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Commit f1060ac5 authored by yao's avatar yao
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a little simplify to pyrlk kernel

parent cdd9234f
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Showing with 464 additions and 585 deletions
modules/ocl/perf/perf_opticalflow.cpp
View file @ f1060ac5
......@@ -48,8 +48,8 @@
///////////// PyrLKOpticalFlow ////////////////////////
PERFTEST(PyrLKOpticalFlow)
{
std::string images1[] = {"rubberwhale1.png", "basketball1.png"};
std::string images2[] = {"rubberwhale2.png", "basketball2.png"};
std::string images1[] = {"rubberwhale1.png", "aloeL.jpg"};
std::string images2[] = {"rubberwhale2.png", "aloeR.jpg"};
for (size_t i = 0; i < sizeof(images1) / sizeof(std::string); i++)
{
......
modules/ocl/src/opencl/pyrlk.cl
View file @ f1060ac5
......@@ -17,6 +17,7 @@
// @Authors
// Dachuan Zhao, dachuan@multicorewareinc.com
// Yao Wang, bitwangyaoyao@gmail.com
// Xiaopeng Fu, fuxiaopeng2222@163.com
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
......@@ -47,6 +48,7 @@
//#pragma OPENCL EXTENSION cl_amd_printf : enable
#define BUFFER 64
#define BUFFER2 BUFFER>>1
#ifndef WAVE_SIZE
#define WAVE_SIZE 1
#endif
......@@ -58,53 +60,16 @@ void reduce3(float val1, float val2, float val3, __local float* smem1, __local
smem3[tid] = val3;
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 32)
{
smem1[tid] += smem1[tid + 32];
smem2[tid] += smem2[tid + 32];
smem3[tid] += smem3[tid + 32];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 16)
{
smem1[tid] += smem1[tid + 16];
smem2[tid] += smem2[tid + 16];
smem3[tid] += smem3[tid + 16];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8)
{
smem1[tid] += smem1[tid + 8];
smem2[tid] += smem2[tid + 8];
smem3[tid] += smem3[tid + 8];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 4)
{
smem1[tid] += smem1[tid + 4];
smem2[tid] += smem2[tid + 4];
smem3[tid] += smem3[tid + 4];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 2)
{
smem1[tid] += smem1[tid + 2];
smem2[tid] += smem2[tid + 2];
smem3[tid] += smem3[tid + 2];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 1)
for(int i = BUFFER2; i > 0; i >>= 1)
{
smem1[BUFFER] = smem1[tid] + smem1[tid + 1];
smem2[BUFFER] = smem2[tid] + smem2[tid + 1];
smem3[BUFFER] = smem3[tid] + smem3[tid + 1];
if(tid < i)
{
smem1[tid] += smem1[tid + i];
smem2[tid] += smem2[tid + i];
smem3[tid] += smem3[tid + i];
}
barrier(CLK_LOCAL_MEM_FENCE);
}
barrier(CLK_LOCAL_MEM_FENCE);
}
void reduce2(float val1, float val2, volatile __local float* smem1, volatile __local float* smem2, int tid)
......@@ -113,47 +78,15 @@ void reduce2(float val1, float val2, volatile __local float* smem1, volatile __l
smem2[tid] = val2;
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 32)
{
smem1[tid] += smem1[tid + 32];
smem2[tid] += smem2[tid + 32];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 16)
for(int i = BUFFER2; i > 0; i >>= 1)
{
smem1[tid] += smem1[tid + 16];
smem2[tid] += smem2[tid + 16];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8)
{
smem1[tid] += smem1[tid + 8];
smem2[tid] += smem2[tid + 8];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 4)
{
smem1[tid] += smem1[tid + 4];
smem2[tid] += smem2[tid + 4];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 2)
{
smem1[tid] += smem1[tid + 2];
smem2[tid] += smem2[tid + 2];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 1)
{
smem1[BUFFER] = smem1[tid] + smem1[tid + 1];
smem2[BUFFER] = smem2[tid] + smem2[tid + 1];
if(tid < i)
{
smem1[tid] += smem1[tid + i];
smem2[tid] += smem2[tid + i];
}
barrier(CLK_LOCAL_MEM_FENCE);
}
barrier(CLK_LOCAL_MEM_FENCE);
}
void reduce1(float val1, volatile __local float* smem1, int tid)
......@@ -161,45 +94,18 @@ void reduce1(float val1, volatile __local float* smem1, int tid)
smem1[tid] = val1;
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 32)
for(int i = BUFFER2; i > 0; i >>= 1)
{
smem1[tid] += smem1[tid + 32];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 16)
{
smem1[tid] += smem1[tid + 16];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8)
