started adding OpenCL acceleration of LBP-based object detectors

modules/objdetect/src/cascadedetect.cpp

@@ -654,6 +654,7 @@ bool LBPEvaluator::Feature :: read(const FileNode& node )
 LBPEvaluator::LBPEvaluator()
 {
     features = makePtr<std::vector<Feature> >();
+    optfeatures = makePtr<std::vector<OptFeature> >();
 }
 LBPEvaluator::~LBPEvaluator()
 {
@@ -662,11 +663,12 @@ LBPEvaluator::~LBPEvaluator()
 bool LBPEvaluator::read( const FileNode& node )
 {
     features->resize(node.size());
-    featuresPtr = &(*features)[0];
+    optfeaturesPtr = &(*optfeatures)[0];
     FileNodeIterator it = node.begin(), it_end = node.end();
+    std::vector<Feature>& ff = *features;
     for(int i = 0; it != it_end; ++it, i++)
     {
-        if(!featuresPtr[i].read(*it))
+        if(!ff[i].read(*it))
             return false;
     }
     return true;
@@ -677,31 +679,58 @@ Ptr<FeatureEvaluator> LBPEvaluator::clone() const
     Ptr<LBPEvaluator> ret = makePtr<LBPEvaluator>();
     ret->origWinSize = origWinSize;
     ret->features = features;
-    ret->featuresPtr = &(*ret->features)[0];
+    ret->optfeatures = optfeatures;
+    ret->optfeaturesPtr = ret->optfeatures.empty() ? 0 : &(*ret->optfeatures)[0];
     ret->sum0 = sum0, ret->sum = sum;
-    ret->normrect = normrect;
-    ret->offset = offset;
+    ret->pwin = pwin;
     return ret;
 }
 
-bool LBPEvaluator::setImage( InputArray _image, Size _origWinSize, Size )
+bool LBPEvaluator::setImage( InputArray _image, Size _origWinSize, Size _sumSize )
 {
-    Mat image = _image.getMat();
-    int rn = image.rows+1, cn = image.cols+1;
-    origWinSize = _origWinSize;
-
-    if( image.cols < origWinSize.width || image.rows < origWinSize.height )
+    Size imgsz = _image.size();
+    int cols = imgsz.width, rows = imgsz.height;
+    
+    if (imgsz.width < origWinSize.width || imgsz.height < origWinSize.height)
         return false;
-
-    if( sum0.rows < rn || sum0.cols < cn )
+    
+    origWinSize = _origWinSize;
+    
+    int rn = _sumSize.height, cn = _sumSize.width;
+    int sumStep;
+    CV_Assert(rn >= rows+1 && cn >= cols+1);
+    
+    if( _image.isUMat() )
+    {
+        usum0.create(rn, cn, CV_32S);
+        usum = UMat(usum0, Rect(0, 0, cols+1, rows+1));
+        
+        integral(_image, usum, noArray(), noArray(), CV_32S);
+        sumStep = (int)(usum.step/usum.elemSize());
+    }
+    else
+    {
         sum0.create(rn, cn, CV_32S);
-    sum = Mat(rn, cn, CV_32S, sum0.data);
-    integral(image, sum);
-
+        sum = sum0(Rect(0, 0, cols+1, rows+1));
+        
+        integral(_image, sum, noArray(), noArray(), CV_32S);
+        sumStep = (int)(sum.step/sum.elemSize());
+    }
+    
     size_t fi, nfeatures = features->size();
-
-    for( fi = 0; fi < nfeatures; fi++ )
-        featuresPtr[fi].updatePtrs( sum );
+    const std::vector<Feature>& ff = *features;
+    
+    if( sumSize0 != _sumSize )
+    {
+        optfeatures->resize(nfeatures);
+        optfeaturesPtr = &(*optfeatures)[0];
+        for( fi = 0; fi < nfeatures; fi++ )
+            optfeaturesPtr[fi].setOffsets( ff[fi], sumStep );
+    }
+    if( _image.isUMat() && (sumSize0 != _sumSize || ufbuf.empty()) )
+        copyVectorToUMat(*optfeatures, ufbuf);
+    sumSize0 = _sumSize;
+    
     return true;
 }
 
