mirror of
https://github.com/opencv/opencv.git
synced 2024-11-29 05:29:54 +08:00
Merge pull request #4195 from wangyan42164:ocl_pyrlk
This commit is contained in:
Alexander Alekhin
commit
b6d88f21af
@ -228,27 +228,24 @@ __constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAM
|
||||
|
||||
// macro to get pixel value from local memory
|
||||
|
||||
#define VAL(_y,_x,_yy,_xx) (IPatchLocal[(yid+((_y)*LSy)+1+(_yy))*LM_W+(xid+((_x)*LSx)+1+(_xx))])
|
||||
#define VAL(_y,_x,_yy,_xx) (IPatchLocal[mad24(((_y) + (_yy)), LM_W, ((_x) + (_xx)))])
|
||||
inline void SetPatch(local float* IPatchLocal, int TileY, int TileX,
|
||||
float* Pch, float* Dx, float* Dy,
|
||||
float* A11, float* A12, float* A22, float w)
|
||||
{
|
||||
unsigned int xid=get_local_id(0);
|
||||
unsigned int yid=get_local_id(1);
|
||||
*Pch = VAL(TileY,TileX,0,0);
|
||||
int xid=get_local_id(0);
|
||||
int yid=get_local_id(1);
|
||||
int xBase = mad24(TileX, LSx, (xid + 1));
|
||||
int yBase = mad24(TileY, LSy, (yid + 1));
|
||||
|
||||
float dIdx = (3.0f*VAL(TileY,TileX,-1,1)+10.0f*VAL(TileY,TileX,0,1)+3.0f*VAL(TileY,TileX,+1,1))-(3.0f*VAL(TileY,TileX,-1,-1)+10.0f*VAL(TileY,TileX,0,-1)+3.0f*VAL(TileY,TileX,+1,-1));
|
||||
float dIdy = (3.0f*VAL(TileY,TileX,1,-1)+10.0f*VAL(TileY,TileX,1,0)+3.0f*VAL(TileY,TileX,1,+1))-(3.0f*VAL(TileY,TileX,-1,-1)+10.0f*VAL(TileY,TileX,-1,0)+3.0f*VAL(TileY,TileX,-1,+1));
|
||||
*Pch = VAL(yBase,xBase,0,0);
|
||||
|
||||
dIdx *= w;
|
||||
dIdy *= w;
|
||||
*Dx = mad((VAL(yBase,xBase,-1,1) + VAL(yBase,xBase,+1,1) - VAL(yBase,xBase,-1,-1) - VAL(yBase,xBase,+1,-1)), 3.0f, (VAL(yBase,xBase,0,1) - VAL(yBase,xBase,0,-1)) * 10.0f) * w;
|
||||
*Dy = mad((VAL(yBase,xBase,1,-1) + VAL(yBase,xBase,1,+1) - VAL(yBase,xBase,-1,-1) - VAL(yBase,xBase,-1,+1)), 3.0f, (VAL(yBase,xBase,1,0) - VAL(yBase,xBase,-1,0)) * 10.0f) * w;
|
||||
|
||||
*Dx = dIdx;
|
||||
*Dy = dIdy;
|
||||
|
||||
*A11 += dIdx * dIdx;
|
||||
*A12 += dIdx * dIdy;
|
||||
*A22 += dIdy * dIdy;
|
||||
*A11 = mad(*Dx, *Dx, *A11);
|
||||
*A12 = mad(*Dx, *Dy, *A12);
|
||||
*A22 = mad(*Dy, *Dy, *A22);
|
||||
}
|
||||
#undef VAL
|
||||
|
||||
@ -258,8 +255,8 @@ inline void GetPatch(image2d_t J, float x, float y,
|
||||
{
|
||||
float J_val = read_imagef(J, sampler, (float2)(x, y)).x;
|
||||
float diff = (J_val - *Pch) * 32.0f;
|
||||
*b1 += diff**Dx;
|
||||
*b2 += diff**Dy;
|
||||
*b1 = mad(diff, *Dx, *b1);
|
||||
*b2 = mad(diff, *Dy, *b2);
|
||||
}
|
||||
|
||||
inline void GetError(image2d_t J, const float x, const float y, const float* Pch, float* errval)
|
||||
@ -270,11 +267,11 @@ inline void GetError(image2d_t J, const float x, const float y, const float* Pch
|
||||
|
||||
|
||||
//macro to read pixel value into local memory.