{
smem1[tid] += smem1[tid + 8];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 4)
{
smem1[tid] += smem1[tid + 4];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 2)
{
smem1[tid] += smem1[tid + 2];
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 1)
{
smem1[BUFFER] = smem1[tid] + smem1[tid + 1];
if(tid < i)
{
smem1[tid] += smem1[tid + i];
}
barrier(CLK_LOCAL_MEM_FENCE);
}
barrier(CLK_LOCAL_MEM_FENCE);
}
#else
void reduce3(float val1, float val2, float val3,
__local volatile float* smem1, __local volatile float* smem2, __local volatile float* smem3, int tid)
void reduce3(float val1, float val2, float val3,
__local volatile float* smem1, __local volatile float* smem2, __local volatile float* smem3, int tid)
{
smem1[tid] = val1;
smem2[tid] = val2;
......@@ -212,15 +118,19 @@ __local volatile float* smem1, __local volatile float* smem2, __local volatile f
smem2[tid] += smem2[tid + 32];
smem3[tid] += smem3[tid + 32];
#if WAVE_SIZE < 32
} barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 16) {
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 16)
{
#endif
smem1[tid] += smem1[tid + 16];
smem2[tid] += smem2[tid + 16];
smem3[tid] += smem3[tid + 16];
#if WAVE_SIZE <16
} barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8) {
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8)
{
#endif
smem1[tid] += smem1[tid + 8];
smem2[tid] += smem2[tid + 8];
......@@ -238,6 +148,7 @@ __local volatile float* smem1, __local volatile float* smem2, __local volatile f
smem2[tid] += smem2[tid + 1];
smem3[tid] += smem3[tid + 1];
}
barrier(CLK_LOCAL_MEM_FENCE);
}
void reduce2(float val1, float val2, __local volatile float* smem1, __local volatile float* smem2, int tid)
......@@ -251,14 +162,18 @@ void reduce2(float val1, float val2, __local volatile float* smem1, __local vola
smem1[tid] += smem1[tid + 32];
smem2[tid] += smem2[tid + 32];
#if WAVE_SIZE < 32
} barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 16) {
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 16)
{
#endif
smem1[tid] += smem1[tid + 16];
smem2[tid] += smem2[tid + 16];
#if WAVE_SIZE <16
} barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8) {
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8)
{
#endif
smem1[tid] += smem1[tid + 8];
smem2[tid] += smem2[tid + 8];
......@@ -272,6 +187,7 @@ void reduce2(float val1, float val2, __local volatile float* smem1, __local vola
smem1[tid] += smem1[tid + 1];
smem2[tid] += smem2[tid + 1];
}
barrier(CLK_LOCAL_MEM_FENCE);
}
void reduce1(float val1, __local volatile float* smem1, int tid)
......@@ -283,19 +199,24 @@ void reduce1(float val1, __local volatile float* smem1, int tid)
{
smem1[tid] += smem1[tid + 32];
#if WAVE_SIZE < 32
} barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 16) {
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 16)
{
#endif
smem1[tid] += smem1[tid + 16];
#if WAVE_SIZE <16
} barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8) {
}
barrier(CLK_LOCAL_MEM_FENCE);
if (tid < 8)
{
#endif
smem1[tid] += smem1[tid + 8];
smem1[tid] += smem1[tid + 4];
smem1[tid] += smem1[tid + 2];
smem1[tid] += smem1[tid + 1];
}
barrier(CLK_LOCAL_MEM_FENCE);
}
#endif
......@@ -306,106 +227,100 @@ void reduce1(float val1, __local volatile float* smem1, int tid)
__constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_LINEAR;
void SetPatch(image2d_t I, float x, float y,
float* Pch, float* Dx, float* Dy,
float* A11, float* A12, float* A22)
float* Pch, float* Dx, float* Dy,
float* A11, float* A12, float* A22)
{
*Pch = read_imagef(I, sampler, (float2)(x, y)).x;
*Pch = read_imagef(I, sampler, (float2)(x, y)).x;
float dIdx = 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x + 1, y)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)).x -
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x - 1, y)).x + 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)).x);
float dIdx = 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x + 1, y)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)).x -
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x - 1, y)).x + 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)).x);
