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https://github.com/opencv/opencv.git
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Merge pull request #585 from bitwangyaoyao:2.4_SURF
This commit is contained in:
Andrey Kamaev
OpenCV Buildbot
commit
4811988caf
@ -78,7 +78,7 @@ uchar read_imgTex(IMAGE_INT8 img, sampler_t sam, float2 coord, int rows, int col
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// dynamically change the precision used for floating type
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#if defined (__ATI__) || defined (__NVIDIA__)
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#if defined DOUBLE_SUPPORT
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#define F double
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#else
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#define F float
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@ -299,7 +299,7 @@ __kernel
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__global const float * det,
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__global const float * trace,
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__global int4 * maxPosBuffer,
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volatile __global unsigned int* maxCounter,
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volatile __global int* maxCounter,
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int counter_offset,
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int det_step, // the step of det in bytes
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int trace_step, // the step of trace in bytes
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@ -408,7 +408,7 @@ __kernel
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if(condmax)
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{
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unsigned int ind = atomic_inc(maxCounter);
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int ind = atomic_inc(maxCounter);
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if (ind < c_max_candidates)
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{
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@ -427,7 +427,7 @@ __kernel
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__global float * det,
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__global float * trace,
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__global int4 * maxPosBuffer,
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volatile __global unsigned int* maxCounter,
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volatile __global int* maxCounter,
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int counter_offset,
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int det_step, // the step of det in bytes
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int trace_step, // the step of trace in bytes
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@ -525,7 +525,7 @@ __kernel
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if(condmax)
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{
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unsigned int ind = atomic_inc(maxCounter);
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int ind = atomic_inc(maxCounter);
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if (ind < c_max_candidates)
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{
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@ -585,7 +585,7 @@ __kernel
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__global const float * det,
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__global const int4 * maxPosBuffer,
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__global float * keypoints,
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volatile __global unsigned int * featureCounter,
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volatile __global int * featureCounter,
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int det_step,
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int keypoints_step,
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int c_img_rows,
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@ -684,7 +684,7 @@ __kernel
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if ((c_img_rows + 1) >= grad_wav_size && (c_img_cols + 1) >= grad_wav_size)
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{
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// Get a new feature index.
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unsigned int ind = atomic_inc(featureCounter);
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int ind = atomic_inc(featureCounter);
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if (ind < c_max_features)
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{
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@ -737,19 +737,19 @@ __constant float c_aptW[ORI_SAMPLES] = {0.001455130288377404f, 0.001707611023448
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__constant float c_NX[2][5] = {{0, 0, 2, 4, -1}, {2, 0, 4, 4, 1}};
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__constant float c_NY[2][5] = {{0, 0, 4, 2, 1}, {0, 2, 4, 4, -1}};
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void reduce_32_sum(volatile __local float * data, float partial_reduction, int tid)
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void reduce_32_sum(volatile __local float * data, volatile float* partial_reduction, int tid)
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{
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#define op(A, B) (A)+(B)
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data[tid] = partial_reduction;
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#define op(A, B) (*A)+(B)
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data[tid] = *partial_reduction;
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 16)
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{
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data[tid] = partial_reduction = op(partial_reduction, data[tid + 16]);
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data[tid] = partial_reduction = op(partial_reduction, data[tid + 8 ]);
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data[tid] = partial_reduction = op(partial_reduction, data[tid + 4 ]);
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data[tid] = partial_reduction = op(partial_reduction, data[tid + 2 ]);
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data[tid] = partial_reduction = op(partial_reduction, data[tid + 1 ]);
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data[tid] = *partial_reduction = op(partial_reduction, data[tid + 16]);
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data[tid] = *partial_reduction = op(partial_reduction, data[tid + 8 ]);
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data[tid] = *partial_reduction = op(partial_reduction, data[tid + 4 ]);
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data[tid] = *partial_reduction = op(partial_reduction, data[tid + 2 ]);
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data[tid] = *partial_reduction = op(partial_reduction, data[tid + 1 ]);
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}
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#undef op
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}
