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https://github.com/opencv/opencv.git
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add shrinking kernel
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marina.kolpakova
parent
1cf7a46f3a
commit
08b4e780de
@ -41,25 +41,136 @@
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//M*/
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#include <icf.hpp>
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#include <opencv2/gpu/device/saturate_cast.hpp>
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namespace cv { namespace gpu {
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namespace device {
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enum {
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HOG_BINS = 6,
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HOG_LUV_BINS = 10,
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WIDTH = 640,
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HEIGHT = 480,
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GREY_OFFSET = HEIGHT * HOG_LUV_BINS
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};
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/* Returns the nearest upper power of two, works only for
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the typical GPU thread count (pert block) values */
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int power_2up(unsigned int n)
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{
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if (n < 1) return 1;
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else if (n < 2) return 2;
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else if (n < 4) return 4;
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else if (n < 8) return 8;
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else if (n < 16) return 16;
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else if (n < 32) return 32;
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else if (n < 64) return 64;
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else if (n < 128) return 128;
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else if (n < 256) return 256;
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else if (n < 512) return 512;
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else if (n < 1024) return 1024;
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return -1; // Input is too big
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}
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__device__ __forceinline__ uchar grey(const uchar3 rgb)
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{
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return saturate_cast<uchar>(rgb.x * 0.114f + rgb.y * 0.587f + rgb.z * 0.299f);
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}
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__device__ __forceinline__ void luv(const uchar3 rgb, uchar& l, uchar& u, uchar& v)
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{
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}
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__global__ void rgb2grayluv(const uchar3* __restrict__ rgb, uchar* __restrict__ hog,
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const int rgbPitch, const int hogPitch)
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{
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const int y = blockIdx.y * blockDim.y + threadIdx.y;
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const int x = blockIdx.x * blockDim.x + threadIdx.x;
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const uchar3 color = rgb[rgbPitch * y + x];
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uchar l, u, v;
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luv(color, l, u, v);
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hog[hogPitch * y + x] = l;
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hog[hogPitch * (y + HEIGHT) + x] = u;
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hog[hogPitch * (y + 2 * HEIGHT) + x] = v;
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hog[hogPitch * (y + 3 * HEIGHT) + x] = grey(color);
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}
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__global__ void gray2hog(const uchar* __restrict__ gray, uchar* __restrict__ hog,
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const int pitch)
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__device__ __forceinline__
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int qangle(const float &y, const float &x)
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{
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int bin = 0;
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// const float2 &bin_vector_zero = const_angle_bins_vectors[0];
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// float max_dot_product = fabs(x*bin_vector_zero.x + y*bin_vector_zero.y);
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// // let us hope this gets unrolled
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// #pragma unroll
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// for(int i=1; i < num_angles_bin; i+=1)
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// {
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// const float2 &bin_vector_i = const_angle_bins_vectors[i];
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// //const float2 bin_vector_i = const_angle_bins_vectors[i];
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// //const float2 &bin_vector_i = angle_bins_vectors[i];
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// const float dot_product = fabs(x*bin_vector_i.x + y*bin_vector_i.y);
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// if(dot_product > max_dot_product)
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// {
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// max_dot_product = dot_product;
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// index = i;
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// }
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// }
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return bin;
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}
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// texture<uchar, 2, cudaReadModeElementType> tgray;
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__global__ void gray2hog(const uchar* __restrict__ gray, uchar* __restrict__ hog, const int pitch, const float norm)
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{
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const int y = blockIdx.y * blockDim.y + threadIdx.y;
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const int x = blockIdx.x * blockDim.x + threadIdx.x;
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// derivative
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float dx = gray[y * pitch + x + 1];
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dx -= gray[y * pitch + x - 1];
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float dy = gray[(y + 1) * pitch + x];
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dy -= gray[(y -1) * pitch + x - 1];
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// mag and angle
