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Commit a63576e7 authored by krodyush's avatar krodyush
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HOST side optimization for GFFT

parent 5d5527d0
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Showing with 50 additions and 153 deletions
modules/ocl/include/opencv2/ocl/ocl.hpp
View file @ a63576e7
......@@ -1381,8 +1381,10 @@ namespace cv
oclMat Dx_;
oclMat Dy_;
oclMat eig_;
oclMat eig_minmax_;
oclMat minMaxbuf_;
oclMat tmpCorners_;
oclMat counter_;
};
inline GoodFeaturesToTrackDetector_OCL::GoodFeaturesToTrackDetector_OCL(int maxCorners_, double qualityLevel_, double minDistance_,
......
modules/ocl/src/gftt.cpp
View file @ a63576e7
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modules/ocl/src/opencl/imgproc_gftt.cl
View file @ a63576e7
......@@ -46,33 +46,26 @@
#ifndef WITH_MASK
#define WITH_MASK 0
#endif
__constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_NEAREST;
inline float ELEM_INT2(image2d_t _eig, int _x, int _y)
{
return read_imagef(_eig, sampler, (int2)(_x, _y)).x;
}
inline float ELEM_FLT2(image2d_t _eig, float2 pt)
{
return read_imagef(_eig, sampler, pt).x;
}
//macro to read eigenvalue matrix
#define GET_SRC_32F(_x, _y) ((__global const float*)(eig + (_y)*eig_pitch))[_x]
__kernel
void findCorners
(
image2d_t eig,
__global const char * mask,
__global float2 * corners,
const int mask_strip,// in pixels
const float threshold,
const int rows,
const int cols,
const int max_count,
__global int * g_counter
__global const char* eig,
const int eig_pitch,
__global const char* mask,
__global float2* corners,
const int mask_strip,// in pixels
__global const float* pMinMax,
const float qualityLevel,
const int rows,
const int cols,
const int max_count,
__global int* g_counter
)
{
float threshold = qualityLevel*pMinMax[1];
const int j = get_global_id(0);
const int i = get_global_id(1);
......@@ -82,39 +75,42 @@ __kernel
#endif
)
{
const float val = ELEM_INT2(eig, j, i);
const float val = GET_SRC_32F(j, i);
if (val > threshold)
{
float maxVal = val;
maxVal = fmax(GET_SRC_32F(j - 1, i - 1), maxVal);
maxVal = fmax(GET_SRC_32F(j , i - 1), maxVal);
maxVal = fmax(GET_SRC_32F(j + 1, i - 1), maxVal);
maxVal = fmax(ELEM_INT2(eig, j - 1, i - 1), maxVal);
maxVal = fmax(ELEM_INT2(eig, j , i - 1), maxVal);
maxVal = fmax(ELEM_INT2(eig, j + 1, i - 1), maxVal);
maxVal = fmax(ELEM_INT2(eig, j - 1, i), maxVal);
maxVal = fmax(ELEM_INT2(eig, j + 1, i), maxVal);
maxVal = fmax(GET_SRC_32F(j - 1, i), maxVal);
maxVal = fmax(GET_SRC_32F(j + 1, i), maxVal);
maxVal = fmax(ELEM_INT2(eig, j - 1, i + 1), maxVal);
maxVal = fmax(ELEM_INT2(eig, j , i + 1), maxVal);
maxVal = fmax(ELEM_INT2(eig, j + 1, i + 1), maxVal);
maxVal = fmax(GET_SRC_32F(j - 1, i + 1), maxVal);
maxVal = fmax(GET_SRC_32F(j , i + 1), maxVal);
maxVal = fmax(GET_SRC_32F(j + 1, i + 1), maxVal);
if (val == maxVal)
{
const int ind = atomic_inc(g_counter);
if (ind < max_count)
corners[ind] = (float2)(j, i);
{// pack and store eigenvalue and its coordinates
corners[ind].x = val;
corners[ind].y = as_float(j|(i<<16));
}
}
}
}
}
#undef GET_SRC_32F
//bitonic sort
__kernel
void sortCorners_bitonicSort
(
image2d_t eig,
__global float2 * corners,
const int count,
const int stage,
......@@ -140,8 +136,8 @@ __kernel
const float2 leftPt = corners[leftId];
const float2 rightPt = corners[rightId];
const float leftVal = ELEM_FLT2(eig, leftPt);
const float rightVal = ELEM_FLT2(eig, rightPt);
const float leftVal = leftPt.x;
const float rightVal = rightPt.x;
const bool compareResult = leftVal > rightVal;
......@@ -152,124 +148,22 @@ __kernel
corners[rightId] = sortOrder ? greater : lesser;
}
//selection sort for gfft
//kernel is ported from Bolt library:
//https://github.com/HSA-Libraries/Bolt/blob/master/include/bolt/cl/sort_kernels.cl
// Local sort will firstly sort elements of each workgroup using selection sort
// its performance is O(n)
__kernel
void sortCorners_selectionSortLocal
(
image2d_t eig,
__global float2 * corners,
const int count,
__local float2 * scratch
)
// this is simple short serial kernel that makes some short reduction and initialization work
// it makes HOST like work to avoid additional sync with HOST to do this short work
// data - input/output float2.