float dIdy = 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x, y + 1)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)).x -
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x, y - 1)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)).x);
float dIdy = 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x, y + 1)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)).x -
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x, y - 1)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)).x);
*Dx = dIdx;
*Dy = dIdy;
*Dx = dIdx;
*Dy = dIdy;
*A11 += dIdx * dIdx;
*A12 += dIdx * dIdy;
*A22 += dIdy * dIdy;
*A11 += dIdx * dIdx;
*A12 += dIdx * dIdy;
*A22 += dIdy * dIdy;
}
void GetPatch(image2d_t J, float x, float y,
float* Pch, float* Dx, float* Dy,
float* b1, float* b2)
float* Pch, float* Dx, float* Dy,
float* b1, float* b2)
{
float J_val = read_imagef(J, sampler, (float2)(x, y)).x;
float diff = (J_val - *Pch) * 32.0f;
*b1 += diff**Dx;
*b2 += diff**Dy;
float J_val = read_imagef(J, sampler, (float2)(x, y)).x;
float diff = (J_val - *Pch) * 32.0f;
*b1 += diff**Dx;
*b2 += diff**Dy;
}
void GetError(image2d_t J, const float x, const float y, const float* Pch, float* errval)
{
float diff = read_imagef(J, sampler, (float2)(x,y)).x-*Pch;
*errval += fabs(diff);
float diff = read_imagef(J, sampler, (float2)(x,y)).x-*Pch;
*errval += fabs(diff);
}
void SetPatch4(image2d_t I, const float x, const float y,
float4* Pch, float4* Dx, float4* Dy,
float* A11, float* A12, float* A22)
float4* Pch, float4* Dx, float4* Dy,
float* A11, float* A12, float* A22)
{
*Pch = read_imagef(I, sampler, (float2)(x, y));
*Pch = read_imagef(I, sampler, (float2)(x, y));
float4 dIdx = 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)) + 10.0f * read_imagef(I, sampler, (float2)(x + 1, y)) + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)) -
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)) + 10.0f * read_imagef(I, sampler, (float2)(x - 1, y)) + 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)));
float4 dIdx = 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)) + 10.0f * read_imagef(I, sampler, (float2)(x + 1, y)) + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)) -
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)) + 10.0f * read_imagef(I, sampler, (float2)(x - 1, y)) + 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)));
float4 dIdy = 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)) + 10.0f * read_imagef(I, sampler, (float2)(x, y + 1)) + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)) -
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)) + 10.0f * read_imagef(I, sampler, (float2)(x, y - 1)) + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)));
float4 dIdy = 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)) + 10.0f * read_imagef(I, sampler, (float2)(x, y + 1)) + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)) -
(3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)) + 10.0f * read_imagef(I, sampler, (float2)(x, y - 1)) + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)));
*Dx = dIdx;
*Dy = dIdy;
float4 sqIdx = dIdx * dIdx;
*A11 += sqIdx.x + sqIdx.y + sqIdx.z;
sqIdx = dIdx * dIdy;
*A12 += sqIdx.x + sqIdx.y + sqIdx.z;
sqIdx = dIdy * dIdy;
*A22 += sqIdx.x + sqIdx.y + sqIdx.z;
*Dx = dIdx;
*Dy = dIdy;
float4 sqIdx = dIdx * dIdx;
*A11 += sqIdx.x + sqIdx.y + sqIdx.z;
sqIdx = dIdx * dIdy;
*A12 += sqIdx.x + sqIdx.y + sqIdx.z;
sqIdx = dIdy * dIdy;
*A22 += sqIdx.x + sqIdx.y + sqIdx.z;
}
void GetPatch4(image2d_t J, const float x, const float y,
const float4* Pch, const float4* Dx, const float4* Dy,
float* b1, float* b2)
const float4* Pch, const float4* Dx, const float4* Dy,
float* b1, float* b2)
{
float4 J_val = read_imagef(J, sampler, (float2)(x, y));
float4 diff = (J_val - *Pch) * 32.0f;
float4 xdiff = diff* *Dx;
*b1 += xdiff.x + xdiff.y + xdiff.z;
xdiff = diff* *Dy;
*b2 += xdiff.x + xdiff.y + xdiff.z;
float4 J_val = read_imagef(J, sampler, (float2)(x, y));
float4 diff = (J_val - *Pch) * 32.0f;
float4 xdiff = diff* *Dx;
