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78e89890
编写于
9月 17, 2012
作者:
Y
yao
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
add PyrLK to ocl module
上级
0e9405e5
变更
6
展开全部
隐藏空白更改
内联
并排
Showing
6 changed file
with
1668 addition
and
0 deletion
+1668
-0
modules/ocl/include/opencv2/ocl/matrix_operations.hpp
modules/ocl/include/opencv2/ocl/matrix_operations.hpp
+12
-0
modules/ocl/include/opencv2/ocl/ocl.hpp
modules/ocl/include/opencv2/ocl/ocl.hpp
+60
-0
modules/ocl/src/kernels/pyrlk.cl
modules/ocl/src/kernels/pyrlk.cl
+831
-0
modules/ocl/src/matrix_operations.cpp
modules/ocl/src/matrix_operations.cpp
+1
-0
modules/ocl/src/pyrlk.cpp
modules/ocl/src/pyrlk.cpp
+597
-0
modules/ocl/test/test_pyrlk.cpp
modules/ocl/test/test_pyrlk.cpp
+167
-0
未找到文件。
modules/ocl/include/opencv2/ocl/matrix_operations.hpp
浏览文件 @
78e89890
...
@@ -460,6 +460,18 @@ namespace cv
...
@@ -460,6 +460,18 @@ namespace cv
a
.
swap
(
b
);
a
.
swap
(
b
);
}
}
inline
void
ensureSizeIsEnough
(
int
rows
,
int
cols
,
int
type
,
oclMat
&
m
)
{
if
(
m
.
type
()
==
type
&&
m
.
rows
>=
rows
&&
m
.
cols
>=
cols
)
m
=
m
(
Rect
(
0
,
0
,
cols
,
rows
));
else
m
.
create
(
rows
,
cols
,
type
);
}
inline
void
ensureSizeIsEnough
(
Size
size
,
int
type
,
oclMat
&
m
)
{
ensureSizeIsEnough
(
size
.
height
,
size
.
width
,
type
,
m
);
}
}
/* end of namespace ocl */
}
/* end of namespace ocl */
}
/* end of namespace cv */
}
/* end of namespace cv */
...
...
modules/ocl/include/opencv2/ocl/ocl.hpp
浏览文件 @
78e89890
...
@@ -1125,6 +1125,66 @@ namespace cv
...
@@ -1125,6 +1125,66 @@ namespace cv
explicit
BruteForceMatcher_OCL
(
Hamming
/*d*/
)
:
BruteForceMatcher_OCL_base
(
HammingDist
)
{}
explicit
BruteForceMatcher_OCL
(
Hamming
/*d*/
)
:
BruteForceMatcher_OCL_base
(
HammingDist
)
{}
};
};
/////////////////////////////// PyrLKOpticalFlow /////////////////////////////////////
class
CV_EXPORTS
PyrLKOpticalFlow
{
public:
PyrLKOpticalFlow
()
{
winSize
=
Size
(
21
,
21
);
maxLevel
=
3
;
iters
=
30
;
derivLambda
=
0.5
;
useInitialFlow
=
false
;
minEigThreshold
=
1e-4
f
;
getMinEigenVals
=
false
;
isDeviceArch11_
=
false
;
}
void
sparse
(
const
oclMat
&
prevImg
,
const
oclMat
&
nextImg
,
const
oclMat
&
prevPts
,
oclMat
&
nextPts
,
oclMat
&
status
,
oclMat
*
err
=
0
);
void
dense
(
const
oclMat
&
prevImg
,
const
oclMat
&
nextImg
,
oclMat
&
u
,
oclMat
&
v
,
oclMat
*
err
=
0
);
Size
winSize
;
int
maxLevel
;
int
iters
;
double
derivLambda
;
bool
useInitialFlow
;
float
minEigThreshold
;
bool
getMinEigenVals
;
void
releaseMemory
()
{
dx_calcBuf_
.
release
();
dy_calcBuf_
.
release
();
prevPyr_
.
clear
();
nextPyr_
.
clear
();
dx_buf_
.
release
();
dy_buf_
.
release
();
}
private:
void
calcSharrDeriv
(
const
oclMat
&
src
,
oclMat
&
dx
,
oclMat
&
dy
);
void
buildImagePyramid
(
const
oclMat
&
img0
,
vector
<
oclMat
>&
pyr
,
bool
withBorder
);
oclMat
dx_calcBuf_
;
oclMat
dy_calcBuf_
;
vector
<
oclMat
>
prevPyr_
;
vector
<
oclMat
>
nextPyr_
;
oclMat
dx_buf_
;
oclMat
dy_buf_
;
oclMat
uPyr_
[
2
];
oclMat
vPyr_
[
2
];
bool
isDeviceArch11_
;
};
}
}
}
}
...