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const uchar mag = saturate_cast<uchar>(sqrtf(dy * dy + dx * dx) * norm);
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const int bin = qangle(dx, dy);
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}
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template <int FACTOR>
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__device__ __forceinline__ uchar shrink(const uchar* ptr, const int pitch, const int y, const int x)
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{
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int out = 0;
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#pragma unroll
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for(int dy = 0; dy < FACTOR; ++dy)
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#pragma unroll
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for(int dx = 0; dx < FACTOR; ++dx)
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{
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out += ptr[dy * pitch + dx];
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}
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return saturate_cast<uchar>(out / FACTOR);
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}
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template<int FACTOR>
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__global__ void decimate(const uchar* __restrict__ hogluv, uchar* __restrict__ shrank,
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const int inPitch, const int outPitch )
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{
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const int y = blockIdx.y * blockDim.y + threadIdx.y;
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const int x = blockIdx.x * blockDim.x + threadIdx.x;
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const uchar* ptr = hogluv + (FACTOR * y) * inPitch + (FACTOR * x);
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shrank[ y * outPitch + x]= shrink<FACTOR>(ptr, inPitch, y, x);
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}
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__global__ void intRow(const uchar* __restrict__ hogluv, ushort* __restrict__ sum,
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@ -89,6 +200,11 @@ void __device icf::Cascade::detectAt() const
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void icf::Cascade::detect(const cv::gpu::PtrStepSzb& hogluv, cudaStream_t stream) const
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{
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// detection kernel
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dim3 block(32, 8, 1);
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dim3 grid(32 * ChannelStorage::FRAME_WIDTH / 32, ChannelStorage::FRAME_HEIGHT / 8, 64);
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device::detect<<<grid, block, 0, stream>>>(*this, hogluv, hogluv.step / sizeof(ushort));
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if (!stream)
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cudaSafeCall( cudaDeviceSynchronize() );
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}
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@ -99,12 +215,13 @@ void icf::ChannelStorage::frame(const cv::gpu::PtrStepSz<uchar3>& rgb, cudaStrea
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dim3 grid(FRAME_WIDTH / 32, FRAME_HEIGHT / 8);
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uchar * channels = (uchar*)dmem.ptr(FRAME_HEIGHT * HOG_BINS);
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device::rgb2grayluv<<<grid, block, 0, stream>>>((uchar3*)rgb.ptr(), channels, rgb.step, dmem.step);
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device::rgb2grayluv<<<grid, block, 0, stream>>>((uchar3*)rgb.ptr(), channels,
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rgb.step / sizeof(uchar3), dmem.step);
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cudaSafeCall( cudaGetLastError());
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// hog calculation kernel
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channels = (uchar*)dmem.ptr(FRAME_HEIGHT * HOG_LUV_BINS);
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device::gray2hog<<<grid, block, 0, stream>>>(channels, (uchar*)dmem.ptr(), dmem.step);
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device::gray2hog<<<grid, block, 0, stream>>>(channels, (uchar*)dmem.ptr(), dmem.step, magnitudeScaling);
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cudaSafeCall( cudaGetLastError() );
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const int shrWidth = FRAME_WIDTH / shrinkage;
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@ -112,19 +229,20 @@ void icf::ChannelStorage::frame(const cv::gpu::PtrStepSz<uchar3>& rgb, cudaStrea
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// decimate kernel
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grid = dim3(shrWidth / 32, shrHeight / 8);
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device::decimate<<<grid, block, 0, stream>>>((uchar*)dmem.ptr(), (uchar*)shrunk.ptr(), dmem.step, shrunk.step);
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device::decimate<4><<<grid, block, 0, stream>>>((uchar*)dmem.ptr(), (uchar*)shrunk.ptr(), dmem.step, shrunk.step);
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cudaSafeCall( cudaGetLastError() );
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// integrate rows
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block = dim3(shrWidth, 1);
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grid = dim3(shrHeight * HOG_LUV_BINS, 1);
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device::intRow<<<grid, block, 0, stream>>>((uchar*)shrunk.ptr(), (ushort*)hogluv.ptr(), shrunk.step, hogluv.step);
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device::intRow<<<grid, block, 0, stream>>>((uchar*)shrunk.ptr(), (ushort*)hogluv.ptr(),
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shrunk.step, hogluv.step / sizeof(ushort));
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cudaSafeCall( cudaGetLastError() );
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// integrate cols
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block = dim3(128, 1);
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grid = dim3(shrWidth * HOG_LUV_BINS, 1);
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device::intCol<<<grid, block, 0, stream>>>((ushort*)hogluv.ptr(), hogluv.step);
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device::intCol<<<grid, block, 0, stream>>>((ushort*)hogluv.ptr(), hogluv.step / hogluv.step / sizeof(ushort));
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cudaSafeCall( cudaGetLastError() );
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}
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@ -105,6 +105,7 @@ struct ChannelStorage
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};
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int shrinkage;
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static const float magnitudeScaling = 1.f ;// / sqrt(2);
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};
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struct __align__(16) Octave
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