// input data are sevral (min,max) pairs
// output data is one reduced (min,max) pair
// g_counter - counter that have to be initialized by 0 for next findCorner call.
__kernel void arithm_op_minMax_final(__global float * data, int groupnum,__global int * g_counter)
{
int i = get_local_id(0); // index in workgroup
int numOfGroups = get_num_groups(0); // index in workgroup
int groupID = get_group_id(0);
int wg = get_local_size(0); // workgroup size = block size
int n; // number of elements to be processed for this work group
int offset = groupID * wg;
int same = 0;
corners += offset;
n = (groupID == (numOfGroups-1))? (count - wg*(numOfGroups-1)) : wg;
float2 pt1, pt2;
pt1 = corners[min(i, n)];
scratch[i] = pt1;
barrier(CLK_LOCAL_MEM_FENCE);
if(i >= n)
g_counter[0] = 0;
float minVal = data[0];
float maxVal = data[groupnum];
for(int i=1;i<groupnum;++i)
{
return;
minVal = min(minVal,data[i]);
maxVal = max(maxVal,data[i+groupnum]);
}
float val1 = ELEM_FLT2(eig, pt1);
float val2;
int pos = 0;
for (int j=0;j<n;++j)
{
pt2 = scratch[j];
val2 = ELEM_FLT2(eig, pt2);
if(val2 > val1)
pos++;//calculate the rank of this element in this work group
else
{
if(val1 > val2)
continue;
else
{
// val1 and val2 are same
same++;
}
}
}
for (int j=0; j< same; j++)
corners[pos + j] = pt1;
}
__kernel
void sortCorners_selectionSortFinal
(
image2d_t eig,
__global float2 * corners,
const int count
)
{
const int i = get_local_id(0); // index in workgroup
const int numOfGroups = get_num_groups(0); // index in workgroup
const int groupID = get_group_id(0);
const int wg = get_local_size(0); // workgroup size = block size
int pos = 0, same = 0;
const int offset = get_group_id(0) * wg;
const int remainder = count - wg*(numOfGroups-1);
if((offset + i ) >= count)
return;
float2 pt1, pt2;
pt1 = corners[groupID*wg + i];
float val1 = ELEM_FLT2(eig, pt1);
float val2;
for(int j=0; j<numOfGroups-1; j++ )
{
for(int k=0; k<wg; k++)
{
pt2 = corners[j*wg + k];
val2 = ELEM_FLT2(eig, pt2);
if(val1 > val2)
break;
else
{
//Increment only if the value is not the same.
if( val2 > val1 )
pos++;
else
same++;
}
}
}
for(int k=0; k<remainder; k++)
{
pt2 = corners[(numOfGroups-1)*wg + k];
val2 = ELEM_FLT2(eig, pt2);
if(val1 > val2)
break;
else
{
//Don't increment if the value is the same.
//Two elements are same if (*userComp)(jData, iData) and (*userComp)(iData, jData) are both false
if(val2 > val1)
pos++;
else
same++;
}
}
for (int j=0; j< same; j++)
corners[pos + j] = pt1;
}
data[0] = minVal;
data[1] = maxVal;
}
\ No newline at end of file
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