...
modules/ocl/src/kernels/pyrlk.cl
0 → 100644
浏览文件 @
78e89890
此差异已折叠。
点击以展开。
modules/ocl/src/matrix_operations.cpp
浏览文件 @
78e89890
...
@@ -916,6 +916,7 @@ oclMat cv::ocl::oclMat::reshape(int new_cn, int new_rows) const
...
@@ -916,6 +916,7 @@ oclMat cv::ocl::oclMat::reshape(int new_cn, int new_rows) const
CV_Error
(
CV_BadNumChannels
,
"The total width is not divisible by the new number of channels"
);
CV_Error
(
CV_BadNumChannels
,
"The total width is not divisible by the new number of channels"
);
hdr
.
cols
=
new_width
;
hdr
.
cols
=
new_width
;
hdr
.
wholecols
=
new_width
;
hdr
.
flags
=
(
hdr
.
flags
&
~
CV_MAT_CN_MASK
)
|
((
new_cn
-
1
)
<<
CV_CN_SHIFT
);
hdr
.
flags
=
(
hdr
.
flags
&
~
CV_MAT_CN_MASK
)
|
((
new_cn
-
1
)
<<
CV_CN_SHIFT
);
return
hdr
;
return
hdr
;
...
...
modules/ocl/src/pyrlk.cpp
0 → 100644
浏览文件 @
78e89890
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other GpuMaterials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or bpied warranties, including, but not limited to, the bpied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
using
namespace
std
;
using
namespace
cv
;
using
namespace
cv
::
ocl
;
#if !defined (HAVE_OPENCL)
void
cv
::
ocl
::
PyrLKOpticalFlow
::
sparse
(
const
oclMat
&
,
const
oclMat
&
,
const
oclMat
&
,
oclMat
&
,
oclMat
&
,
oclMat
*
)
{
}
void
cv
::
ocl
::
PyrLKOpticalFlow
::
dense
(
const
oclMat
&
,
const
oclMat
&
,
oclMat
&
,
oclMat
&
,
oclMat
*
)
{
}
#else
/* !defined (HAVE_OPENCL) */
namespace
cv
{
namespace
ocl
{
///////////////////////////OpenCL kernel strings///////////////////////////
extern
const
char
*
pyrlk
;
}
}
struct
dim3
{
unsigned
int
x
,
y
,
z
;
};
struct
float2
{
float
x
,
y
;
};
struct
int2
{
int
x
,
y
;
};
void
calcSharrDeriv_run
(
const
oclMat
&
src
,
oclMat
&
dx_buf
,
oclMat
&
dy_buf
,
oclMat
&
dIdx
,
oclMat
&
dIdy
,
int
cn
)
{
Context
*
clCxt
=
src
.
clCxt
;
string
kernelName
=
"calcSharrDeriv_vertical"
;
size_t
localThreads
[
3
]
=
{
32
,
8
,
1
};
size_t
globalThreads
[
3
]
=
{
src
.
cols
,
src
.
rows
,
1
};
vector
<
pair
<
size_t
,
const
void
*>
>
args
;
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
src
.
data
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
src
.
step
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
src
.
rows
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
src
.
cols
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
cn
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
dx_buf
.
data
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
dx_buf
.
step
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
dy_buf
.
data
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
dy_buf
.
step
));
openCLExecuteKernel
(
clCxt
,
&
pyrlk
,
kernelName
,
globalThreads
,
localThreads
,
args
,
src
.
channels
(),
src
.
depth
());
kernelName
=
"calcSharrDeriv_horizontal"
;
vector
<
pair
<
size_t
,
const
void
*>
>
args2
;
args2
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
src
.
rows
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
src
.
cols
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
cn
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
dx_buf
.
data
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
dx_buf
.
step
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
dy_buf
.
data
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
dy_buf
.
step
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
dIdx
.
data
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
dIdx
.
step
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
dIdy
.
data
));
args2
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
dIdy
.
step
));
openCLExecuteKernel
(
clCxt
,
&
pyrlk
,
kernelName
,
globalThreads
,
localThreads
,
args2
,
src
.
channels
(),
src
.