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@ -831,7 +831,7 @@ __kernel
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{
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const int dir = (i * 4 + get_local_id(1)) * ORI_SEARCH_INC;
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float sumx = 0.0f, sumy = 0.0f;
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volatile float sumx = 0.0f, sumy = 0.0f;
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int d = abs(convert_int_rte(s_angle[get_local_id(0)]) - dir);
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if (d < ORI_WIN / 2 || d > 360 - ORI_WIN / 2)
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{
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@ -856,8 +856,8 @@ __kernel
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sumx += s_X[get_local_id(0) + 96];
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sumy += s_Y[get_local_id(0) + 96];
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}
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reduce_32_sum(s_sumx + get_local_id(1) * 32, sumx, get_local_id(0));
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reduce_32_sum(s_sumy + get_local_id(1) * 32, sumy, get_local_id(0));
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reduce_32_sum(s_sumx + get_local_id(1) * 32, &sumx, get_local_id(0));
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reduce_32_sum(s_sumy + get_local_id(1) * 32, &sumy, get_local_id(0));
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const float temp_mod = sumx * sumx + sumy * sumy;
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if (temp_mod > best_mod)
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@ -892,14 +892,32 @@ __kernel
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kp_dir += 2.0f * CV_PI_F;
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kp_dir *= 180.0f / CV_PI_F;
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kp_dir = 360.0f - kp_dir;
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if (fabs(kp_dir - 360.f) < FLT_EPSILON)
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kp_dir = 0.f;
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//kp_dir = 360.0f - kp_dir;
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//if (fabs(kp_dir - 360.f) < FLT_EPSILON)
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// kp_dir = 0.f;
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featureDir[get_group_id(0)] = kp_dir;
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}
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}
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__kernel
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void icvSetUpright(
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__global float * keypoints,
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int keypoints_step,
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int nFeatures
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)
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{
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keypoints_step /= sizeof(*keypoints);
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__global float* featureDir = keypoints + ANGLE_ROW * keypoints_step;
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if(get_global_id(0) <= nFeatures)
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{
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featureDir[get_global_id(0)] = 90.0f;
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}
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}
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#undef ORI_SEARCH_INC
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#undef ORI_WIN
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#undef ORI_SAMPLES
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@ -993,10 +1011,7 @@ void calc_dx_dy(
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const float centerX = featureX[get_group_id(0)];
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const float centerY = featureY[get_group_id(0)];
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const float size = featureSize[get_group_id(0)];
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float descriptor_dir = 360.0f - featureDir[get_group_id(0)];
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if (fabs(descriptor_dir - 360.f) < FLT_EPSILON)
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descriptor_dir = 0.f;
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descriptor_dir *= (float)(CV_PI_F / 180.0f);
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float descriptor_dir = featureDir[get_group_id(0)] * (float)(CV_PI_F / 180.0f);
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/* The sampling intervals and wavelet sized for selecting an orientation
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and building the keypoint descriptor are defined relative to 's' */
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@ -1125,11 +1140,15 @@ __kernel
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{
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sdxabs[tid] = fabs(sdx[tid]); // |dx| array
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sdyabs[tid] = fabs(sdy[tid]); // |dy| array
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//barrier(CLK_LOCAL_MEM_FENCE);
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 25)
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{
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reduce_sum25(sdx, sdy, sdxabs, sdyabs, tid);
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//barrier(CLK_LOCAL_MEM_FENCE);
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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if (tid < 25)
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{
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volatile __global float* descriptors_block = descriptors + descriptors_step * get_group_id(0) + (get_group_id(1) << 2);
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// write dx, dy, |dx|, |dy|
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@ -57,6 +57,21 @@ namespace cv
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{
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///////////////////////////OpenCL kernel strings///////////////////////////
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extern const char *nonfree_surf;
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const char* noImage2dOption = "-D DISABLE_IMAGE2D";
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static void openCLExecuteKernelSURF(Context *clCxt , const char **source, string kernelName, size_t globalThreads[3],
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size_t localThreads[3], vector< pair<size_t, const void *> > &args, int channels, int depth)
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{
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if(support_image2d())
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{
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openCLExecuteKernel(clCxt, source, kernelName, globalThreads, localThreads, args, channels, depth);
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}
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else
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{
