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Commit 1dbe5ccc authored by Vadim Pisarevsky's avatar Vadim Pisarevsky
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improved phaseCorrelate() performance (thanks to Will Lucas for the patch)

parent a1d66714
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modules/imgproc/src/phasecorr.cpp
View file @ 1dbe5ccc
......@@ -38,66 +38,317 @@
namespace cv
{
static void divComplex(InputArray _src1, InputArray _src2, OutputArray _dst)
static void magSpectrums( InputArray _src, OutputArray _dst)
{
Mat src1 = _src1.getMat();
Mat src2 = _src2.getMat();
CV_Assert( src1.type() == src2.type() && src1.size() == src2.size());
CV_Assert( src1.type() == CV_32FC2 || src1.type() == CV_64FC2 );
_dst.create(src1.size(), src1.type());
Mat dst = _dst.getMat();
int length = src1.rows*src1.cols;
if(src1.depth() == CV_32F)
Mat src = _src.getMat();
int depth = src.depth(), cn = src.channels(), type = src.type();
int rows = src.rows, cols = src.cols;
int j, k;
CV_Assert( type == CV_32FC1 || type == CV_32FC2 || type == CV_64FC1 || type == CV_64FC2 );
if(src.depth() == CV_32F)
_dst.create( src.rows, src.cols, CV_32FC1 );
else
_dst.create( src.rows, src.cols, CV_64FC1 );
Mat dst = _dst.getMat();
bool is_1d = (rows == 1 || (cols == 1 && src.isContinuous() && dst.isContinuous()));
if( is_1d )
cols = cols + rows - 1, rows = 1;
int ncols = cols*cn;
int j0 = cn == 1;
int j1 = ncols - (cols % 2 == 0 && cn == 1);
if( depth == CV_32F )
{
const float* dataA = (const float*)src1.data;
const float* dataB = (const float*)src2.data;
const float* dataSrc = (const float*)src.data;
float* dataDst = (float*)dst.data;
size_t stepSrc = src.step/sizeof(dataSrc[0]);
size_t stepDst = dst.step/sizeof(dataDst[0]);
if( !is_1d && cn == 1 )
{
for( k = 0; k < (cols % 2 ? 1 : 2); k++ )
{
if( k == 1 )
dataSrc += cols - 1, dataDst += cols - 1;
dataDst[0] = dataSrc[0]*dataSrc[0];
if( rows % 2 == 0 )
dataDst[(rows-1)*stepDst] = dataSrc[(rows-1)*stepSrc]*dataSrc[(rows-1)*stepSrc];
for( j = 1; j <= rows - 2; j += 2 )
{
dataDst[j*stepDst] = (double)dataSrc[j*stepSrc]*dataSrc[j*stepSrc] +
(double)dataSrc[(j+1)*stepSrc]*dataSrc[(j+1)*stepSrc];
}
if( k == 1 )
dataSrc -= cols - 1, dataDst -= cols - 1;
}
}
for( ; rows--; dataSrc += stepSrc, dataDst += stepDst )
{
if( is_1d && cn == 1 )
{
dataDst[0] = dataSrc[0]*dataSrc[0];
if( cols % 2 == 0 )
dataDst[j1] = dataSrc[j1]*dataSrc[j1];
}
for( j = j0; j < j1; j += 2 )
{
dataDst[j] = (double)dataSrc[j]*dataSrc[j] + (double)dataSrc[j+1]*dataSrc[j+1];
}
}
}
else
{
const double* dataSrc = (const double*)src.data;
double* dataDst = (double*)dst.data;
size_t stepSrc = src.step/sizeof(dataSrc[0]);
size_t stepDst = dst.step/sizeof(dataDst[0]);
if( !is_1d && cn == 1 )
{
for( k = 0; k < (cols % 2 ? 1 : 2); k++ )
{
if( k == 1 )
dataSrc += cols - 1, dataDst += cols - 1;
dataDst[0] = dataSrc[0]*dataSrc[0];
if( rows % 2 == 0 )
dataDst[(rows-1)*stepDst] = dataSrc[(rows-1)*stepSrc]*dataSrc[(rows-1)*stepSrc];
for( j = 1; j <= rows - 2; j += 2 )
{
dataDst[j*stepDst] = dataSrc[j*stepSrc]*dataSrc[j*stepSrc] +
dataSrc[(j+1)*stepSrc]*dataSrc[(j+1)*stepSrc];
}
if( k == 1 )
dataSrc -= cols - 1, dataDst -= cols - 1;
}
}
for( ; rows--; dataSrc += stepSrc, dataDst += stepDst )
{
if( is_1d && cn == 1 )
{
dataDst[0] = dataSrc[0]*dataSrc[0];
if( cols % 2 == 0 )
dataDst[j1] = dataSrc[j1]*dataSrc[j1];
}
for( j = j0; j < j1; j += 2 )
{
dataDst[j] = dataSrc[j]*dataSrc[j] + dataSrc[j+1]*dataSrc[j+1];
}
}
}
// do batch sqrt to use SSE optimizations...