depth
());
}
void
cv
::
ocl
::
PyrLKOpticalFlow
::
calcSharrDeriv
(
const
oclMat
&
src
,
oclMat
&
dIdx
,
oclMat
&
dIdy
)
{
CV_Assert
(
src
.
rows
>
1
&&
src
.
cols
>
1
);
CV_Assert
(
src
.
depth
()
==
CV_8U
);
const
int
cn
=
src
.
channels
();
ensureSizeIsEnough
(
src
.
size
(),
CV_MAKETYPE
(
CV_16S
,
cn
),
dx_calcBuf_
);
ensureSizeIsEnough
(
src
.
size
(),
CV_MAKETYPE
(
CV_16S
,
cn
),
dy_calcBuf_
);
calcSharrDeriv_run
(
src
,
dx_calcBuf_
,
dy_calcBuf_
,
dIdx
,
dIdy
,
cn
);
}
void
cv
::
ocl
::
PyrLKOpticalFlow
::
buildImagePyramid
(
const
oclMat
&
img0
,
vector
<
oclMat
>&
pyr
,
bool
withBorder
)
{
pyr
.
resize
(
maxLevel
+
1
);
Size
sz
=
img0
.
size
();
Mat
img0Temp
;
img0
.
download
(
img0Temp
);
Mat
pyrTemp
;
oclMat
o
;
for
(
int
level
=
0
;
level
<=
maxLevel
;
++
level
)
{
oclMat
temp
;
if
(
withBorder
)
{
temp
.
create
(
sz
.
height
+
winSize
.
height
*
2
,
sz
.
width
+
winSize
.
width
*
2
,
img0
.
type
());
}
else
{
ensureSizeIsEnough
(
sz
,
img0
.
type
(),
pyr
[
level
]);
}
if
(
level
==
0
)
pyr
[
level
]
=
img0Temp
;
else
pyrDown
(
pyr
[
level
-
1
],
pyr
[
level
]);
if
(
withBorder
)
copyMakeBorder
(
pyr
[
level
],
temp
,
winSize
.
height
,
winSize
.
height
,
winSize
.
width
,
winSize
.
width
,
BORDER_REFLECT_101
);
sz
=
Size
((
sz
.
width
+
1
)
/
2
,
(
sz
.
height
+
1
)
/
2
);
if
(
sz
.
width
<=
winSize
.
width
||
sz
.
height
<=
winSize
.
height
)
{
maxLevel
=
level
;
break
;
}
}
}
namespace
{
void
calcPatchSize
(
cv
::
Size
winSize
,
int
cn
,
dim3
&
block
,
dim3
&
patch
,
bool
isDeviceArch11
)
{
winSize
.
width
*=
cn
;
if
(
winSize
.
width
>
32
&&
winSize
.
width
>
2
*
winSize
.
height
)
{
block
.
x
=
isDeviceArch11
?
16
:
32
;
block
.
y
=
8
;
}
else
{
block
.
x
=
16
;
block
.
y
=
isDeviceArch11
?
8
:
16
;
}
patch
.
x
=
(
winSize
.
width
+
block
.
x
-
1
)
/
block
.
x
;
patch
.
y
=
(
winSize
.
height
+
block
.
y
-
1
)
/
block
.
y
;
block
.
z
=
patch
.
z
=
1
;
}
}
struct
MultiplyScalar
{
MultiplyScalar
(
double
val_
,
double
scale_
)
:
val
(
val_
),
scale
(
scale_
)
{}
double
operator
()(
double
a
)
const
{
return
(
scale
*
a
*
val
);
}
const
double
val
;
const
double
scale
;
};
void
callF
(
const
oclMat
&
src
,
oclMat
&
dst
,
MultiplyScalar
op
,
int
mask
)
{
Mat
srcTemp
;
Mat
dstTemp
;
src
.
download
(
srcTemp
);
dst
.
download
(
dstTemp
);
int
i
;
int
j
;
int
k
;
for
(
i
=
0
;
i
<
srcTemp
.
rows
;
i
++
)
{
for
(
j
=
0
;
j
<
srcTemp
.
cols
;
j
++
)
{
for
(
k
=
0
;
k
<
srcTemp
.
channels
();
k
++
)
{
((
float
*
)
dstTemp
.
data
)[
srcTemp
.
channels
()
*
(
i
*
srcTemp
.
rows
+
j
)
+
k
]
=
(
float
)
op
(((
float
*
)
srcTemp
.