*b1 += xdiff.x + xdiff.y + xdiff.z;
xdiff = diff* *Dy;
*b2 += xdiff.x + xdiff.y + xdiff.z;
}
void GetError4(image2d_t J, const float x, const float y, const float4* Pch, float* errval)
{
float4 diff = read_imagef(J, sampler, (float2)(x,y))-*Pch;
*errval += fabs(diff.x) + fabs(diff.y) + fabs(diff.z);
float4 diff = read_imagef(J, sampler, (float2)(x,y))-*Pch;
*errval += fabs(diff.x) + fabs(diff.y) + fabs(diff.z);
}
#define GRIDSIZE 3
__kernel void lkSparse_C1_D5(image2d_t I, image2d_t J,
__global const float2* prevPts, int prevPtsStep, __global float2* nextPts, int nextPtsStep, __global uchar* status, __global float* err,
const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int cn, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr)
__global const float2* prevPts, int prevPtsStep, __global float2* nextPts, int nextPtsStep, __global uchar* status, __global float* err,
const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int cn, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr)
{
#ifdef CPU
__local float smem1[BUFFER+1];
__local float smem2[BUFFER+1];
__local float smem3[BUFFER+1];
#else
__local float smem1[BUFFER];
__local float smem2[BUFFER];
__local float smem3[BUFFER];
#endif
unsigned int xid=get_local_id(0);
unsigned int yid=get_local_id(1);
unsigned int gid=get_group_id(0);
unsigned int xsize=get_local_size(0);
unsigned int ysize=get_local_size(1);
int xBase, yBase, i, j, k;
unsigned int xid=get_local_id(0);
unsigned int yid=get_local_id(1);
unsigned int gid=get_group_id(0);
unsigned int xsize=get_local_size(0);
unsigned int ysize=get_local_size(1);
int xBase, yBase, i, j, k;
float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1);
float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1);
const int tid = mad24(yid, xsize, xid);
......@@ -432,77 +347,71 @@ __kernel void lkSparse_C1_D5(image2d_t I, image2d_t J,
float dIdx_patch[GRIDSIZE][GRIDSIZE];
float dIdy_patch[GRIDSIZE][GRIDSIZE];
yBase=yid;
{
xBase=xid;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
&A11, &A12, &A22);
}
yBase+=ysize;
{
xBase=xid;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
&A11, &A12, &A22);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
&A11, &A12, &A22);
}
yBase=yid;
{
xBase=xid;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
&A11, &A12, &A22);
}
yBase+=ysize;
{
xBase=xid;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
&A11, &A12, &A22);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
&A11, &A12, &A22);
}
reduce3(A11, A12, A22, smem1, smem2, smem3, tid);
barrier(CLK_LOCAL_MEM_FENCE);
#ifdef CPU
A11 = smem1[BUFFER];
A12 = smem2[BUFFER];
A22 = smem3[BUFFER];
#else
A11 = smem1[0];
A12 = smem2[0];
A22 = smem3[0];
#endif
barrier(CLK_LOCAL_MEM_FENCE);
float D = A11 * A22 - A12 * A12;
......@@ -532,81 +441,76 @@ __kernel void lkSparse_C1_D5(image2d_t I, image2d_t J,
float b1 = 0;
float b2 = 0;
yBase=yid;
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
&b1, &b2);
}
yBase+=ysize;
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
&b1, &b2);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
&b1, &b2);
}
yBase=yid;
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
&b1, &b2);
}
yBase+=ysize;
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
&b1, &b2);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0],
&b1, &b2);
xBase+=xsize;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
&b1, &b2);
}
reduce2(b1, b2, smem1, smem2, tid);
barrier(CLK_LOCAL_MEM_FENCE);
#ifdef CPU
b1 = smem1[BUFFER];
b2 = smem2[BUFFER];
#else
b1 = smem1[0];
b2 = smem2[0];
#endif
barrier(CLK_LOCAL_MEM_FENCE);
float2 delta;
delta.x = A12 * b2 - A22 * b1;
delta.y = A12 * b1 - A11 * b2;
prevPt += delta;
prevPt += delta;
if (fabs(delta.x) < THRESHOLD && fabs(delta.y) < THRESHOLD)
break;
......@@ -615,97 +519,87 @@ __kernel void lkSparse_C1_D5(image2d_t I, image2d_t J,
D = 0.0f;
if (calcErr)
{
yBase=yid;
{
xBase=xid;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][0], &D);
xBase+=xsize;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][1], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][2], &D);
}
