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Commit 78475a47 authored by Matthieu FT's avatar Matthieu FT
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fix: bg substraction for float images with OpenCL

parent 9ebbfc7b
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Showing with 98 additions and 41 deletions
modules/video/src/bgfg_gaussmix2.cpp
View file @ 78475a47
......@@ -196,7 +196,9 @@ public:
if (ocl::useOpenCL() && opencl_ON)
{
create_ocl_apply_kernel();
kernel_getBg.create("getBackgroundImage2_kernel", ocl::video::bgfg_mog2_oclsrc, format( "-D CN=%d -D NMIXTURES=%d", nchannels, nmixtures));
bool isFloat = CV_MAKETYPE(CV_32F,nchannels) == frameType;
kernel_getBg.create("getBackgroundImage2_kernel", ocl::video::bgfg_mog2_oclsrc, format( "-D CN=%d -D FL=%d -D NMIXTURES=%d", nchannels, isFloat, nmixtures));
if (kernel_apply.empty() || kernel_getBg.empty())
opencl_ON = false;
......@@ -387,6 +389,9 @@ protected:
String name_;
template <typename T, int CN>
void getBackgroundImage_intern(OutputArray backgroundImage) const;
#ifdef HAVE_OPENCL
bool ocl_getBackgroundImage(OutputArray backgroundImage) const;
bool ocl_apply(InputArray _image, OutputArray _fgmask, double learningRate=-1);
......@@ -803,8 +808,6 @@ bool BackgroundSubtractorMOG2Impl::ocl_apply(InputArray _image, OutputArray _fgm
bool BackgroundSubtractorMOG2Impl::ocl_getBackgroundImage(OutputArray _backgroundImage) const
{
CV_Assert(frameType == CV_8UC1 || frameType == CV_8UC3);
_backgroundImage.create(frameSize, frameType);
UMat dst = _backgroundImage.getUMat();
......@@ -823,7 +826,8 @@ bool BackgroundSubtractorMOG2Impl::ocl_getBackgroundImage(OutputArray _backgroun
void BackgroundSubtractorMOG2Impl::create_ocl_apply_kernel()
{
int nchannels = CV_MAT_CN(frameType);
String opts = format("-D CN=%d -D NMIXTURES=%d%s", nchannels, nmixtures, bShadowDetection ? " -D SHADOW_DETECT" : "");
bool isFloat = CV_MAKETYPE(CV_32F,nchannels) == frameType;
String opts = format("-D CN=%d -D FL=%d -D NMIXTURES=%d%s", nchannels, isFloat, nmixtures, bShadowDetection ? " -D SHADOW_DETECT" : "");
kernel_apply.create("mog2_kernel", ocl::video::bgfg_mog2_oclsrc, opts);
}
......@@ -866,25 +870,14 @@ void BackgroundSubtractorMOG2Impl::apply(InputArray _image, OutputArray _fgmask,
image.total()/(double)(1 << 16));
}
void BackgroundSubtractorMOG2Impl::getBackgroundImage(OutputArray backgroundImage) const
template <typename T, int CN>
void BackgroundSubtractorMOG2Impl::getBackgroundImage_intern(OutputArray backgroundImage) const
{
#ifdef HAVE_OPENCL
if (opencl_ON)
{
CV_OCL_RUN(opencl_ON, ocl_getBackgroundImage(backgroundImage))
opencl_ON = false;
return;
}
#endif
int nchannels = CV_MAT_CN(frameType);
CV_Assert(nchannels == 1 || nchannels == 3);
Mat meanBackground(frameSize, CV_MAKETYPE(CV_8U, nchannels), Scalar::all(0));
Mat meanBackground(frameSize, frameType, Scalar::all(0));
int firstGaussianIdx = 0;
const GMM* gmm = bgmodel.ptr<GMM>();