data
)[
srcTemp
.
channels
()
*
(
i
*
srcTemp
.
rows
+
j
)
+
k
]);
}
}
}
dst
=
dstTemp
;
}
static
inline
bool
isAligned
(
const
unsigned
char
*
ptr
,
size_t
size
)
{
return
reinterpret_cast
<
size_t
>
(
ptr
)
%
size
==
0
;
}
static
inline
bool
isAligned
(
size_t
step
,
size_t
size
)
{
return
step
%
size
==
0
;
}
void
callT
(
const
oclMat
&
src
,
oclMat
&
dst
,
MultiplyScalar
op
,
int
mask
)
{
if
(
!
isAligned
(
src
.
data
,
4
*
sizeof
(
double
))
||
!
isAligned
(
src
.
step
,
4
*
sizeof
(
double
))
||
!
isAligned
(
dst
.
data
,
4
*
sizeof
(
double
))
||
!
isAligned
(
dst
.
step
,
4
*
sizeof
(
double
)))
{
callF
(
src
,
dst
,
op
,
mask
);
return
;
}
Mat
srcTemp
;
Mat
dstTemp
;
src
.
download
(
srcTemp
);
dst
.
download
(
dstTemp
);
int
x_shifted
;
int
i
;
int
j
;
for
(
i
=
0
;
i
<
srcTemp
.
rows
;
i
++
)
{
const
double
*
srcRow
=
(
const
double
*
)
srcTemp
.
data
+
i
*
srcTemp
.
rows
;
double
*
dstRow
=
(
double
*
)
dstTemp
.
data
+
i
*
dstTemp
.
rows
;;
for
(
j
=
0
;
j
<
srcTemp
.
cols
;
j
++
)
{
x_shifted
=
j
*
4
;
if
(
x_shifted
+
4
-
1
<
srcTemp
.
cols
)
{
dstRow
[
x_shifted
]
=
op
(
srcRow
[
x_shifted
]);
dstRow
[
x_shifted
+
1
]
=
op
(
srcRow
[
x_shifted
+
1
]);
dstRow
[
x_shifted
+
2
]
=
op
(
srcRow
[
x_shifted
+
2
]);
dstRow
[
x_shifted
+
3
]
=
op
(
srcRow
[
x_shifted
+
3
]);
}
else
{
for
(
int
real_x
=
x_shifted
;
real_x
<
srcTemp
.
cols
;
++
real_x
)
{
((
float
*
)
dstTemp
.
data
)[
i
*
srcTemp
.
rows
+
real_x
]
=
op
(((
float
*
)
srcTemp
.
data
)[
i
*
srcTemp
.
rows
+
real_x
]);
}
}
}
}
}
void
multiply
(
const
oclMat
&
src1
,
double
val
,
oclMat
&
dst
,
double
scale
=
1.0
f
);
void
multiply
(
const
oclMat
&
src1
,
double
val
,
oclMat
&
dst
,
double
scale
)
{
MultiplyScalar
op
(
val
,
scale
);
//if(src1.channels() == 1 && dst.channels() == 1)
//{
// callT(src1, dst, op, 0);
//}
//else
//{
callF
(
src1
,
dst
,
op
,
0
);
//}
}
cl_mem
bindTexture
(
const
oclMat
&
mat
,
int
depth
,
int
channels
)
{
cl_mem
texture
;
cl_image_format
format
;
int
err
;
if
(
depth
==
0
)
{
format
.
image_channel_data_type
=
CL_UNSIGNED_INT8
;
}
else
if
(
depth
==
5
)
{
format
.
image_channel_data_type
=
CL_FLOAT
;
}
if
(
channels
==
1
)
{
format
.
image_channel_order
=
CL_R
;
}
else
if
(
channels
==
3
)
{
format
.
image_channel_order
=
CL_RGB
;
}
else
if
(
channels
==
4
)
{
format
.
image_channel_order
=
CL_RGBA
;
}
#if CL_VERSION_1_2
cl_image_desc
desc
;
desc
.
image_type
=
CL_MEM_OBJECT_IMAGE2D
;
desc
.
image_width
=
mat
.
cols
;
desc
.
image_height
=
mat
.
rows
;
desc
.
image_depth
=
NULL
;
desc
.
image_array_size
=
1
;
desc
.
image_row_pitch
=
0
;
desc
.
image_slice_pitch
=
0
;
desc
.
buffer
=
NULL
;
desc
.
num_mip_levels
=
0
;
desc
.