|
||||
#define READI(_y,_x) IPatchLocal[(yid+((_y)*LSy))*LM_W+(xid+((_x)*LSx))] = read_imagef(I, sampler, (float2)(Point.x + xid+(_x)*LSx + 0.5f-1, Point.y + yid+(_y)*LSy+ 0.5f-1)).x;
|
||||
#define READI(_y,_x) IPatchLocal[mad24(mad24((_y), LSy, yid), LM_W, mad24((_x), LSx, xid))] = read_imagef(I, sampler, (float2)(mad((_x), LSx, Point.x + xid - 0.5f), mad((_y), LSy, Point.y + yid - 0.5f))).x;
|
||||
void ReadPatchIToLocalMem(image2d_t I, float2 Point, local float* IPatchLocal)
|
||||
{
|
||||
unsigned int xid=get_local_id(0);
|
||||
unsigned int yid=get_local_id(1);
|
||||
int xid=get_local_id(0);
|
||||
int yid=get_local_id(1);
|
||||
//read (3*LSx)*(3*LSy) window. each macro call read LSx*LSy pixels block
|
||||
READI(0,0);READI(0,1);READI(0,2);
|
||||
READI(1,0);READI(1,1);READI(1,2);
|
||||
@ -308,14 +305,16 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
|
||||
__local float smem2[BUFFER];
|
||||
__local float smem3[BUFFER];
|
||||
|
||||
unsigned int xid=get_local_id(0);
|
||||
unsigned int yid=get_local_id(1);
|
||||
unsigned int gid=get_group_id(0);
|
||||
unsigned int xsize=get_local_size(0);
|
||||
unsigned int ysize=get_local_size(1);
|
||||
int xBase, yBase, k;
|
||||
float wx = ((xid+2*xsize)<c_winSize_x)?1:0;
|
||||
float wy = ((yid+2*ysize)<c_winSize_y)?1:0;
|
||||
int xid=get_local_id(0);
|
||||
int yid=get_local_id(1);
|
||||
int gid=get_group_id(0);
|
||||
int xsize=get_local_size(0);
|
||||
int ysize=get_local_size(1);
|
||||
int k;
|
||||
int xBase = mad24(xsize, 2, xid);
|
||||
int yBase = mad24(ysize, 2, yid);
|
||||
float wx = (xBase < c_winSize_x) ? 1 : 0;
|
||||
float wy = (yBase < c_winSize_y) ? 1 : 0;
|
||||
|
||||
float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1);
|
||||
|
||||
@ -399,7 +398,7 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
|
||||
A22 = smem3[0];
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
float D = A11 * A22 - A12 * A12;
|
||||
float D = mad(A11, A22, - A12 * A12);
|
||||
|
||||
if (D < 1.192092896e-07f)
|
||||
{
|
||||
@ -413,7 +412,13 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
|
||||
A12 /= D;
|
||||
A22 /= D;
|
||||
|
||||
prevPt = nextPts[gid] * 2.0f - c_halfWin;
|
||||
prevPt = mad(nextPts[gid], 2.0f, - c_halfWin);
|
||||
|
||||
float2 offset0 = (float2)(xid + 0.5f, yid + 0.5f);
|
||||
float2 offset1 = (float2)(xsize, ysize);
|
||||
float2 loc0 = prevPt + offset0;
|
||||
float2 loc1 = loc0 + offset1;
|
||||
float2 loc2 = loc1 + offset1;
|
||||
|
||||
for (k = 0; k < c_iters; ++k)
|
||||
{
|
||||
@ -426,57 +431,45 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
|
||||
float b1 = 0;
|
||||
float b2 = 0;
|
||||
|
||||
yBase=yid;
|
||||
{
|
||||
xBase=xid;
|
||||
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
GetPatch(J, loc0.x, loc0.y,
|
||||
&I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0],
|
||||
&b1, &b2);
|
||||
|
||||
|
||||
xBase+=xsize;
|
||||
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
GetPatch(J, loc1.x, loc0.y,
|
||||
&I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1],
|
||||
&b1, &b2);
|
||||
|
||||
xBase+=xsize;
|
||||
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
GetPatch(J, loc2.x, loc0.y,
|
||||
&I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
|
||||
&b1, &b2);
|
||||
}
|
||||
yBase+=ysize;
|
||||
{
|
||||
xBase=xid;
|
||||
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
GetPatch(J, loc0.x, loc1.y,
|
||||
&I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0],
|
||||
&b1, &b2);
|
||||
|
||||
|
||||
xBase+=xsize;
|
||||
