42b1bd56cc
Move some static functions into the FarnebackOpticalFlow class as well, so they can access these new class variables. oclMat objects cannot be declared statically, because their destructor depends on the statically defined __module variable from cl_context.cpp. Since statically defined variables in separate compilation units have an undefined destruction order there is always the possibility the __module will be destructed before an oclMat object, which results in a segfault.
537 lines
19 KiB
C++
537 lines
19 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// @Authors
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// Sen Liu, swjtuls1987@126.com
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "opencl_kernels.hpp"
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#include "opencv2/video/tracking.hpp"
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using namespace cv;
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using namespace cv::ocl;
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#define MIN_SIZE 32
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namespace cv {
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namespace ocl {
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namespace optflow_farneback
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{
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static void updateMatricesOcl(const oclMat &flowx, const oclMat &flowy, const oclMat &R0, const oclMat &R1, oclMat &M)
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{
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string kernelName("updateMatrices");
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#ifdef ANDROID
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size_t localThreads[3] = { 32, 4, 1 };
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#else
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size_t localThreads[3] = { 32, 8, 1 };
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#endif
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size_t globalThreads[3] = { flowx.cols, flowx.rows, 1 };
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std::vector< std::pair<size_t, const void *> > args;
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&M.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&flowx.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&flowy.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&R0.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&R1.data));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&flowx.rows));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&flowx.cols));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&M.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&flowx.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&flowy.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&R0.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&R1.step));
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openCLExecuteKernel(Context::getContext(), &optical_flow_farneback, kernelName,
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globalThreads, localThreads, args, -1, -1);
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}
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static void boxFilter5Ocl(const oclMat &src, int ksizeHalf, oclMat &dst)
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{
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string kernelName("boxFilter5");
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int height = src.rows / 5;
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#ifdef ANDROID
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size_t localThreads[3] = { 128, 1, 1 };
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#else
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size_t localThreads[3] = { 256, 1, 1 };
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#endif
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size_t globalThreads[3] = { src.cols, height, 1 };
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int smem_size = (localThreads[0] + 2*ksizeHalf) * 5 * sizeof(float);
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std::vector< std::pair<size_t, const void *> > args;
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&dst.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&src.data));
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args.push_back(std::make_pair(smem_size, (void *)NULL));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&height));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&src.cols));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&dst.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&src.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&ksizeHalf));
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openCLExecuteKernel(Context::getContext(), &optical_flow_farneback, kernelName,
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globalThreads, localThreads, args, -1, -1);
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}
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static void updateFlowOcl(const oclMat &M, oclMat &flowx, oclMat &flowy)
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{
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string kernelName("updateFlow");
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int cols = divUp(flowx.cols, 4);
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#ifdef ANDROID
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size_t localThreads[3] = { 32, 4, 1 };
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#else
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size_t localThreads[3] = { 32, 8, 1 };
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#endif
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size_t globalThreads[3] = { cols, flowx.rows, 1 };
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std::vector< std::pair<size_t, const void *> > args;
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&flowx.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&flowy.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&M.data));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&flowx.rows));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&cols));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&flowx.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&flowy.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&M.step));
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openCLExecuteKernel(Context::getContext(), &optical_flow_farneback, kernelName,
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globalThreads, localThreads, args, -1, -1);
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}
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}
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}
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} // namespace cv { namespace ocl { namespace optflow_farneback
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static oclMat allocMatFromBuf(int rows, int cols, int type, oclMat &mat)
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{