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openCLExecuteKernel(clCxt, source, kernelName, globalThreads, localThreads, args, channels, depth, noImage2dOption);
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}
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}
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}
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}
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@ -80,10 +95,6 @@ static inline int calcSize(int octave, int layer)
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return (HAAR_SIZE0 + HAAR_SIZE_INC * layer) << octave;
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}
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namespace
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{
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const char* noImage2dOption = "-D DISABLE_IMAGE2D";
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}
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class SURF_OCL_Invoker
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{
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@ -100,15 +111,16 @@ public:
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void icvFindMaximaInLayer_gpu(const oclMat &det, const oclMat &trace, oclMat &maxPosBuffer, oclMat &maxCounter, int counterOffset,
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int octave, bool use_mask, int nLayers, int layer_rows, int layer_cols);
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void icvInterpolateKeypoint_gpu(const oclMat &det, const oclMat &maxPosBuffer, unsigned int maxCounter,
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void icvInterpolateKeypoint_gpu(const oclMat &det, const oclMat &maxPosBuffer, int maxCounter,
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oclMat &keypoints, oclMat &counters, int octave, int layer_rows, int maxFeatures);
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void icvCalcOrientation_gpu(const oclMat &keypoints, int nFeatures);
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void icvSetUpright_gpu(const oclMat &keypoints, int nFeatures);
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void compute_descriptors_gpu(const oclMat &descriptors, const oclMat &keypoints, int nFeatures);
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// end of kernel callers declarations
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SURF_OCL_Invoker(SURF_OCL &surf, const oclMat &img, const oclMat &mask) :
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surf_(surf),
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img_cols(img.cols), img_rows(img.rows),
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@ -182,8 +194,8 @@ public:
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icvFindMaximaInLayer_gpu(surf_.det, surf_.trace, surf_.maxPosBuffer, counters, 1 + octave,
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octave, use_mask, surf_.nOctaveLayers, layer_rows, layer_cols);
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unsigned int maxCounter = Mat(counters).at<unsigned int>(1 + octave);
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maxCounter = std::min(maxCounter, static_cast<unsigned int>(maxCandidates));
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int maxCounter = ((Mat)counters).at<int>(1 + octave);
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maxCounter = std::min(maxCounter, static_cast<int>(maxCandidates));
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if (maxCounter > 0)
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{
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@ -191,16 +203,30 @@ public:
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keypoints, counters, octave, layer_rows, maxFeatures);
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}
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}
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unsigned int featureCounter = Mat(counters).at<unsigned int>(0);
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featureCounter = std::min(featureCounter, static_cast<unsigned int>(maxFeatures));
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int featureCounter = Mat(counters).at<int>(0);
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featureCounter = std::min(featureCounter, static_cast<int>(maxFeatures));
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keypoints.cols = featureCounter;
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if (surf_.upright)
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keypoints.row(SURF_OCL::ANGLE_ROW).setTo(Scalar::all(90.0));
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{
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//keypoints.row(SURF_OCL::ANGLE_ROW).setTo(Scalar::all(90.0));
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setUpright(keypoints);
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}
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else
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{
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findOrientation(keypoints);
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}
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}
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void setUpright(oclMat &keypoints)
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{
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const int nFeatures = keypoints.cols;
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if(nFeatures > 0)
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{
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icvSetUpright_gpu(keypoints, keypoints.cols);
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}
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}
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void findOrientation(oclMat &keypoints)
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{
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@ -484,14 +510,7 @@ void SURF_OCL_Invoker::icvCalcLayerDetAndTrace_gpu(oclMat &det, oclMat &trace, i
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divUp(max_samples_i, localThreads[1]) *localThreads[1] *(nOctaveLayers + 2),
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1
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};
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if(support_image2d())
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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else
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1, noImage2dOption);
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}
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openCLExecuteKernelSURF(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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void SURF_OCL_Invoker::icvFindMaximaInLayer_gpu(const oclMat &det, const oclMat &trace, oclMat &maxPosBuffer, oclMat &maxCounter, int counterOffset,
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@ -537,17 +556,10 @@ void SURF_OCL_Invoker::icvFindMaximaInLayer_gpu(const oclMat &det, const oclMat
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1
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};
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if(support_image2d())
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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else
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1, noImage2dOption);