num_samples
=
0
;
texture
=
clCreateImage
(
mat
.
clCxt
->
impl
->
clContext
,
CL_MEM_READ_WRITE
,
&
format
,
&
desc
,
NULL
,
&
err
);
#else
texture
=
clCreateImage2D
(
mat
.
clCxt
->
impl
->
clContext
,
CL_MEM_READ_WRITE
,
&
format
,
mat
.
cols
,
mat
.
rows
,
0
,
NULL
,
&
err
);
#endif
size_t
origin
[]
=
{
0
,
0
,
0
};
size_t
region
[]
=
{
mat
.
cols
,
mat
.
rows
,
1
};
clEnqueueCopyBufferToImage
(
mat
.
clCxt
->
impl
->
clCmdQueue
,
(
cl_mem
)
mat
.
data
,
texture
,
0
,
origin
,
region
,
0
,
NULL
,
0
);
openCLSafeCall
(
err
);
return
texture
;
}
void
lkSparse_run
(
oclMat
&
I
,
oclMat
&
J
,
const
oclMat
&
prevPts
,
oclMat
&
nextPts
,
oclMat
&
status
,
oclMat
*
err
,
bool
GET_MIN_EIGENVALS
,
int
ptcount
,
int
level
,
dim3
block
,
dim3
patch
,
Size
winSize
,
int
iters
)
{
Context
*
clCxt
=
I
.
clCxt
;
string
kernelName
=
"lkSparse"
;
size_t
localThreads
[
3
]
=
{
16
,
16
,
1
};
size_t
globalThreads
[
3
]
=
{
16
*
ptcount
,
16
,
1
};
int
cn
=
I
.
channels
();
bool
calcErr
;
if
(
err
)
{
calcErr
=
true
;
}
else
{
calcErr
=
false
;
}
calcErr
=
true
;
cl_mem
ITex
=
bindTexture
(
I
,
I
.
depth
(),
cn
);
cl_mem
JTex
=
bindTexture
(
J
,
J
.
depth
(),
cn
);
vector
<
pair
<
size_t
,
const
void
*>
>
args
;
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
ITex
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
JTex
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
prevPts
.
data
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
prevPts
.
step
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
nextPts
.
data
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
nextPts
.
step
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
status
.
data
));
//args.push_back( make_pair( sizeof(cl_mem), (void *)&(err->data) ));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
level
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
I
.
rows
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
I
.
cols
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
patch
.
x
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
patch
.
y
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
cn
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
winSize
.
width
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
winSize
.
height
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
iters
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_char
),
(
void
*
)
&
calcErr
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_char
),
(
void
*
)
&
GET_MIN_EIGENVALS
));
openCLExecuteKernel
(
clCxt
,
&
pyrlk
,
kernelName
,
globalThreads
,
localThreads
,
args
,
I
.
channels
(),
I
.
depth
());
}
void
cv
::
ocl
::
PyrLKOpticalFlow
::
sparse
(
const
oclMat
&
prevImg
,
const
oclMat
&
nextImg
,
const
oclMat
&
prevPts
,
oclMat
&
nextPts
,
oclMat
&
status
,
oclMat
*
err
)
{
if
(
prevPts
.
empty
())
{
nextPts
.
release
();
status
.
release
();
if
(
err
)
err
->
release
();
return
;
}
derivLambda
=
std
::
min
(
std
::
max
(
derivLambda
,
0.0
),
1.0
);
iters
=
std
::
min
(
std
::
max
(
iters
,
0
),
100
);
const
int
cn
=
prevImg
.
channels
();
dim3
block
,
patch
;
calcPatchSize
(
winSize
,
cn
,
block
,
patch
,
isDeviceArch11_
);
CV_Assert
(
derivLambda
>=
0
);
CV_Assert
(
maxLevel
>=
0
&&
winSize
.
width
>
2
&&
winSize
.
height
>
2
);
CV_Assert
(
prevImg
.
size
()
==
nextImg
.
size
()
&&
prevImg
.
type
()
==
nextImg
.
type
());
CV_Assert
(
patch
.
x
>
0
&&
patch
.
x
<
6
&&
patch
.
y
>
0
&&
patch
.
y
<
6
);
CV_Assert
(
prevPts
.
rows
==
1
&&
prevPts
.
type
()
==
CV_32FC2
);
if
(
useInitialFlow
)
CV_Assert
(
nextPts
.
size
()
==
prevPts
.