yBase+=ysize;
{
xBase=xid;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][0], &D);
xBase+=xsize;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][1], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][2], &D);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][0], &D);
xBase+=xsize;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][1], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][2], &D);
}
yBase=yid;
{
xBase=xid;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][0], &D);
xBase+=xsize;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][1], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[0][2], &D);
}
yBase+=ysize;
{
xBase=xid;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][0], &D);
xBase+=xsize;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][1], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[1][2], &D);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][0], &D);
xBase+=xsize;
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][1], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&I_patch[2][2], &D);
}
reduce1(D, smem1, tid);
}
if (tid == 0)
{
prevPt += c_halfWin;
prevPt += c_halfWin;
nextPts[gid] = prevPt;
if (calcErr)
#ifdef CPU
err[gid] = smem1[BUFFER] / (float)(c_winSize_x * c_winSize_y);
#else
err[gid] = smem1[0] / (float)(c_winSize_x * c_winSize_y);
#endif
}
}
__kernel void lkSparse_C4_D5(image2d_t I, image2d_t J,
__global const float2* prevPts, int prevPtsStep, __global float2* nextPts, int nextPtsStep, __global uchar* status, __global float* err,
const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int cn, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr)
__global const float2* prevPts, int prevPtsStep, __global float2* nextPts, int nextPtsStep, __global uchar* status, __global float* err,
const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int cn, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr)
{
#ifdef CPU
__local float smem1[BUFFER+1];
__local float smem2[BUFFER+1];
__local float smem3[BUFFER+1];
#else
__local float smem1[BUFFER];
__local float smem2[BUFFER];
__local float smem3[BUFFER];
#endif
__local float smem1[BUFFER];
__local float smem2[BUFFER];
__local float smem3[BUFFER];
unsigned int xid=get_local_id(0);
unsigned int yid=get_local_id(1);
unsigned int gid=get_group_id(0);
unsigned int xsize=get_local_size(0);
unsigned int ysize=get_local_size(1);
int xBase, yBase, i, j, k;
unsigned int xid=get_local_id(0);
unsigned int yid=get_local_id(1);
unsigned int gid=get_group_id(0);
unsigned int xsize=get_local_size(0);
unsigned int ysize=get_local_size(1);
int xBase, yBase, i, j, k;
float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1);
float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1);
const int tid = mad24(yid, xsize, xid);
......@@ -721,7 +615,7 @@ __kernel void lkSparse_C4_D5(image2d_t I, image2d_t J,
return;
}
nextPt -= c_halfWin;
nextPt -= c_halfWin;
// extract the patch from the first image, compute covariation matrix of derivatives
......@@ -732,80 +626,74 @@ __kernel void lkSparse_C4_D5(image2d_t I, image2d_t J,
float4 I_patch[8];
float4 dIdx_patch[8];
float4 dIdy_patch[8];
float4 I_add,Dx_add,Dy_add;
float4 I_add,Dx_add,Dy_add;
yBase=yid;
{
xBase=xid;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[0], &dIdx_patch[0], &dIdy_patch[0],
&A11, &A12, &A22);
yBase=yid;
{
xBase=xid;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[0], &dIdx_patch[0], &dIdy_patch[0],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[1], &dIdx_patch[1], &dIdy_patch[1],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[1], &dIdx_patch[1], &dIdy_patch[1],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[2], &dIdx_patch[2], &dIdy_patch[2],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[2], &dIdx_patch[2], &dIdy_patch[2],
&A11, &A12, &A22);
}
yBase+=ysize;
{
xBase=xid;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[3], &dIdx_patch[3], &dIdy_patch[3],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[4], &dIdx_patch[4], &dIdy_patch[4],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[5], &dIdx_patch[5], &dIdy_patch[5],