@@ -711,7 +740,7 @@ bool LBPEvaluator::setWindow( Point pt )
         pt.x + origWinSize.width >= sum.cols ||
         pt.y + origWinSize.height >= sum.rows )
         return false;
-    offset = pt.y * ((int)sum.step/sizeof(int)) + pt.x;
+    pwin = &sum.at<int>(pt);
     return true;
 }
 

modules/objdetect/src/cascadedetect.hpp

@@ -250,13 +250,11 @@ public:
     struct Feature
     {
         Feature();
-
         bool read( const FileNode& node );
-
+        
         bool tilted;
-
+        
         enum { RECT_NUM = 3 };
-
         struct
         {
             Rect r;
@@ -369,14 +367,20 @@ public:
     {
         Feature();
         Feature( int x, int y, int _block_w, int _block_h  ) :
-        rect(x, y, _block_w, _block_h) {}
+            rect(x, y, _block_w, _block_h) {}
 
-        int calc( int offset ) const;
-        void updatePtrs( const Mat& sum );
         bool read(const FileNode& node );
 
         Rect rect; // weight and height for block
-        const int* p[16]; // fast
+    };
+    
+    struct OptFeature
+    {
+        OptFeature();
+        
+        int calc( const int* pwin ) const;
+        void setOffsets( const Feature& _f, int step );
+        int ofs[16];
     };
 
     LBPEvaluator();
@@ -390,53 +394,57 @@ public:
     virtual bool setWindow(Point pt);
 
     int operator()(int featureIdx) const
-    { return featuresPtr[featureIdx].calc(offset); }
+    { return optfeaturesPtr[featureIdx].calc(pwin); }
     virtual int calcCat(int featureIdx) const
     { return (*this)(featureIdx); }
 protected:
-    Size origWinSize;
+    Size origWinSize, sumSize0;
     Ptr<std::vector<Feature> > features;
-    Feature* featuresPtr; // optimization
+    Ptr<std::vector<OptFeature> > optfeatures;
+    OptFeature* optfeaturesPtr; // optimization
+    
     Mat sum0, sum;
-    Rect normrect;
-
-    int offset;
+    UMat usum0, usum, ufbuf;
+    
+    const int* pwin;
 };
 
 
 inline LBPEvaluator::Feature :: Feature()
 {
     rect = Rect();
+}
+    
+inline LBPEvaluator::OptFeature :: OptFeature()
+{
     for( int i = 0; i < 16; i++ )
-        p[i] = 0;
+        ofs[i] = 0;
 }
 
-inline int LBPEvaluator::Feature :: calc( int _offset ) const
+inline int LBPEvaluator::OptFeature :: calc( const int* p ) const
 {
-    int cval = CALC_SUM_( p[5], p[6], p[9], p[10], _offset );
-
-    return (CALC_SUM_( p[0], p[1], p[4], p[5], _offset ) >= cval ? 128 : 0) |   // 0
-           (CALC_SUM_( p[1], p[2], p[5], p[6], _offset ) >= cval ? 64 : 0) |    // 1
-           (CALC_SUM_( p[2], p[3], p[6], p[7], _offset ) >= cval ? 32 : 0) |    // 2
-           (CALC_SUM_( p[6], p[7], p[10], p[11], _offset ) >= cval ? 16 : 0) |  // 5
-           (CALC_SUM_( p[10], p[11], p[14], p[15], _offset ) >= cval ? 8 : 0)|  // 8
-           (CALC_SUM_( p[9], p[10], p[13], p[14], _offset ) >= cval ? 4 : 0)|   // 7
-           (CALC_SUM_( p[8], p[9], p[12], p[13], _offset ) >= cval ? 2 : 0)|    // 6
-           (CALC_SUM_( p[4], p[5], p[8], p[9], _offset ) >= cval ? 1 : 0);
+    int cval = CALC_SUM_OFS_( ofs[5], ofs[6], ofs[9], ofs[10], p );
+
+    return (CALC_SUM_OFS_( ofs[0], ofs[1], ofs[4], ofs[5], p ) >= cval ? 128 : 0) |   // 0
+           (CALC_SUM_OFS_( ofs[1], ofs[2], ofs[5], ofs[6], p ) >= cval ? 64 : 0) |    // 1
+           (CALC_SUM_OFS_( ofs[2], ofs[3], ofs[6], ofs[7], p ) >= cval ? 32 : 0) |    // 2
+           (CALC_SUM_OFS_( ofs[6], ofs[7], ofs[10], ofs[11], p ) >= cval ? 16 : 0) |  // 5
+           (CALC_SUM_OFS_( ofs[10], ofs[11], ofs[14], ofs[15], p ) >= cval ? 8 : 0)|  // 8
+           (CALC_SUM_OFS_( ofs[9], ofs[10], ofs[13], ofs[14], p ) >= cval ? 4 : 0)|   // 7
+           (CALC_SUM_OFS_( ofs[8], ofs[9], ofs[12], ofs[13], p ) >= cval ? 2 : 0)|    // 6
+           (CALC_SUM_OFS_( ofs[4], ofs[5], ofs[8], ofs[9], p ) >= cval ? 1 : 0);
 }
 