const float* mean = reinterpret_cast<const float*>(gmm + frameSize.width*frameSize.height*nmixtures);
std::vector<float> meanVal(nchannels, 0.f);
Vec<float,CN> meanVal(0.f);
for(int row=0; row<meanBackground.rows; row++)
{
for(int col=0; col<meanBackground.cols; col++)
......@@ -894,10 +887,10 @@ void BackgroundSubtractorMOG2Impl::getBackgroundImage(OutputArray backgroundImag
for(int gaussianIdx = firstGaussianIdx; gaussianIdx < firstGaussianIdx + nmodes; gaussianIdx++)
{
GMM gaussian = gmm[gaussianIdx];
size_t meanPosition = gaussianIdx*nchannels;
for(int chn = 0; chn < nchannels; chn++)
size_t meanPosition = gaussianIdx*CN;
for(int chn = 0; chn < CN; chn++)
{
meanVal[chn] += gaussian.weight * mean[meanPosition + chn];
meanVal(chn) += gaussian.weight * mean[meanPosition + chn];
}
totalWeight += gaussian.weight;
......@@ -905,24 +898,46 @@ void BackgroundSubtractorMOG2Impl::getBackgroundImage(OutputArray backgroundImag
break;
}
float invWeight = 1.f/totalWeight;
switch(nchannels)
{
case 1:
meanBackground.at<uchar>(row, col) = (uchar)(meanVal[0] * invWeight);
meanVal[0] = 0.f;
break;
case 3:
Vec3f& meanVec = *reinterpret_cast<Vec3f*>(&meanVal[0]);
meanBackground.at<Vec3b>(row, col) = Vec3b(meanVec * invWeight);
meanVec = 0.f;
break;
}
meanBackground.at<Vec<T,CN> >(row, col) = Vec<T,CN>(meanVal * invWeight);
meanVal = 0.f;
firstGaussianIdx += nmixtures;
}
}
meanBackground.copyTo(backgroundImage);
}
void BackgroundSubtractorMOG2Impl::getBackgroundImage(OutputArray backgroundImage) const
{
CV_Assert(frameType == CV_8UC1 || frameType == CV_8UC3 || frameType == CV_32FC1 || frameType == CV_32FC3);
#ifdef HAVE_OPENCL
if (opencl_ON)
{
CV_OCL_RUN(opencl_ON, ocl_getBackgroundImage(backgroundImage))
opencl_ON = false;
}
#endif
switch(frameType)
{
case CV_8UC1:
getBackgroundImage_intern<uchar,1>(backgroundImage);
break;
case CV_8UC3:
getBackgroundImage_intern<uchar,3>(backgroundImage);
break;
case CV_32FC1:
getBackgroundImage_intern<float,1>(backgroundImage);
break;
case CV_32FC3:
getBackgroundImage_intern<float,3>(backgroundImage);
break;
}
}
Ptr<BackgroundSubtractorMOG2> createBackgroundSubtractorMOG2(int _history, double _varThreshold,
bool _bShadowDetection)
{
......
modules/video/src/opencl/bgfg_mog2.cl
View file @ 78475a47
......@@ -5,7 +5,11 @@
#define cnMode 1
#define frameToMean(a, b) (b) = *(a);
#if FL==0
#define meanToFrame(a, b) *b = convert_uchar_sat(a);
#else
#define meanToFrame(a, b) *b = (float)a;
#endif
inline float sum(float val)
{
......@@ -18,10 +22,17 @@ inline float sum(float val)
#define F_ZERO (0.0f, 0.0f, 0.0f, 0.0f)
#define cnMode 4
#if FL == 0
#define meanToFrame(a, b)\
b[0] = convert_uchar_sat(a.x); \
b[1] = convert_uchar_sat(a.y); \
b[2] = convert_uchar_sat(a.z);
#else
#define meanToFrame(a, b)\
b[0] = a.x; \
b[1] = a.y; \
b[2] = a.z;
#endif
#define frameToMean(a, b)\
b.x = a[0]; \
......@@ -55,7 +66,11 @@ __kernel void mog2_kernel(__global const uchar* frame, int frame_step, int frame
if( x < frame_col && y < frame_row)