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if (!mat.empty() && mat.type() == type && mat.rows >= rows && mat.cols >= cols)
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return mat(Rect(0, 0, cols, rows));
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return mat = oclMat(rows, cols, type);
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}
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void cv::ocl::FarnebackOpticalFlow::setGaussianBlurKernel(const float *c_gKer, int ksizeHalf)
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{
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cv::Mat t_gKer(1, ksizeHalf + 1, CV_32FC1, const_cast<float *>(c_gKer));
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gKerMat.upload(t_gKer);
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}
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void cv::ocl::FarnebackOpticalFlow::gaussianBlurOcl(const oclMat &src, int ksizeHalf, oclMat &dst)
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{
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string kernelName("gaussianBlur");
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#ifdef ANDROID
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size_t localThreads[3] = { 128, 1, 1 };
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#else
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size_t localThreads[3] = { 256, 1, 1 };
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#endif
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size_t globalThreads[3] = { src.cols, src.rows, 1 };
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int smem_size = (localThreads[0] + 2*ksizeHalf) * sizeof(float);
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CV_Assert(dst.size() == src.size());
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std::vector< std::pair<size_t, const void *> > args;
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&dst.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&src.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&gKerMat.data));
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args.push_back(std::make_pair(smem_size, (void *)NULL));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&dst.rows));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&dst.cols));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&dst.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&src.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&ksizeHalf));
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openCLExecuteKernel(Context::getContext(), &optical_flow_farneback, kernelName,
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globalThreads, localThreads, args, -1, -1);
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}
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void cv::ocl::FarnebackOpticalFlow::polynomialExpansionOcl(const oclMat &src, int polyN, oclMat &dst)
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{
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string kernelName("polynomialExpansion");
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#ifdef ANDROID
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size_t localThreads[3] = { 128, 1, 1 };
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#else
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size_t localThreads[3] = { 256, 1, 1 };
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#endif
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size_t globalThreads[3] = { divUp(src.cols, localThreads[0] - 2*polyN) * localThreads[0], src.rows, 1 };
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int smem_size = 3 * localThreads[0] * sizeof(float);
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std::vector< std::pair<size_t, const void *> > args;
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&dst.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&src.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&gMat.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&xgMat.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&xxgMat.data));
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args.push_back(std::make_pair(smem_size, (void *)NULL));
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args.push_back(std::make_pair(sizeof(cl_float4), (void *)&ig));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&src.rows));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&src.cols));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&dst.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&src.step));
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char opt [128];
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sprintf(opt, "-D polyN=%d", polyN);
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openCLExecuteKernel(Context::getContext(), &optical_flow_farneback, kernelName,
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globalThreads, localThreads, args, -1, -1, opt);
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}
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void cv::ocl::FarnebackOpticalFlow::gaussianBlur5Ocl(const oclMat &src, int ksizeHalf, oclMat &dst)
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{
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string kernelName("gaussianBlur5");
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int height = src.rows / 5;
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#ifdef ANDROID
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size_t localThreads[3] = { 128, 1, 1 };
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#else
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size_t localThreads[3] = { 256, 1, 1 };
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#endif
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size_t globalThreads[3] = { src.cols, height, 1 };
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int smem_size = (localThreads[0] + 2*ksizeHalf) * 5 * sizeof(float);
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std::vector< std::pair<size_t, const void *> > args;
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&dst.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&src.data));
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args.push_back(std::make_pair(sizeof(cl_mem), (void *)&gKerMat.data));
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args.push_back(std::make_pair(smem_size, (void *)NULL));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&height));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&src.cols));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&dst.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&src.step));
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args.push_back(std::make_pair(sizeof(cl_int), (void *)&ksizeHalf));
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openCLExecuteKernel(Context::getContext(), &optical_flow_farneback, kernelName,
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globalThreads, localThreads, args, -1, -1);
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}
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cv::ocl::FarnebackOpticalFlow::FarnebackOpticalFlow()
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{
