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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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modules/optflow/src/deepflow.cpp
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...@@ -83,6 +83,8 @@ private: ...@@ -83,6 +83,8 @@ private:
void smoothnessTerm( const Mat W, const Mat weightsX, const Mat weightsY, Mat b1, Mat b2 ); 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, 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 ); 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 ); std::vector<Mat> buildPyramid( const Mat& src );
int interpolationType; int interpolationType;
...@@ -461,6 +463,7 @@ void OpticalFlowDeepFlow::smoothnessTerm( const Mat W, const Mat weightsX, const ...@@ -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, 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 ) 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, ...@@ -472,6 +475,12 @@ void OpticalFlowDeepFlow::sorSolve( const Mat a11, const Mat a12, const Mat a22,
CV_Assert(smoothX.isContinuous()); CV_Assert(smoothX.isContinuous());
CV_Assert(smoothY.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); std::vector<Mat> dWChannels(2);
split(dW, dWChannels); split(dW, dWChannels);
...@@ -580,23 +589,258 @@ void OpticalFlowDeepFlow::sorSolve( const Mat a11, const Mat a12, const Mat a22, ...@@ -580,23 +589,258 @@ void OpticalFlowDeepFlow::sorSolve( const Mat a11, const Mat a12, const Mat a22,
+ psmoothY[o - s] * pdv[o - s] + psmoothY[o - s] * pdv[o - s]
+ psmoothY[o] * pdv[o + s]; + psmoothY[o] * pdv[o + s];
} }
A11 = *pa22 + dPsi;
A12 = -*pa12;
A22 = *pa11 + dPsi; 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::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; A11 = *pa22 + dPsi;
A12 = -*pa12; A12 = -*pa12;
A22 = *pa11 + dPsi;
det = A11 * A22 - A12 * A12; det = A11 * A22 - A12 * A12;
A11 /= det;
A12 /= det;
A22 /= 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; A11 /= det;
A12 /= 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; B1 = *pb1 + sigmaU;
B2 = *pb2 + sigmaV; B2 = *pb2 + sigmaV;
pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]); pdu[o] += omega * (A11 * B1 + A12 * B2 - pdu[o]);
pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]); pdv[o] += omega * (A12 * B1 + A22 * B2 - pdv[o]);
++pa11; ++pa12; ++pa22; ++pb1; ++pb2; ++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); merge(dWChannels, dW);
} }
void OpticalFlowDeepFlow::collectGarbage() void OpticalFlowDeepFlow::collectGarbage()
{ {
......
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