{
#if FL==0
__global const uchar* _frame = (frame + mad24(y, frame_step, mad24(x, CN, frame_offset)));
#else
__global const float* _frame = ((__global const float*)( frame + mad24(y, frame_step, frame_offset)) + mad24(x, CN, 0));
#endif
T_MEAN pix;
frameToMean(_frame, pix);
......@@ -267,7 +282,13 @@ __kernel void getBackgroundImage2_kernel(__global const uchar* modesUsed,
meanVal = meanVal / totalWeight;
else
meanVal = (T_MEAN)(0.f);
#if FL==0
__global uchar* _dst = dst + mad24(y, dst_step, mad24(x, CN, dst_offset));
meanToFrame(meanVal, _dst);
#else
__global float* _dst = ((__global float*)( dst + mad24(y, dst_step, dst_offset)) + mad24(x, CN, 0));
meanToFrame(meanVal, _dst);
#endif
}
}
\ No newline at end of file
}
modules/video/test/ocl/test_bgfg_mog2.cpp
View file @ 78475a47
......@@ -26,16 +26,19 @@ namespace
{
IMPLEMENT_PARAM_CLASS(UseGray, bool)
IMPLEMENT_PARAM_CLASS(DetectShadow, bool)
IMPLEMENT_PARAM_CLASS(UseFloat, bool)
}
PARAM_TEST_CASE(Mog2_Update, UseGray, DetectShadow)
PARAM_TEST_CASE(Mog2_Update, UseGray, DetectShadow,UseFloat)
{
bool useGray;
bool detectShadow;
bool useFloat;
virtual void SetUp()
{
useGray = GET_PARAM(0);
detectShadow = GET_PARAM(1);
useFloat = GET_PARAM(2);
}
};
......@@ -66,6 +69,13 @@ OCL_TEST_P(Mog2_Update, Accuracy)
swap(temp, frame);
}
if(useFloat)
{
Mat temp;
frame.convertTo(temp,CV_32F);
swap(temp,frame);
}
OCL_OFF(mog2_cpu->apply(frame, foreground));
OCL_ON (mog2_ocl->apply(frame, u_foreground));
......@@ -78,12 +88,14 @@ OCL_TEST_P(Mog2_Update, Accuracy)
//////////////////////////Mog2_getBackgroundImage///////////////////////////////////
PARAM_TEST_CASE(Mog2_getBackgroundImage, DetectShadow)
PARAM_TEST_CASE(Mog2_getBackgroundImage, DetectShadow, UseFloat)
{
bool detectShadow;
bool useFloat;
virtual void SetUp()
{
detectShadow = GET_PARAM(0);
useFloat = GET_PARAM(1);
}
};
......@@ -107,6 +119,13 @@ OCL_TEST_P(Mog2_getBackgroundImage, Accuracy)
cap >> frame;
ASSERT_FALSE(frame.empty());
if(useFloat)
{
Mat temp;
frame.convertTo(temp,CV_32F);
swap(temp,frame);
}
OCL_OFF(mog2_cpu->apply(frame, foreground));
OCL_ON (mog2_ocl->apply(frame, u_foreground));
}
......@@ -123,11 +142,14 @@ OCL_TEST_P(Mog2_getBackgroundImage, Accuracy)
///////////////////////////////////////////////////////////////////////////////////////////
OCL_INSTANTIATE_TEST_CASE_P(OCL_Video, Mog2_Update, Combine(
Values(UseGray(true), UseGray(false)),
Values(DetectShadow(true), DetectShadow(false)))
Values(UseGray(true),UseGray(false)),
Values(DetectShadow(true), DetectShadow(false)),
Values(UseFloat(false),UseFloat(true)))
);
OCL_INSTANTIATE_TEST_CASE_P(OCL_Video, Mog2_getBackgroundImage, (Values(DetectShadow(true), DetectShadow(false)))
OCL_INSTANTIATE_TEST_CASE_P(OCL_Video, Mog2_getBackgroundImage, Combine(
Values(DetectShadow(true), DetectShadow(false)),
Values(UseFloat(false),UseFloat(true)))
);
}}// namespace cvtest::ocl
......
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