size
()
&&
nextPts
.
type
()
==
CV_32FC2
);
else
ensureSizeIsEnough
(
1
,
prevPts
.
cols
,
prevPts
.
type
(),
nextPts
);
oclMat
temp1
=
(
useInitialFlow
?
nextPts
:
prevPts
).
reshape
(
1
);
oclMat
temp2
=
nextPts
.
reshape
(
1
);
//oclMat scalar(temp1.rows, temp1.cols, temp1.type(), Scalar(1.0f / (1 << maxLevel) / 2.0f));
//ocl::multiply(temp1, scalar, temp2);
::
multiply
(
temp1
,
1.0
f
/
(
1
<<
maxLevel
)
/
2.0
f
,
temp2
);
ensureSizeIsEnough
(
1
,
prevPts
.
cols
,
CV_8UC1
,
status
);
status
.
setTo
(
Scalar
::
all
(
1
));
if
(
err
)
ensureSizeIsEnough
(
1
,
prevPts
.
cols
,
CV_32FC1
,
*
err
);
// build the image pyramids.
prevPyr_
.
resize
(
maxLevel
+
1
);
nextPyr_
.
resize
(
maxLevel
+
1
);
if
(
cn
==
1
||
cn
==
4
)
{
prevImg
.
convertTo
(
prevPyr_
[
0
],
CV_32F
);
nextImg
.
convertTo
(
nextPyr_
[
0
],
CV_32F
);
}
else
{
oclMat
buf_
;
cvtColor
(
prevImg
,
buf_
,
COLOR_BGR2BGRA
);
buf_
.
convertTo
(
prevPyr_
[
0
],
CV_32F
);
cvtColor
(
nextImg
,
buf_
,
COLOR_BGR2BGRA
);
buf_
.
convertTo
(
nextPyr_
[
0
],
CV_32F
);
}
for
(
int
level
=
1
;
level
<=
maxLevel
;
++
level
)
{
pyrDown
(
prevPyr_
[
level
-
1
],
prevPyr_
[
level
]);
pyrDown
(
nextPyr_
[
level
-
1
],
nextPyr_
[
level
]);
}
// dI/dx ~ Ix, dI/dy ~ Iy
for
(
int
level
=
maxLevel
;
level
>=
0
;
level
--
)
{
lkSparse_run
(
prevPyr_
[
level
],
nextPyr_
[
level
],
prevPts
,
nextPts
,
status
,
level
==
0
&&
err
?
err
:
0
,
getMinEigenVals
,
prevPts
.
cols
,
level
,
block
,
patch
,
winSize
,
iters
);
}
}
void
lkDense_run
(
oclMat
&
I
,
oclMat
&
J
,
oclMat
&
u
,
oclMat
&
v
,
oclMat
&
prevU
,
oclMat
&
prevV
,
oclMat
*
err
,
Size
winSize
,
int
iters
)
{
Context
*
clCxt
=
I
.
clCxt
;
string
kernelName
=
"lkDense"
;
size_t
localThreads
[
3
]
=
{
16
,
16
,
1
};
size_t
globalThreads
[
3
]
=
{
I
.
cols
,
I
.
rows
,
1
};
int
cn
=
I
.
channels
();
bool
calcErr
;
if
(
err
)
{
calcErr
=
true
;
}
else
{
calcErr
=
false
;
}
cl_mem
ITex
=
bindTexture
(
I
,
I
.
depth
(),
cn
);
cl_mem
JTex
=
bindTexture
(
J
,
J
.
depth
(),
cn
);
int2
halfWin
=
{(
winSize
.
width
-
1
)
/
2
,
(
winSize
.
height
-
1
)
/
2
};
const
int
patchWidth
=
16
+
2
*
halfWin
.
x
;
const
int
patchHeight
=
16
+
2
*
halfWin
.
y
;
size_t
smem_size
=
3
*
patchWidth
*
patchHeight
*
sizeof
(
int
);
vector
<
pair
<
size_t
,
const
void
*>
>
args
;
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
ITex
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
JTex
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
u
.
data
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
u
.
step
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
v
.
data
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
v
.
step
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
prevU
.
data
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
prevU
.
step
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_mem
),
(
void
*
)
&
prevV
.
data
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
prevV
.
step
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
I
.
rows
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
I
.
cols
));
//args.push_back( make_pair( sizeof(cl_mem), (void *)&(*err).data ));
//args.push_back( make_pair( sizeof(cl_int), (void *)&(*err).step ));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
winSize
.