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numLevels = 5;
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pyrScale = 0.5;
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fastPyramids = false;
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winSize = 13;
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numIters = 10;
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polyN = 5;
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polySigma = 1.1;
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flags = 0;
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}
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void cv::ocl::FarnebackOpticalFlow::releaseMemory()
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{
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frames_[0].release();
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frames_[1].release();
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pyrLevel_[0].release();
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pyrLevel_[1].release();
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M_.release();
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bufM_.release();
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R_[0].release();
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R_[1].release();
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blurredFrame_[0].release();
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blurredFrame_[1].release();
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pyramid0_.clear();
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pyramid1_.clear();
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}
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void cv::ocl::FarnebackOpticalFlow::prepareGaussian(
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int n, double sigma, float *g, float *xg, float *xxg,
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double &ig11, double &ig03, double &ig33, double &ig55)
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{
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double s = 0.;
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for (int x = -n; x <= n; x++)
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{
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g[x] = (float)std::exp(-x*x/(2*sigma*sigma));
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s += g[x];
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}
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s = 1./s;
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for (int x = -n; x <= n; x++)
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{
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g[x] = (float)(g[x]*s);
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xg[x] = (float)(x*g[x]);
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xxg[x] = (float)(x*x*g[x]);
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}
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Mat_<double> G(6, 6);
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G.setTo(0);
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for (int y = -n; y <= n; y++)
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{
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for (int x = -n; x <= n; x++)
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{
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G(0,0) += g[y]*g[x];
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G(1,1) += g[y]*g[x]*x*x;
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G(3,3) += g[y]*g[x]*x*x*x*x;
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G(5,5) += g[y]*g[x]*x*x*y*y;
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}
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}
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//G[0][0] = 1.;
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G(2,2) = G(0,3) = G(0,4) = G(3,0) = G(4,0) = G(1,1);
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G(4,4) = G(3,3);
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G(3,4) = G(4,3) = G(5,5);
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// invG:
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// [ x e e ]
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// [ y ]
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// [ y ]
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// [ e z ]
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// [ e z ]
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// [ u ]
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Mat_<double> invG = G.inv(DECOMP_CHOLESKY);
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ig11 = invG(1,1);
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ig03 = invG(0,3);
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ig33 = invG(3,3);
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ig55 = invG(5,5);
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}
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void cv::ocl::FarnebackOpticalFlow::setPolynomialExpansionConsts(int n, double sigma)
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{
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vector<float> buf(n*6 + 3);
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float* g = &buf[0] + n;
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float* xg = g + n*2 + 1;
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float* xxg = xg + n*2 + 1;
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if (sigma < FLT_EPSILON)
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sigma = n*0.3;
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double ig11, ig03, ig33, ig55;
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prepareGaussian(n, sigma, g, xg, xxg, ig11, ig03, ig33, ig55);
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cv::Mat t_g(1, n + 1, CV_32FC1, g);
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cv::Mat t_xg(1, n + 1, CV_32FC1, xg);
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cv::Mat t_xxg(1, n + 1, CV_32FC1, xxg);
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gMat.upload(t_g);
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xgMat.upload(t_xg);
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xxgMat.upload(t_xxg);
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ig[0] = static_cast<float>(ig11);
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ig[1] = static_cast<float>(ig03);
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ig[2] = static_cast<float>(ig33);
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ig[3] = static_cast<float>(ig55);
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}
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void cv::ocl::FarnebackOpticalFlow::updateFlow_boxFilter(
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const oclMat& R0, const oclMat& R1, oclMat& flowx, oclMat &flowy,
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oclMat& M, oclMat &bufM, int blockSize, bool updateMatrices)
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{
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optflow_farneback::boxFilter5Ocl(M, blockSize/2, bufM);
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swap(M, bufM);
