uStep / 4 + x] = nextPt.x - x;
|
||||
v[y * vStep / 4 + x] = nextPt.y - y;
|
||||
|
||||
if (calcErr)
|
||||
{
|
||||
int errval = 0;
|
||||
|
||||
for (int i = 0; i < c_winSize_y; ++i)
|
||||
{
|
||||
for (int j = 0; j < c_winSize_x; ++j)
|
||||
{
|
||||
int iI = I_patch[(get_local_id(1) + i) * patchWidth + get_local_id(0) + j];
|
||||
int iJ = read_imagei(J, sampler, (float2)(nextPt.x - c_halfWin_x + j + 0.5f, nextPt.y - c_halfWin_y + i + 0.5f)).x;
|
||||
|
||||
errval += abs(iJ - iI);
|
||||
}
|
||||
}
|
||||
|
||||
//err[y * errStep / 4 + x] = static_cast<float>(errval) / (c_winSize_x * c_winSize_y);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user