width
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
winSize
.
height
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_int
),
(
void
*
)
&
iters
));
args
.
push_back
(
make_pair
(
sizeof
(
cl_char
),
(
void
*
)
&
calcErr
));
openCLExecuteKernel
(
clCxt
,
&
pyrlk
,
kernelName
,
globalThreads
,
localThreads
,
args
,
I
.
channels
(),
I
.
depth
());
}
void
cv
::
ocl
::
PyrLKOpticalFlow
::
dense
(
const
oclMat
&
prevImg
,
const
oclMat
&
nextImg
,
oclMat
&
u
,
oclMat
&
v
,
oclMat
*
err
)
{
CV_Assert
(
prevImg
.
type
()
==
CV_8UC1
);
CV_Assert
(
prevImg
.
size
()
==
nextImg
.
size
()
&&
prevImg
.
type
()
==
nextImg
.
type
());
CV_Assert
(
maxLevel
>=
0
);
CV_Assert
(
winSize
.
width
>
2
&&
winSize
.
height
>
2
);
if
(
err
)
err
->
create
(
prevImg
.
size
(),
CV_32FC1
);
prevPyr_
.
resize
(
maxLevel
+
1
);
nextPyr_
.
resize
(
maxLevel
+
1
);
prevPyr_
[
0
]
=
prevImg
;
nextImg
.
convertTo
(
nextPyr_
[
0
],
CV_32F
);
for
(
int
level
=
1
;
level
<=
maxLevel
;
++
level
)
{
pyrDown
(
prevPyr_
[
level
-
1
],
prevPyr_
[
level
]);
pyrDown
(
nextPyr_
[
level
-
1
],
nextPyr_
[
level
]);
}
ensureSizeIsEnough
(
prevImg
.
size
(),
CV_32FC1
,
uPyr_
[
0
]);
ensureSizeIsEnough
(
prevImg
.
size
(),
CV_32FC1
,
vPyr_
[
0
]);
ensureSizeIsEnough
(
prevImg
.
size
(),
CV_32FC1
,
uPyr_
[
1
]);
ensureSizeIsEnough
(
prevImg
.
size
(),
CV_32FC1
,
vPyr_
[
1
]);
uPyr_
[
1
].
setTo
(
Scalar
::
all
(
0
));
vPyr_
[
1
].
setTo
(
Scalar
::
all
(
0
));
Size
winSize2i
(
winSize
.
width
,
winSize
.
height
);
int
idx
=
0
;
for
(
int
level
=
maxLevel
;
level
>=
0
;
level
--
)
{
int
idx2
=
(
idx
+
1
)
&
1
;
lkDense_run
(
prevPyr_
[
level
],
nextPyr_
[
level
],
uPyr_
[
idx
],
vPyr_
[
idx
],
uPyr_
[
idx2
],
vPyr_
[
idx2
],
level
==
0
?
err
:
0
,
winSize2i
,
iters
);
if
(
level
>
0
)
idx
=
idx2
;
}
uPyr_
[
idx
].
copyTo
(
u
);
vPyr_
[
idx
].
copyTo
(
v
);
}
#endif
/* !defined (HAVE_CUDA) */
modules/ocl/test/test_pyrlk.cpp
0 → 100644
浏览文件 @
78e89890
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include <iomanip>
#ifdef HAVE_OPENCL
using
namespace
cv
;
using
namespace
cv
::
ocl
;
using
namespace
cvtest
;
using
namespace
testing
;
using
namespace
std
;
//#define DUMP
/////////////////////////////////////////////////////////////////////////////////////////////////
// BroxOpticalFlow
#define BROX_OPTICAL_FLOW_DUMP_FILE "opticalflow/brox_optical_flow.bin"
#define BROX_OPTICAL_FLOW_DUMP_FILE_CC20 "opticalflow/brox_optical_flow_cc20.bin"
/////////////////////////////////////////////////////////////////////////////////////////////////
// PyrLKOpticalFlow
//IMPLEMENT_PARAM_CLASS(UseGray, bool)
PARAM_TEST_CASE
(
Sparse
,
bool
,
bool
)
{
bool
useGray
;
bool
UseSmart
;
virtual
void
SetUp
()
{
UseSmart
=
GET_PARAM
(
0
);
useGray
=
GET_PARAM
(
0
);
}
};
TEST_P
(
Sparse
,
Mat
)
{
cv
::
Mat
frame0
=
readImage
(
"../../../samples/gpu/rubberwhale1.png"
,
useGray
?