&A11, &A12, &A22);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[6], &dIdx_patch[6], &dIdy_patch[6],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[7], &dIdx_patch[7], &dIdy_patch[7],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_add, &Dx_add, &Dy_add,
&A11, &A12, &A22);
}
}
yBase+=ysize;
{
xBase=xid;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[3], &dIdx_patch[3], &dIdy_patch[3],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[4], &dIdx_patch[4], &dIdy_patch[4],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[5], &dIdx_patch[5], &dIdy_patch[5],
&A11, &A12, &A22);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[6], &dIdx_patch[6], &dIdy_patch[6],
&A11, &A12, &A22);
xBase+=xsize;
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[7], &dIdx_patch[7], &dIdy_patch[7],
&A11, &A12, &A22);
xBase+=xsize;
if(xBase<c_winSize_x)
SetPatch4(I, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_add, &Dx_add, &Dy_add,
&A11, &A12, &A22);
}
reduce3(A11, A12, A22, smem1, smem2, smem3, tid);
barrier(CLK_LOCAL_MEM_FENCE);
#ifdef CPU
A11 = smem1[BUFFER];
A12 = smem2[BUFFER];
A22 = smem3[BUFFER];
#else
A11 = smem1[0];
A12 = smem2[0];
A22 = smem3[0];
#endif
barrier(CLK_LOCAL_MEM_FENCE);
float D = A11 * A22 - A12 * A12;
......@@ -821,7 +709,7 @@ __kernel void lkSparse_C4_D5(image2d_t I, image2d_t J,
A12 /= D;
A22 /= D;
nextPt = nextPts[gid] * 2.0f - c_halfWin;
nextPt = nextPts[gid] * 2.0f - c_halfWin;
for (k = 0; k < c_iters; ++k)
{
......@@ -835,81 +723,76 @@ __kernel void lkSparse_C4_D5(image2d_t I, image2d_t J,
float b1 = 0;
float b2 = 0;
yBase=yid;
{
xBase=xid;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[0], &dIdx_patch[0], &dIdy_patch[0],
&b1, &b2);
xBase+=xsize;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[1], &dIdx_patch[1], &dIdy_patch[1],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[2], &dIdx_patch[2], &dIdy_patch[2],
&b1, &b2);
}
yBase+=ysize;
{
xBase=xid;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[3], &dIdx_patch[3], &dIdy_patch[3],
&b1, &b2);
xBase+=xsize;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[4], &dIdx_patch[4], &dIdy_patch[4],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[5], &dIdx_patch[5], &dIdy_patch[5],
&b1, &b2);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[6], &dIdx_patch[6], &dIdy_patch[6],
&b1, &b2);
xBase+=xsize;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[7], &dIdx_patch[7], &dIdy_patch[7],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_add, &Dx_add, &Dy_add,
&b1, &b2);
}
yBase=yid;
{
xBase=xid;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[0], &dIdx_patch[0], &dIdy_patch[0],
&b1, &b2);
xBase+=xsize;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[1], &dIdx_patch[1], &dIdy_patch[1],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[2], &dIdx_patch[2], &dIdy_patch[2],
&b1, &b2);
}
yBase+=ysize;
{
xBase=xid;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[3], &dIdx_patch[3], &dIdy_patch[3],
&b1, &b2);
xBase+=xsize;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[4], &dIdx_patch[4], &dIdy_patch[4],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[5], &dIdx_patch[5], &dIdy_patch[5],
&b1, &b2);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[6], &dIdx_patch[6], &dIdy_patch[6],
&b1, &b2);
xBase+=xsize;
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[7], &dIdx_patch[7], &dIdy_patch[7],
&b1, &b2);
xBase+=xsize;
if(xBase<c_winSize_x)
GetPatch4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_add, &Dx_add, &Dy_add,
&b1, &b2);
}
reduce2(b1, b2, smem1, smem2, tid);
barrier(CLK_LOCAL_MEM_FENCE);
#ifdef CPU
b1 = smem1[BUFFER];
b2 = smem2[BUFFER];
#else
b1 = smem1[0];
b2 = smem2[0];
#endif
barrier(CLK_LOCAL_MEM_FENCE);
float2 delta;
delta.x = A12 * b2 - A22 * b1;
delta.y = A12 * b1 - A11 * b2;
nextPt +=delta;
nextPt +=delta;
if (fabs(delta.x) < THRESHOLD && fabs(delta.y) < THRESHOLD)
break;
......@@ -918,78 +801,74 @@ __kernel void lkSparse_C4_D5(image2d_t I, image2d_t J,
D = 0.0f;
if (calcErr)
{
yBase=yid;
{