-inline void LBPEvaluator::Feature :: updatePtrs( const Mat& _sum )
+inline void LBPEvaluator::OptFeature :: setOffsets( const Feature& _f, int step )
 {
-    const int* ptr = (const int*)_sum.data;
-    size_t step = _sum.step/sizeof(ptr[0]);
-    Rect tr = rect;
-    CV_SUM_PTRS( p[0], p[1], p[4], p[5], ptr, tr, step );
-    tr.x += 2*rect.width;
-    CV_SUM_PTRS( p[2], p[3], p[6], p[7], ptr, tr, step );
-    tr.y += 2*rect.height;
-    CV_SUM_PTRS( p[10], p[11], p[14], p[15], ptr, tr, step );
-    tr.x -= 2*rect.width;
-    CV_SUM_PTRS( p[8], p[9], p[12], p[13], ptr, tr, step );
+    Rect tr = _f.rect;
+    CV_SUM_OFS( ofs[0], ofs[1], ofs[4], ofs[5], 0, tr, step );
+    tr.x += 2*_f.rect.width;
+    CV_SUM_OFS( ofs[2], ofs[3], ofs[6], ofs[7], 0, tr, step );
+    tr.y += 2*_f.rect.height;
+    CV_SUM_OFS( ofs[10], ofs[11], ofs[14], ofs[15], 0, tr, step );
+    tr.x -= 2*_f.rect.width;
+    CV_SUM_OFS( ofs[8], ofs[9], ofs[12], ofs[13], 0, tr, step );
 }
 
 //---------------------------------------------- HOGEvaluator -------------------------------------------

modules/objdetect/src/opencl/cascadedetect.cl

 ///////////////////////////// OpenCL kernels for face detection //////////////////////////////
 ////////////////////////////// see the opencv/doc/license.txt ///////////////////////////////
 
-typedef struct __attribute__((aligned(4))) OptFeature
+typedef struct __attribute__((aligned(4))) OptHaarFeature
 {
     int4 ofs[3] __attribute__((aligned (4)));
     float4 weight __attribute__((aligned (4)));
 }
-OptFeature;
+OptHaarFeature;
+
+typedef struct __attribute__((aligned(4))) OptLBPFeature
+{
+    int16 ofs __attribute__((aligned (4)));
+}
+OptLBPFeature;
 
 typedef struct __attribute__((aligned(4))) Stump
 {
-    int featureIdx __attribute__((aligned (4)));
-    float threshold __attribute__((aligned (4))); // for ordered features only
-    float left __attribute__((aligned (4)));
-    float right __attribute__((aligned (4)));
+    float4 st __attribute__((aligned (4)));
 }
 Stump;
 
@@ -30,7 +33,7 @@ __kernel void runHaarClassifierStump(
     int sumstep, int sumoffset,
     __global const int* sqsum,
     int sqsumstep, int sqsumoffset,
-    __global const OptFeature* optfeatures,
+    __global const OptHaarFeature* optfeatures,
 
     int nstages,
     __global const Stage* stages,
@@ -47,11 +50,8 @@ __kernel void runHaarClassifierStump(
 
     if( ix < imgsize.x && iy < imgsize.y )
     {
-        int ntrees;
-        int stageIdx, i;
-        float s = 0.f;
+        int stageIdx;
         __global const Stump* stump = stumps;
-        __global const OptFeature* f;
 
         __global const int* psum = sum + mad24(iy, sumstep, ix);
         __global const int* pnsum = psum + mad24(normrect.y, sumstep, normrect.x);
@@ -61,20 +61,19 @@ __kernel void runHaarClassifierStump(
                       pnsum[mad24(normrect.w, sumstep, normrect.z)])*invarea;
         float sqval = (sqsum[mad24(iy + normrect.y, sqsumstep, ix + normrect.x)])*invarea;
         float nf = (float)normarea * sqrt(max(sqval - sval * sval, 0.f));
-        float4 weight, vsval;
-        int4 ofs, ofs0, ofs1, ofs2;
         nf = nf > 0 ? nf : 1.f;
 
         for( stageIdx = 0; stageIdx < nstages; stageIdx++ )
         {
-            ntrees = stages[stageIdx].ntrees;
-            s = 0.f;
+            int i, ntrees = stages[stageIdx].ntrees;
+            float s = 0.f;
             for( i = 0; i < ntrees; i++, stump++ )
             {
-                f = optfeatures + stump->featureIdx;
-                weight = f->weight;
+                float4 st = stump->st;
+                __global const OptHaarFeature* f = optfeatures + as_int(st.x);
+                float4 weight = f->weight;
 
