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Commit e349d6d0 authored by tpietruszka's avatar tpietruszka
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Deepflow - unfolded loops; faster, terrible code

parent 9181b2bd
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Showing with 246 additions and 2 deletions
modules/optflow/src/deepflow.cpp
View file @ e349d6d0
......@@ -83,6 +83,8 @@ private:
void smoothnessTerm( const Mat W, const Mat weightsX, const Mat weightsY, Mat b1, Mat b2 );
void sorSolve( const Mat a11, const Mat a12, const Mat a22, const Mat b1, const Mat b2,
const Mat smoothX, const Mat smoothY, Mat dW );
void sorUnfolded( const Mat a11, const Mat a12, const Mat a22, const Mat b1, const Mat b2,
const Mat smoothX, const Mat smoothY, Mat dW );
std::vector<Mat> buildPyramid( const Mat& src );
int interpolationType;
......@@ -461,6 +463,7 @@ void OpticalFlowDeepFlow::smoothnessTerm( const Mat W, const Mat weightsX, const
}
}
}
void OpticalFlowDeepFlow::sorSolve( const Mat a11, const Mat a12, const Mat a22, const Mat b1,
const Mat b2, const Mat smoothX, const Mat smoothY, Mat dW )
{
......@@ -472,6 +475,12 @@ void OpticalFlowDeepFlow::sorSolve( const Mat a11, const Mat a12, const Mat a22,
CV_Assert(smoothX.isContinuous());
CV_Assert(smoothY.isContinuous());
if(dW.cols > 2 && dW.rows > 2)
{
sorUnfolded(a11, a12, a22, b1, b2, smoothX, smoothY, dW );
//more efficient version - this one is mostly for future reference and readability
return;
}
std::vector<Mat> dWChannels(2);
split(dW, dWChannels);
......@@ -580,23 +589,258 @@ void OpticalFlowDeepFlow::sorSolve( const Mat a11, const Mat a12, const Mat a22,
+ psmoothY[o - s] * pdv[o - s]
+ psmoothY[o] * pdv[o + s];
}
A22 = *pa11 + dPsi;
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A22 /= det;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
}
}
}
merge(dWChannels, dW);
}
void OpticalFlowDeepFlow::sorUnfolded( const Mat a11, const Mat a12, const Mat a22, const Mat b1, const Mat b2,
const Mat smoothX, const Mat smoothY, Mat dW )
{
// the same effect as sorSolve(), but written more efficiently
std::vector<Mat> dWChannels(2);
split(dW, dWChannels);
Mat *du = &(dWChannels[0]);
Mat *dv = &(dWChannels[1]);
CV_Assert(du->isContinuous());
CV_Assert(dv->isContinuous());
const float *pa11, *pa12, *pa22, *pb1, *pb2, *psmoothX, *psmoothY;
float *pdu, *pdv;
float sigmaU, sigmaV, dPsi, A11, A22, A12, B1, B2, det;
int cols = dW.cols;
int rows = dW.rows;
int s = dW.cols; // step between rows
int j, i, o; //row, column, offset
for ( int iter = 0; iter < sorIterations; ++iter )
{
pa11 = a11.ptr<float>(0);
pa12 = a12.ptr<float>(0);
pa22 = a22.ptr<float>(0);
pb1 = b1.ptr<float>(0);
pb2 = b2.ptr<float>(0);
psmoothX = smoothX.ptr<float>(0);
psmoothY = smoothY.ptr<float>(0);
pdu = du->ptr<float>(0);
pdv = dv->ptr<float>(0);
// first row
// first column
o=0;
dPsi = psmoothX[o] + psmoothY[o];
sigmaU = psmoothX[o] * pdu[o + 1] + psmoothY[o] * pdu[o + s];
sigmaV = psmoothX[o] * pdv[o + 1] + psmoothY[o] * pdv[o + s];
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
// middle rows
for ( o = 1; o < cols-1; ++o )
{
dPsi = psmoothX[o - 1] + psmoothX[o] + psmoothY[o];
sigmaU = psmoothX[o - 1] * pdu[o - 1]
+ psmoothX[o] * pdu[o + 1] + psmoothY[o] * pdu[o + s];
sigmaV = psmoothX[o - 1] * pdv[o - 1]
+ psmoothX[o] * pdv[o + 1] + psmoothY[o] * pdv[o + s];
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
}
// last column
dPsi = psmoothX[o - 1] + psmoothY[o];
sigmaU = psmoothX[o - 1] * pdu[o - 1]
+ psmoothY[o] * pdu[o + s];
sigmaV = psmoothX[o - 1] * pdv[o - 1]
+ psmoothY[o] * pdv[o + s];
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
++o;
//middle rows
for ( j = 1; j < rows - 1; ++j)
{
// first column
dPsi = psmoothX[o] + psmoothY[o - s] + psmoothY[o];
sigmaU = psmoothX[o] * pdu[o + 1]
+ psmoothY[o - s] * pdu[o - s]
+ psmoothY[o] * pdu[o + s];
sigmaV = psmoothX[o] * pdv[o + 1]
+ psmoothY[o - s] * pdv[o - s]
+ psmoothY[o] * pdv[o + s];
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
++o;
// middle columns
for ( i = 1; i < cols - 1; ++i)
{
dPsi = psmoothX[o - 1] + psmoothX[o] + psmoothY[o - s]
+ psmoothY[o];
sigmaU = psmoothX[o - 1] * pdu[o - 1]
+ psmoothX[o] * pdu[o + 1]
+ psmoothY[o - s] * pdu[o - s]
+ psmoothY[o] * pdu[o + s];
sigmaV = psmoothX[o - 1] * pdv[o - 1]
+ psmoothX[o] * pdv[o + 1]
+ psmoothY[o - s] * pdv[o - s]
+ psmoothY[o] * pdv[o + s];
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
++o;
}
//last column
dPsi = psmoothX[o - 1] + psmoothY[o - s] + psmoothY[o];
sigmaU = psmoothX[o - 1] * pdu[o - 1]
+ psmoothY[o - s] * pdu[o - s]
+ psmoothY[o] * pdu[o + s];
sigmaV = psmoothX[o - 1] * pdv[o - 1]
+ psmoothY[o - s] * pdv[o - s]
+ psmoothY[o] * pdv[o + s];
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
++o;
}
//last row
//first column
dPsi = psmoothX[o] + psmoothY[o - s];
sigmaU = psmoothX[o] * pdu[o + 1]
+ psmoothY[o - s] * pdu[o - s];
sigmaV = psmoothX[o] * pdv[o + 1]
+ psmoothY[o - s] * pdv[o - s];
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
++o;
//middle columns
for ( i = 1; i < cols - 1; ++i)
{
dPsi = psmoothX[o - 1] + psmoothX[o] + psmoothY[o - s];
sigmaU = psmoothX[o - 1] * pdu[o - 1]
+ psmoothX[o] * pdu[o + 1]
+ psmoothY[o - s] * pdu[o - s];
sigmaV = psmoothX[o - 1] * pdv[o - 1]
+ psmoothX[o] * pdv[o + 1]
+ psmoothY[o - s] * pdv[o - s];
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
++o;
}
//last column
dPsi = psmoothX[o - 1] + psmoothY[o - s];
sigmaU = psmoothX[o - 1] * pdu[o - 1]
+ psmoothY[o - s] * pdu[o - s];
sigmaV = psmoothX[o - 1] * pdv[o - 1]
+ psmoothY[o - s] * pdv[o - s];
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= det;
B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2;
}
merge(dWChannels, dW);
}
void OpticalFlowDeepFlow::collectGarbage()
{
......
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