xBase=xid;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[0], &D);
xBase+=xsize;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[1], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[2], &D);
}
yBase+=ysize;
{
xBase=xid;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[3], &D);
xBase+=xsize;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[4], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[5], &D);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[6], &D);
xBase+=xsize;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[7], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_add, &D);
}
yBase=yid;
{
xBase=xid;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[0], &D);
xBase+=xsize;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[1], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[2], &D);
}
yBase+=ysize;
{
xBase=xid;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[3], &D);
xBase+=xsize;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[4], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[5], &D);
}
yBase+=ysize;
if(yBase<c_winSize_y)
{
xBase=xid;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[6], &D);
xBase+=xsize;
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_patch[7], &D);
xBase+=xsize;
if(xBase<c_winSize_x)
GetError4(J, nextPt.x + xBase + 0.5f, nextPt.y + yBase + 0.5f,
&I_add, &D);
}
reduce1(D, smem1, tid);
}
if (tid == 0)
{
nextPt += c_halfWin;
nextPt += c_halfWin;
nextPts[gid] = nextPt;
if (calcErr)
#ifdef CPU
err[gid] = smem1[BUFFER] / (float)(3 * c_winSize_x * c_winSize_y);
#else
err[gid] = smem1[0] / (float)(3 * c_winSize_x * c_winSize_y);
#endif
}
}
__kernel void lkDense_C1_D0(image2d_t I, image2d_t J, __global float* u, int uStep, __global float* v, int vStep, __global const float* prevU, int prevUStep, __global const float* prevV, int prevVStep,
const int rows, const int cols, /*__global float* err, int errStep, int cn,*/ int c_winSize_x, int c_winSize_y, int c_iters, char calcErr)
const int rows, const int cols, /*__global float* err, int errStep, int cn,*/ int c_winSize_x, int c_winSize_y, int c_iters, char calcErr)
{
int c_halfWin_x = (c_winSize_x - 1) / 2;
int c_halfWin_y = (c_winSize_y - 1) / 2;
int c_halfWin_x = (c_winSize_x - 1) / 2;
int c_halfWin_y = (c_winSize_y - 1) / 2;
const int patchWidth = get_local_size(0) + 2 * c_halfWin_x;
const int patchHeight = get_local_size(1) + 2 * c_halfWin_y;
......@@ -1003,7 +882,7 @@ __kernel void lkDense_C1_D0(image2d_t I, image2d_t J, __global float* u, int uSt
const int xBase = get_group_id(0) * get_local_size(0);
const int yBase = get_group_id(1) * get_local_size(1);
sampler_t sampleri = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_NEAREST;
sampler_t sampleri = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_NEAREST;
for (int i = get_local_id(1); i < patchHeight; i += get_local_size(1))
{
......@@ -1017,10 +896,10 @@ __kernel void lkDense_C1_D0(image2d_t I, image2d_t J, __global float* u, int uSt
// Sharr Deriv
dIdx_patch[i * patchWidth + j] = 3 * read_imagei(I, sampleri, (float2)(x+1, y-1)).x + 10 * read_imagei(I, sampleri, (float2)(x+1, y)).x + 3 * read_imagei(I, sampleri, (float2)(x+1, y+1)).x -
(3 * read_imagei(I, sampleri, (float2)(x-1, y-1)).x + 10 * read_imagei(I, sampleri, (float2)(x-1, y)).x + 3 * read_imagei(I, sampleri, (float2)(x-1, y+1)).x);
(3 * read_imagei(I, sampleri, (float2)(x-1, y-1)).x + 10 * read_imagei(I, sampleri, (float2)(x-1, y)).x + 3 * read_imagei(I, sampleri, (float2)(x-1, y+1)).x);
dIdy_patch[i * patchWidth + j] = 3 * read_imagei(I, sampleri, (float2)(x-1, y+1)).x + 10 * read_imagei(I, sampleri, (float2)(x, y+1)).x + 3 * read_imagei(I, sampleri, (float2)(x+1, y+1)).x -
(3 * read_imagei(I, sampleri, (float2)(x-1, y-1)).x + 10 * read_imagei(I, sampleri, (float2)(x, y-1)).x + 3 * read_imagei(I, sampleri, (float2)(x+1, y-1)).x);
(3 * read_imagei(I, sampleri, (float2)(x-1, y-1)).x + 10 * read_imagei(I, sampleri, (float2)(x, y-1)).x + 3 * read_imagei(I, sampleri, (float2)(x+1, y-1)).x);
}
}
barrier(CLK_LOCAL_MEM_FENCE);
......
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