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improved performance of GFTT

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This commit is contained in:
Ilya Lavrenov
2014-03-04 20:04:16 +04:00
parent 0692a674d1
commit 86a3ed4162
3 changed files with 169 additions and 48 deletions
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modules/imgproc/src/featureselect.cpp
+71 -28
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@@ -57,6 +57,8 @@ struct greaterThanPtr :
{ return *a > *b; }
};
#ifdef HAVE_OPENCL
struct Corner
{
float val;
@@ -67,67 +69,108 @@ struct Corner
{ return val > c.val; }
};
#ifdef HAVE_OPENCL
static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
int maxCorners, double qualityLevel, double minDistance,
InputArray _mask, int blockSize,
bool useHarrisDetector, double harrisK )
{
UMat eig, tmp;
UMat eig, maxEigenValue;
if( useHarrisDetector )
cornerHarris( _image, eig, blockSize, 3, harrisK );
else
cornerMinEigenVal( _image, eig, blockSize, 3 );
double maxVal = 0;
minMaxLoc( eig, NULL, &maxVal, NULL, NULL, _mask );
threshold( eig, eig, maxVal*qualityLevel, 0, THRESH_TOZERO );
dilate( eig, tmp, Mat());
Size imgsize = _image.size();
std::vector<Corner> tmpCorners;
size_t total, i, j, ncorners = 0, possibleCornersCount =
std::max(1024, static_cast<int>(imgsize.area() * 0.1));
bool haveMask = !_mask.empty();
// find threshold
{
CV_Assert(eig.type() == CV_32FC1);
int dbsize = ocl::Device::getDefault().maxComputeUnits();
size_t wgs = ocl::Device::getDefault().maxWorkGroupSize();
int wgs2_aligned = 1;
while (wgs2_aligned < (int)wgs)
wgs2_aligned <<= 1;
wgs2_aligned >>= 1;
ocl::Kernel k("maxEigenVal", ocl::imgproc::gftt_oclsrc,
format("-D OP_MAX_EIGEN_VAL -D WGS=%d -D groupnum=%d -D WGS2_ALIGNED=%d%s",
(int)wgs, dbsize, wgs2_aligned, haveMask ? " -D HAVE_MASK" : ""));
if (k.empty())
return false;
UMat mask = _mask.getUMat();
maxEigenValue.create(1, dbsize, CV_32FC1);
ocl::KernelArg eigarg = ocl::KernelArg::ReadOnlyNoSize(eig),
dbarg = ocl::KernelArg::PtrWriteOnly(maxEigenValue),
maskarg = ocl::KernelArg::ReadOnlyNoSize(mask);
if (haveMask)
k.args(eigarg, eig.cols, (int)eig.total(), dbarg, maskarg);
else
k.args(eigarg, eig.cols, (int)eig.total(), dbarg);
size_t globalsize = dbsize * wgs;
if (!k.run(1, &globalsize, &wgs, false))
return false;
ocl::Kernel k2("maxEigenValTask", ocl::imgproc::gftt_oclsrc,
format("-D OP_MAX_EIGEN_VAL -D WGS=%d -D WGS2_ALIGNED=%d -D groupnum=%d",
wgs, wgs2_aligned, dbsize));
if (k2.empty())
return false;
k2.args(dbarg, (float)qualityLevel);
if (!k2.runTask(false))
return false;
}
// collect list of pointers to features - put them into temporary image
{
ocl::Kernel k("findCorners", ocl::imgproc::gftt_oclsrc,
format(haveMask ? "-D HAVE_MASK" : ""));
format("-D OP_FIND_CORNERS%s", haveMask ? " -D HAVE_MASK" : ""));
if (k.empty())
return false;
UMat counter(1, 1, CV_32SC1, Scalar::all(0)),
corners(1, (int)(possibleCornersCount * sizeof(Corner)), CV_8UC1);
corners(1, (int)possibleCornersCount, CV_32FC2, Scalar::all(-1));
CV_Assert(sizeof(Corner) == corners.elemSize());
ocl::KernelArg eigarg = ocl::KernelArg::ReadOnlyNoSize(eig),
tmparg = ocl::KernelArg::ReadOnlyNoSize(tmp),
cornersarg = ocl::KernelArg::PtrWriteOnly(corners),
counterarg = ocl::KernelArg::PtrReadWrite(counter);
counterarg = ocl::KernelArg::PtrReadWrite(counter),
thresholdarg = ocl::KernelArg::PtrReadOnly(maxEigenValue);
if (!haveMask)
k.args(eigarg, tmparg, cornersarg, counterarg,
imgsize.height - 2, imgsize.width - 2);
k.args(eigarg, cornersarg, counterarg,
eig.rows - 2, eig.cols - 2, thresholdarg,
(int)possibleCornersCount);
else
{
UMat mask = _mask.getUMat();
k.args(eigarg, ocl::KernelArg::ReadOnlyNoSize(mask), tmparg,
cornersarg, counterarg, imgsize.height - 2, imgsize.width - 2);
k.args(eigarg, ocl::KernelArg::ReadOnlyNoSize(mask),
cornersarg, counterarg, eig.rows - 2, eig.cols - 2,
thresholdarg, (int)possibleCornersCount);
}
size_t globalsize[2] = { imgsize.width - 2, imgsize.height - 2 };
size_t globalsize[2] = { eig.cols - 2, eig.rows - 2 };
if (!k.run(2, globalsize, NULL, false))
return false;
total = counter.getMat(ACCESS_READ).at<int>(0, 0);
int totalb = (int)(sizeof(Corner) * total);
total = std::min<size_t>(counter.getMat(ACCESS_READ).at<int>(0, 0), possibleCornersCount);
tmpCorners.resize(total);
Mat mcorners(1, totalb, CV_8UC1, &tmpCorners[0]);
corners.colRange(0, totalb).copyTo(mcorners);
}
std::sort( tmpCorners.begin(), tmpCorners.end() );
Mat mcorners(1, (int)total, CV_32FC2, &tmpCorners[0]);
corners.colRange(0, (int)total).copyTo(mcorners);
}
std::sort(tmpCorners.begin(), tmpCorners.end());
std::vector<Point2f> corners;
corners.reserve(total);
@@ -159,13 +202,13 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
// boundary check
x1 = std::max(0, x1);
y1 = std::max(0, y1);
x2 = std::min(grid_width-1, x2);
y2 = std::min(grid_height-1, y2);
x2 = std::min(grid_width - 1, x2);
y2 = std::min(grid_height - 1, y2);
for( int yy = y1; yy <= y2; yy++ )
for( int xx = x1; xx <= x2; xx++ )
{
std::vector<Point2f> &m = grid[yy*grid_width + xx];
std::vector<Point2f> &m = grid[yy * grid_width + xx];
if( m.size() )
{
@@ -259,8 +302,8 @@ void cv::goodFeaturesToTrack( InputArray _image, OutputArray _corners,
tmpCorners.push_back(eig_data + x);
}
}
std::sort( tmpCorners.begin(), tmpCorners.end(), greaterThanPtr() );
std::vector<Point2f> corners;
size_t i, j, total = tmpCorners.size(), ncorners = 0;