cv::sqrt(dst, dst);
}
static void divSpectrums( InputArray _srcA, InputArray _srcB, OutputArray _dst, int flags, bool conjB)
{
Mat srcA = _srcA.getMat(), srcB = _srcB.getMat();
int depth = srcA.depth(), cn = srcA.channels(), type = srcA.type();
int rows = srcA.rows, cols = srcA.cols;
int j, k;
CV_Assert( type == srcB.type() && srcA.size() == srcB.size() );
CV_Assert( type == CV_32FC1 || type == CV_32FC2 || type == CV_64FC1 || type == CV_64FC2 );
_dst.create( srcA.rows, srcA.cols, type );
Mat dst = _dst.getMat();
bool is_1d = (flags & DFT_ROWS) || (rows == 1 || (cols == 1 &&
srcA.isContinuous() && srcB.isContinuous() && dst.isContinuous()));
if( is_1d && !(flags & DFT_ROWS) )
cols = cols + rows - 1, rows = 1;
int ncols = cols*cn;
int j0 = cn == 1;
int j1 = ncols - (cols % 2 == 0 && cn == 1);
if( depth == CV_32F )
{
const float* dataA = (const float*)srcA.data;
const float* dataB = (const float*)srcB.data;
float* dataC = (float*)dst.data;
float eps = FLT_EPSILON; // prevent div0 problems
for(int j = 0; j < length - 1; j += 2)
size_t stepA = srcA.step/sizeof(dataA[0]);
size_t stepB = srcB.step/sizeof(dataB[0]);
size_t stepC = dst.step/sizeof(dataC[0]);
if( !is_1d && cn == 1 )
{
double denom = (double)(dataB[j]*dataB[j] + dataB[j+1]*dataB[j+1] + eps);
double re = (double)(dataA[j]*dataB[j] + dataA[j+1]*dataB[j+1]);
double im = (double)(dataA[j+1]*dataB[j] - dataA[j]*dataB[j+1]);
dataC[j] = (float)(re / denom);
dataC[j+1] = (float)(im / denom);
for( k = 0; k < (cols % 2 ? 1 : 2); k++ )
{
if( k == 1 )
dataA += cols - 1, dataB += cols - 1, dataC += cols - 1;
dataC[0] = dataA[0] / dataB[0];
if( rows % 2 == 0 )
dataC[(rows-1)*stepC] = dataA[(rows-1)*stepA] / dataB[(rows-1)*stepB];
if( !conjB )
for( j = 1; j <= rows - 2; j += 2 )
{
double denom = (double)dataB[j*stepB]*dataB[j*stepB] +
(double)dataB[(j+1)*stepB]*dataB[(j+1)*stepB] + (double)eps;
double re = (double)dataA[j*stepA]*dataB[j*stepB] +
(double)dataA[(j+1)*stepA]*dataB[(j+1)*stepB];
double im = (double)dataA[(j+1)*stepA]*dataB[j*stepB] -
(double)dataA[j*stepA]*dataB[(j+1)*stepB];
dataC[j*stepC] = (float)(re / denom);
dataC[(j+1)*stepC] = (float)(im / denom);
}
else
for( j = 1; j <= rows - 2; j += 2 )
{
double denom = (double)dataB[j*stepB]*dataB[j*stepB] +
(double)dataB[(j+1)*stepB]*dataB[(j+1)*stepB] + (double)eps;
double re = (double)dataA[j*stepA]*dataB[j*stepB] -
(double)dataA[(j+1)*stepA]*dataB[(j+1)*stepB];
double im = (double)dataA[(j+1)*stepA]*dataB[j*stepB] +
(double)dataA[j*stepA]*dataB[(j+1)*stepB];
dataC[j*stepC] = (float)(re / denom);