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optflow_farneback::updateFlowOcl(M, flowx, flowy);
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if (updateMatrices)
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optflow_farneback::updateMatricesOcl(flowx, flowy, R0, R1, M);
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}
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void cv::ocl::FarnebackOpticalFlow::updateFlow_gaussianBlur(
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const oclMat& R0, const oclMat& R1, oclMat& flowx, oclMat& flowy,
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oclMat& M, oclMat &bufM, int blockSize, bool updateMatrices)
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{
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gaussianBlur5Ocl(M, blockSize/2, bufM);
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swap(M, bufM);
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optflow_farneback::updateFlowOcl(M, flowx, flowy);
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if (updateMatrices)
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optflow_farneback::updateMatricesOcl(flowx, flowy, R0, R1, M);
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}
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void cv::ocl::FarnebackOpticalFlow::operator ()(
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const oclMat &frame0, const oclMat &frame1, oclMat &flowx, oclMat &flowy)
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{
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CV_Assert(frame0.channels() == 1 && frame1.channels() == 1);
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CV_Assert(frame0.size() == frame1.size());
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CV_Assert(polyN == 5 || polyN == 7);
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CV_Assert(!fastPyramids || std::abs(pyrScale - 0.5) < 1e-6);
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Size size = frame0.size();
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oclMat prevFlowX, prevFlowY, curFlowX, curFlowY;
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flowx.create(size, CV_32F);
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flowy.create(size, CV_32F);
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oclMat flowx0 = flowx;
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oclMat flowy0 = flowy;
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// Crop unnecessary levels
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double scale = 1;
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int numLevelsCropped = 0;
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for (; numLevelsCropped < numLevels; numLevelsCropped++)
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{
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scale *= pyrScale;
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if (size.width*scale < MIN_SIZE || size.height*scale < MIN_SIZE)
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break;
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}
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frame0.convertTo(frames_[0], CV_32F);
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frame1.convertTo(frames_[1], CV_32F);
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if (fastPyramids)
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{
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// Build Gaussian pyramids using pyrDown()
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|
pyramid0_.resize(numLevelsCropped + 1);
|
|
pyramid1_.resize(numLevelsCropped + 1);
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|
pyramid0_[0] = frames_[0];
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|
pyramid1_[0] = frames_[1];
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for (int i = 1; i <= numLevelsCropped; ++i)
|
|
{
|
|
pyrDown(pyramid0_[i - 1], pyramid0_[i]);
|
|
pyrDown(pyramid1_[i - 1], pyramid1_[i]);
|
|
}
|
|
}
|
|
|
|
setPolynomialExpansionConsts(polyN, polySigma);
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|
|
|
for (int k = numLevelsCropped; k >= 0; k--)
|
|
{
|
|
scale = 1;
|
|
for (int i = 0; i < k; i++)
|
|
scale *= pyrScale;
|
|
|
|
double sigma = (1./scale - 1) * 0.5;
|
|
int smoothSize = cvRound(sigma*5) | 1;
|
|
smoothSize = std::max(smoothSize, 3);
|
|
|
|
int width = cvRound(size.width*scale);
|
|
int height = cvRound(size.height*scale);
|
|
|
|
if (fastPyramids)
|
|
{
|
|
width = pyramid0_[k].cols;
|
|
height = pyramid0_[k].rows;
|
|
}
|
|
|
|
if (k > 0)
|
|
{
|
|
curFlowX.create(height, width, CV_32F);
|
|
curFlowY.create(height, width, CV_32F);
|
|
}
|
|
else
|
|
{
|
|
curFlowX = flowx0;
|
|
curFlowY = flowy0;
|
|
}
|
|
|
|
if (!prevFlowX.data)
|
|
{
|
|
if (flags & cv::OPTFLOW_USE_INITIAL_FLOW)
|
|
{
|
|
resize(flowx0, curFlowX, Size(width, height), 0, 0, INTER_LINEAR);
|
|
resize(flowy0, curFlowY, Size(width, height), 0, 0, INTER_LINEAR);
|
|
multiply(scale, curFlowX, curFlowX);
|
|
multiply(scale, curFlowY, curFlowY);
|
|
}
|
|
else
|
|
{
|
|
curFlowX.setTo(0);
|
|
curFlowY.setTo(0);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
resize(prevFlowX, curFlowX, Size(width, height), 0, 0, INTER_LINEAR);
|
|
resize(prevFlowY, curFlowY, Size(width, height), 0, 0, INTER_LINEAR);
|
|
multiply(1./pyrScale, curFlowX, curFlowX);
|
|
multiply(1./pyrScale, curFlowY, curFlowY);
|
|
}
|
|
|
|
oclMat M = allocMatFromBuf(5*height, width, CV_32F, M_);
|
|
oclMat bufM = allocMatFromBuf(5*height, width, CV_32F, bufM_);
|
|
oclMat R[2] =
|
|
{
|
|
allocMatFromBuf(5*height, width, CV_32F, R_[0]),
|
|
allocMatFromBuf(5*height, width, CV_32F, R_[1])
|
|
};
|
|
|
|
if (fastPyramids)
|
|
{
|
|
polynomialExpansionOcl(pyramid0_[k], polyN, R[0]);
|
|
polynomialExpansionOcl(pyramid1_[k], polyN, R[1]);
|
|
}
|
|
else
|
|
{
|
|
oclMat blurredFrame[2] =
|
|
{
|
|
allocMatFromBuf(size.height, size.width, CV_32F, blurredFrame_[0]),
|
|
allocMatFromBuf(size.height, size.width, CV_32F, blurredFrame_[1])
|
|
};
|
|
oclMat pyrLevel[2] =
|
|
{
|
|
allocMatFromBuf(height, width, CV_32F, pyrLevel_[0]),
|
|
allocMatFromBuf(height, width, CV_32F, pyrLevel_[1])
|
|
};
|
|
|
|
Mat g = getGaussianKernel(smoothSize, sigma, CV_32F);
|
|
setGaussianBlurKernel(g.ptr<float>(smoothSize/2), smoothSize/2);
|
|
|
|
for (int i = 0; i < 2; i++)
|
|
{
|
|
gaussianBlurOcl(frames_[i], smoothSize/2, blurredFrame[i]);
|
|
resize(blurredFrame[i], pyrLevel[i], Size(width, height), INTER_LINEAR);
|
|
polynomialExpansionOcl(pyrLevel[i], polyN, R[i]);
|
|
}
|
|
}
|
|
|
|
optflow_farneback::updateMatricesOcl(curFlowX, curFlowY, R[0], R[1], M);
|
|
|
|
if (flags & OPTFLOW_FARNEBACK_GAUSSIAN)
|
|
{
|
|
Mat g = getGaussianKernel(winSize, winSize/2*0.3f, CV_32F);
|
|
setGaussianBlurKernel(g.ptr<float>(winSize/2), winSize/2);
|
|
}
|
|
for (int i = 0; i < numIters; i++)
|
|
{
|
|
if (flags & OPTFLOW_FARNEBACK_GAUSSIAN)
|
|
updateFlow_gaussianBlur(R[0], R[1], curFlowX, curFlowY, M, bufM, winSize, i < numIters-1);
|
|
else
|
|
updateFlow_boxFilter(R[0], R[1], curFlowX, curFlowY, M, bufM, winSize, i < numIters-1);
|
|
}
|
|
|
|
prevFlowX = curFlowX;
|
|
prevFlowY = curFlowY;
|
|
}
|
|
|
|
flowx = curFlowX;
|
|
flowy = curFlowY;
|
|
}
|