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}
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openCLExecuteKernelSURF(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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void SURF_OCL_Invoker::icvInterpolateKeypoint_gpu(const oclMat &det, const oclMat &maxPosBuffer, unsigned int maxCounter,
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void SURF_OCL_Invoker::icvInterpolateKeypoint_gpu(const oclMat &det, const oclMat &maxPosBuffer, int maxCounter,
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oclMat &keypoints, oclMat &counters, int octave, int layer_rows, int maxFeatures)
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{
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Context *clCxt = det.clCxt;
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@ -569,14 +581,7 @@ void SURF_OCL_Invoker::icvInterpolateKeypoint_gpu(const oclMat &det, const oclMa
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size_t localThreads[3] = {3, 3, 3};
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size_t globalThreads[3] = {maxCounter *localThreads[0], localThreads[1], 1};
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if(support_image2d())
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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else
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1, noImage2dOption);
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}
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openCLExecuteKernelSURF(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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void SURF_OCL_Invoker::icvCalcOrientation_gpu(const oclMat &keypoints, int nFeatures)
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@ -603,16 +608,27 @@ void SURF_OCL_Invoker::icvCalcOrientation_gpu(const oclMat &keypoints, int nFeat
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size_t localThreads[3] = {32, 4, 1};
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size_t globalThreads[3] = {nFeatures *localThreads[0], localThreads[1], 1};
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if(support_image2d())
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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else
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1, noImage2dOption);
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}
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openCLExecuteKernelSURF(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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void SURF_OCL_Invoker::icvSetUpright_gpu(const oclMat &keypoints, int nFeatures)
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{
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Context *clCxt = counters.clCxt;
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string kernelName = "icvSetUpright";
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vector< pair<size_t, const void *> > args;
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args.push_back( make_pair( sizeof(cl_mem), (void *)&keypoints.data));
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args.push_back( make_pair( sizeof(cl_int), (void *)&keypoints.step));
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args.push_back( make_pair( sizeof(cl_int), (void *)&nFeatures));
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size_t localThreads[3] = {256, 1, 1};
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size_t globalThreads[3] = {nFeatures, 1, 1};
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openCLExecuteKernelSURF(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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void SURF_OCL_Invoker::compute_descriptors_gpu(const oclMat &descriptors, const oclMat &keypoints, int nFeatures)
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{
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// compute unnormalized descriptors, then normalize them - odd indexing since grid must be 2D
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@ -648,14 +664,8 @@ void SURF_OCL_Invoker::compute_descriptors_gpu(const oclMat &descriptors, const
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args.push_back( make_pair( sizeof(cl_int), (void *)&_img.rows));
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args.push_back( make_pair( sizeof(cl_int), (void *)&_img.cols));
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args.push_back( make_pair( sizeof(cl_int), (void *)&_img.step));
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if(support_image2d())
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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else
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1, noImage2dOption);
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}
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openCLExecuteKernelSURF(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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kernelName = "normalize_descriptors64";
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@ -668,14 +678,8 @@ void SURF_OCL_Invoker::compute_descriptors_gpu(const oclMat &descriptors, const
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args.clear();
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args.push_back( make_pair( sizeof(cl_mem), (void *)&descriptors.data));
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args.push_back( make_pair( sizeof(cl_int), (void *)&descriptors.step));
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if(support_image2d())
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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else
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{
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openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1, noImage2dOption);
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}
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openCLExecuteKernelSURF(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -703,14 +707,8 @@ void SURF_OCL_Invoker::compute_descriptors_gpu(const oclMat &descriptors, const
|
||||
args.push_back( make_pair( sizeof(cl_int), (void *)&_img.rows));
|
||||
args.push_back( make_pair( sizeof(cl_int), (void *)&_img.cols));
|
||||
args.push_back( make_pair( sizeof(cl_int), (void *)&_img.step));
|
||||
if(support_image2d())
|
||||
{
|
||||
openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
|
||||
}
|
||||
else
|
||||
{
|
||||
openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1, noImage2dOption);
|
||||
}
|
||||
|
||||
openCLExecuteKernelSURF(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
|
||||
|
||||
kernelName = "normalize_descriptors128";
|
||||
|
||||
@ -723,14 +721,8 @@ void SURF_OCL_Invoker::compute_descriptors_gpu(const oclMat &descriptors, const
|
||||
args.clear();
|
||||
args.push_back( make_pair( sizeof(cl_mem), (void *)&descriptors.data));
|
||||
args.push_back( make_pair( sizeof(cl_int), (void *)&descriptors.step));
|
||||
if(support_image2d())
|
||||
{
|
||||
openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
|
||||
}
|
||||
else
|
||||
{
|
||||
openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1, noImage2dOption);
|
||||
}
|
||||
|
||||
openCLExecuteKernelSURF(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user