dataC[(j+1)*stepC] = (float)(im / denom);
}
if( k == 1 )
dataA -= cols - 1, dataB -= cols - 1, dataC -= cols - 1;
}
}
for( ; rows--; dataA += stepA, dataB += stepB, dataC += stepC )
{
if( is_1d && cn == 1 )
{
dataC[0] = dataA[0] / dataB[0];
if( cols % 2 == 0 )
dataC[j1] = dataA[j1] / dataB[j1];
}
if( !conjB )
for( j = j0; j < j1; j += 2 )
{
double denom = (double)(dataB[j]*dataB[j] + dataB[j+1]*dataB[j+1] + eps);
double re = (double)(dataA[j]*dataB[j] + dataA[j+1]*dataB[j+1]);
double im = (double)(dataA[j+1]*dataB[j] - dataA[j]*dataB[j+1]);
dataC[j] = (float)(re / denom);
dataC[j+1] = (float)(im / denom);
}
else
for( j = j0; j < j1; j += 2 )
{
double denom = (double)(dataB[j]*dataB[j] + dataB[j+1]*dataB[j+1] + eps);
double re = (double)(dataA[j]*dataB[j] - dataA[j+1]*dataB[j+1]);
double im = (double)(dataA[j+1]*dataB[j] + dataA[j]*dataB[j+1]);
dataC[j] = (float)(re / denom);
dataC[j+1] = (float)(im / denom);
}
}
}
else
{
const double* dataA = (const double*)src1.data;
const double* dataB = (const double*)src2.data;
const double* dataA = (const double*)srcA.data;
const double* dataB = (const double*)srcB.data;
double* dataC = (double*)dst.data;
double eps = DBL_EPSILON; // prevent div0 problems
for(int j = 0; j < length - 1; j += 2)
size_t stepA = srcA.step/sizeof(dataA[0]);
size_t stepB = srcB.step/sizeof(dataB[0]);
size_t stepC = dst.step/sizeof(dataC[0]);
if( !is_1d && cn == 1 )
{
for( k = 0; k < (cols % 2 ? 1 : 2); k++ )
{
if( k == 1 )
dataA += cols - 1, dataB += cols - 1, dataC += cols - 1;
dataC[0] = dataA[0] / dataB[0];
if( rows % 2 == 0 )
dataC[(rows-1)*stepC] = dataA[(rows-1)*stepA] / dataB[(rows-1)*stepB];
if( !conjB )
for( j = 1; j <= rows - 2; j += 2 )
{
double denom = dataB[j*stepB]*dataB[j*stepB] +
dataB[(j+1)*stepB]*dataB[(j+1)*stepB] + eps;
double re = dataA[j*stepA]*dataB[j*stepB] +
dataA[(j+1)*stepA]*dataB[(j+1)*stepB];
double im = dataA[(j+1)*stepA]*dataB[j*stepB] -
dataA[j*stepA]*dataB[(j+1)*stepB];
dataC[j*stepC] = re / denom;
dataC[(j+1)*stepC] = im / denom;
}
else
for( j = 1; j <= rows - 2; j += 2 )
{
double denom = dataB[j*stepB]*dataB[j*stepB] +
dataB[(j+1)*stepB]*dataB[(j+1)*stepB] + eps;
double re = dataA[j*stepA]*dataB[j*stepB] -
dataA[(j+1)*stepA]*dataB[(j+1)*stepB];
double im = dataA[(j+1)*stepA]*dataB[j*stepB] +
dataA[j*stepA]*dataB[(j+1)*stepB];
dataC[j*stepC] = re / denom;
dataC[(j+1)*stepC] = im / denom;
}
if( k == 1 )
dataA -= cols - 1, dataB -= cols - 1, dataC -= cols - 1;
}
}
for( ; rows--; dataA += stepA, dataB += stepB, dataC += stepC )
{