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
GetPatch(J, loc1.x, loc1.y,
|
||||
&I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1],
|
||||
&b1, &b2);
|
||||
|
||||
xBase+=xsize;
|
||||
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
GetPatch(J, loc2.x, loc1.y,
|
||||
&I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
|
||||
&b1, &b2);
|
||||
}
|
||||
yBase+=ysize;
|
||||
{
|
||||
xBase=xid;
|
||||
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
GetPatch(J, loc0.x, loc2.y,
|
||||
&I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0],
|
||||
&b1, &b2);
|
||||
|
||||
|
||||
xBase+=xsize;
|
||||
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
GetPatch(J, loc1.x, loc2.y,
|
||||
&I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1],
|
||||
&b1, &b2);
|
||||
|
||||
xBase+=xsize;
|
||||
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
GetPatch(J, loc2.x, loc2.y,
|
||||
&I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
|
||||
&b1, &b2);
|
||||
}
|
||||
@ -488,10 +481,13 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
|
||||
barrier(CLK_LOCAL_MEM_FENCE);
|
||||
|
||||
float2 delta;
|
||||
delta.x = A12 * b2 - A22 * b1;
|
||||
delta.y = A12 * b1 - A11 * b2;
|
||||
delta.x = mad(A12, b2, - A22 * b1);
|
||||
delta.y = mad(A12, b1, - A11 * b2);
|
||||
|
||||
prevPt += delta;
|
||||
loc0 += delta;
|
||||
loc1 += delta;
|
||||
loc2 += delta;
|
||||
|
||||
if (fabs(delta.x) < THRESHOLD && fabs(delta.y) < THRESHOLD)
|
||||
break;
|
||||
@ -500,54 +496,25 @@ __kernel void lkSparse(image2d_t I, image2d_t J,
|
||||
D = 0.0f;
|
||||
if (calcErr)
|
||||
{
|
||||
yBase=yid;
|
||||
{
|
||||
xBase=xid;
|
||||
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
&I_patch[0][0], &D);
|
||||
|
||||
|
||||
xBase+=xsize;
|
||||
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
&I_patch[0][1], &D);
|
||||
|
||||
xBase+=xsize;
|
||||
if(xBase<c_winSize_x)
|
||||
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
&I_patch[0][2], &D);
|
||||
GetError(J, loc0.x, loc0.y, &I_patch[0][0], &D);
|
||||
GetError(J, loc1.x, loc0.y, &I_patch[0][1], &D);
|
||||
}
|
||||
yBase+=ysize;
|
||||
{
|
||||
xBase=xid;
|
||||
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
&I_patch[1][0], &D);
|
||||
|
||||
|
||||
xBase+=xsize;
|
||||
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
&I_patch[1][1], &D);
|
||||
|
||||
xBase+=xsize;
|
||||
if(xBase<c_winSize_x)
|
||||
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
&I_patch[1][2], &D);
|
||||
GetError(J, loc0.x, loc1.y, &I_patch[1][0], &D);
|
||||
GetError(J, loc1.x, loc1.y, &I_patch[1][1], &D);
|
||||
}
|
||||
yBase+=ysize;
|
||||
if(yBase<c_winSize_y)
|
||||
if(xBase < c_winSize_x)
|
||||
{
|
||||
xBase=xid;
|
||||
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
&I_patch[2][0], &D);
|
||||
|
||||
|
||||
xBase+=xsize;
|
||||
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
&I_patch[2][1], &D);
|
||||
|
||||
xBase+=xsize;
|
||||
if(xBase<c_winSize_x)
|
||||
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
|
||||
&I_patch[2][2], &D);
|
||||
GetError(J, loc2.x, loc0.y, &I_patch[0][2], &D);
|
||||
GetError(J, loc2.x, loc1.y, &I_patch[1][2], &D);
|
||||
}
|
||||
if(yBase < c_winSize_y)
|
||||
{
|
||||
GetError(J, loc0.x, loc2.y, &I_patch[2][0], &D);
|
||||
GetError(J, loc1.x, loc2.y, &I_patch[2][1], &D);
|
||||
if(xBase < c_winSize_x)
|
||||
GetError(J, loc2.x, loc2.y, &I_patch[2][2], &D);
|
||||
}
|
||||
|
||||
reduce1(D, smem1, tid);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user