-                ofs = f->ofs[0];
+                int4 ofs = f->ofs[0];
                 sval = (psum[ofs.x] - psum[ofs.y] - psum[ofs.z] + psum[ofs.w])*weight.x;
                 ofs = f->ofs[1];
                 sval += (psum[ofs.x] - psum[ofs.y] - psum[ofs.z] + psum[ofs.w])*weight.y;
@@ -84,7 +83,7 @@ __kernel void runHaarClassifierStump(
                     sval += (psum[ofs.x] - psum[ofs.y] - psum[ofs.z] + psum[ofs.w])*weight.z;
                 }
 
-                s += (sval < stump->threshold*nf) ? stump->left : stump->right;
+                s += (sval < st.y*nf) ? st.z : st.w;
             }
 
             if( s < stages[stageIdx].threshold )
@@ -110,9 +109,7 @@ __kernel void runHaarClassifierStump(
 __kernel void runLBPClassifierStump(
     __global const int* sum,
     int sumstep, int sumoffset,
-    __global const int* sqsum,
-    int sqsumstep, int sqsumoffset,
-    __global const OptFeature* optfeatures,
+    __global const OptLBPFeature* optfeatures,
 
     int nstages,
     __global const Stage* stages,
@@ -124,50 +121,45 @@ __kernel void runLBPClassifierStump(
     int2 imgsize, int xyscale, float factor,
     int4 normrect, int2 windowsize, int maxFaces)
 {
-    int ix = get_global_id(0)*xyscale*VECTOR_SIZE;
+    int ix = get_global_id(0)*xyscale;
     int iy = get_global_id(1)*xyscale;
     sumstep /= sizeof(int);
     sqsumstep /= sizeof(int);
-
+    
     if( ix < imgsize.x && iy < imgsize.y )
     {
-        int ntrees;
-        int stageIdx, i;
-        float s = 0.f;
+        int stageIdx;
         __global const Stump* stump = stumps;
-        __global const int* bitset = bitsets;
-        __global const OptFeature* f;
-
-        __global const int* psum = sum + mad24(iy, sumstep, ix);
-        __global const int* pnsum = psum + mad24(normrect.y, sumstep, normrect.x);
-        int normarea = normrect.z * normrect.w;
-        float invarea = 1.f/normarea;
-        float sval = (pnsum[0] - pnsum[normrect.z] - pnsum[mul24(normrect.w, sumstep)] +
-        pnsum[mad24(normrect.w, sumstep, normrect.z)])*invarea;
-        float sqval = (sqsum[mad24(iy + normrect.y, sqsumstep, ix + normrect.x)])*invarea;
-        float nf = (float)normarea * sqrt(max(sqval - sval * sval, 0.f));
-        float4 weight;
-        int4 ofs;
-        nf = nf > 0 ? nf : 1.f;
-
+        
         for( stageIdx = 0; stageIdx < nstages; stageIdx++ )
         {
-            ntrees = stages[stageIdx].ntrees;
-            s = 0.f;
-            for( i = 0; i < ntrees; i++, stump++, bitset += bitsetSize )
+            int i, ntrees = stages[stageIdx].ntrees;
+            float s = 0.f;
+            for( i = 0; i < ntrees; i++, stump++ )
             {
-                f = optfeatures + stump->featureIdx;
-
-                weight = f->weight;
-
-                // compute LBP feature to val
-                s += (bitset[val >> 5] & (1 << (val & 31))) ? stump->left : stump->right;
+                float4 st = stump->st;
+                __global const OptLBPFeature* f = optfeatures + as_int(st.x);
+                int16 ofs = f->ofs;
+                
+                
+                
+                int4 ofs = f->ofs[0];
+                sval = (psum[ofs.x] - psum[ofs.y] - psum[ofs.z] + psum[ofs.w])*weight.x;
+                ofs = f->ofs[1];
+                sval += (psum[ofs.x] - psum[ofs.y] - psum[ofs.z] + psum[ofs.w])*weight.y;
+                if( weight.z > 0 )
+                {
+                    ofs = f->ofs[2];
+                    sval += (psum[ofs.x] - psum[ofs.y] - psum[ofs.z] + psum[ofs.w])*weight.z;
+                }
+                
+                s += (sval < st.y*nf) ? st.z : st.w;
             }
-
+            
             if( s < stages[stageIdx].threshold )
             break;
         }
-
+        
         if( stageIdx == nstages )
         {
             int nfaces = atomic_inc(facepos);