double denom = dataB[j]*dataB[j] + dataB[j+1]*dataB[j+1] + eps;
double re = dataA[j]*dataB[j] + dataA[j+1]*dataB[j+1];
double im = dataA[j+1]*dataB[j] - dataA[j]*dataB[j+1];
dataC[j] = re / denom;
dataC[j+1] = im / denom;
if( is_1d && cn == 1 )
{
dataC[0] = dataA[0] / dataB[0];
if( cols % 2 == 0 )
dataC[j1] = dataA[j1] / dataB[j1];
}
if( !conjB )
for( j = j0; j < j1; j += 2 )
{
double denom = dataB[j]*dataB[j] + dataB[j+1]*dataB[j+1] + eps;
double re = dataA[j]*dataB[j] + dataA[j+1]*dataB[j+1];
double im = dataA[j+1]*dataB[j] - dataA[j]*dataB[j+1];
dataC[j] = re / denom;
dataC[j+1] = im / denom;
}
else
for( j = j0; j < j1; j += 2 )
{
double denom = dataB[j]*dataB[j] + dataB[j+1]*dataB[j+1] + eps;
double re = dataA[j]*dataB[j] - dataA[j+1]*dataB[j+1];
double im = dataA[j+1]*dataB[j] + dataA[j]*dataB[j+1];
dataC[j] = re / denom;
dataC[j+1] = im / denom;
}
}
}
}
static void absComplex(InputArray _src, OutputArray _dst)
{
Mat src = _src.getMat();
CV_Assert( src.type() == CV_32FC2 || src.type() == CV_64FC2 );
vector<Mat> planes;
split(src, planes);
magnitude(planes[0], planes[1], planes[0]);
planes[1] = Mat::zeros(planes[0].size(), planes[0].type());
merge(planes, _dst);
}
static void fftShift(InputOutputArray _out)
......@@ -258,33 +509,18 @@ cv::Point2d cv::phaseCorrelate(InputArray _src1, InputArray _src2, InputArray _w
multiply(paddedWin, padded2, padded2);
}
// TODO should be able to improve speed by switching to CCS packed matrices
vector<Mat> cplx1, cplx2;
cplx1.push_back(padded1);
cplx1.push_back(Mat::zeros(padded1.size(), padded1.type()));
merge(cplx1, FFT1);
cplx2.push_back(padded2);
cplx2.push_back(Mat::zeros(padded2.size(), padded2.type()));
merge(cplx2, FFT2);
// execute phase correlation equation
// Reference: http://en.wikipedia.org/wiki/Phase_correlation
dft(FFT1, FFT1);
dft(FFT2, FFT2);
dft(padded1, FFT1, DFT_REAL_OUTPUT);
dft(padded2, FFT2, DFT_REAL_OUTPUT);
mulSpectrums(FFT1, FFT2, P, 0, true);
// TODO these two functions need to be changed to work with CCS packed matrices...
absComplex(P, Pm);
divComplex(P, Pm, C); // FF* / |FF*| (phase correlation equation completed here...)
magSpectrums(P, Pm);
divSpectrums(P, Pm, C, 0, false); // FF* / |FF*| (phase correlation equation completed here...)
idft(C, C); // gives us the nice peak shift location...
vector<Mat> Cplanes;
split(C, Cplanes);
C = Cplanes[0]; // use only the real plane since that's all that's left...
fftShift(C); // shift the energy to the center of the frame.
// locate the highest peak
......
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