cv
::
IMREAD_GRAYSCALE
:
cv
::
IMREAD_COLOR
);
ASSERT_FALSE
(
frame0
.
empty
());
cv
::
Mat
frame1
=
readImage
(
"../../../samples/gpu/rubberwhale2.png"
,
useGray
?
cv
::
IMREAD_GRAYSCALE
:
cv
::
IMREAD_COLOR
);
ASSERT_FALSE
(
frame1
.
empty
());
cv
::
Mat
gray_frame
;
if
(
useGray
)
gray_frame
=
frame0
;
else
cv
::
cvtColor
(
frame0
,
gray_frame
,
cv
::
COLOR_BGR2GRAY
);
std
::
vector
<
cv
::
Point2f
>
pts
;
cv
::
goodFeaturesToTrack
(
gray_frame
,
pts
,
1000
,
0.01
,
0.0
);
cv
::
ocl
::
oclMat
d_pts
;
cv
::
Mat
pts_mat
(
1
,
(
int
)
pts
.
size
(),
CV_32FC2
,
(
void
*
)
&
pts
[
0
]);
d_pts
.
upload
(
pts_mat
);
cv
::
ocl
::
PyrLKOpticalFlow
pyrLK
;
cv
::
ocl
::
oclMat
oclFrame0
;
cv
::
ocl
::
oclMat
oclFrame1
;
cv
::
ocl
::
oclMat
d_nextPts
;
cv
::
ocl
::
oclMat
d_status
;
cv
::
ocl
::
oclMat
d_err
;
oclFrame0
=
frame0
;
oclFrame1
=
frame1
;
pyrLK
.
sparse
(
oclFrame0
,
oclFrame1
,
d_pts
,
d_nextPts
,
d_status
,
&
d_err
);
std
::
vector
<
cv
::
Point2f
>
nextPts
(
d_nextPts
.
cols
);
cv
::
Mat
nextPts_mat
(
1
,
d_nextPts
.
cols
,
CV_32FC2
,
(
void
*
)
&
nextPts
[
0
]);
d_nextPts
.
download
(
nextPts_mat
);
std
::
vector
<
unsigned
char
>
status
(
d_status
.
cols
);
cv
::
Mat
status_mat
(
1
,
d_status
.
cols
,
CV_8UC1
,
(
void
*
)
&
status
[
0
]);
d_status
.
download
(
status_mat
);
std
::
vector
<
float
>
err
(
d_err
.
cols
);
cv
::
Mat
err_mat
(
1
,
d_err
.
cols
,
CV_32FC1
,
(
void
*
)
&
err
[
0
]);
d_err
.
download
(
err_mat
);
std
::
vector
<
cv
::
Point2f
>
nextPts_gold
;
std
::
vector
<
unsigned
char
>
status_gold
;
std
::
vector
<
float
>
err_gold
;
cv
::
calcOpticalFlowPyrLK
(
frame0
,
frame1
,
pts
,
nextPts_gold
,
status_gold
,
err_gold
);
ASSERT_EQ
(
nextPts_gold
.
size
(),
nextPts
.
size
());
ASSERT_EQ
(
status_gold
.
size
(),
status
.
size
());
size_t
mistmatch
=
0
;
for
(
size_t
i
=
0
;
i
<
nextPts
.
size
();
++
i
)
{
if
(
status
[
i
]
!=
status_gold
[
i
])
{
++
mistmatch
;
continue
;
}
if
(
status
[
i
])
{
cv
::
Point2i
a
=
nextPts
[
i
];
cv
::
Point2i
b
=
nextPts_gold
[
i
];
bool
eq
=
std
::
abs
(
a
.
x
-
b
.
x
)
<
1
&&
std
::
abs
(
a
.
y
-
b
.
y
)
<
1
;
//float errdiff = std::abs(err[i] - err_gold[i]);
float
errdiff
=
0.0
f
;
if
(
!
eq
||
errdiff
>
1e-1
)
++
mistmatch
;
}
}
double
bad_ratio
=
static_cast
<
double
>
(
mistmatch
)
/
(
nextPts
.
size
()
*
2
);
ASSERT_LE
(
bad_ratio
,
0.05
f
);
}
INSTANTIATE_TEST_CASE_P
(
Video
,
Sparse
,
Combine
(
Values
(
false
,
true
),
Values
(
false
)));
#endif // HAVE_OPENCL
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