From 2e3f4fdada7f9ad1df0a835034ab1627410ceaba Mon Sep 17 00:00:00 2001 From: yao Date: Fri, 22 Feb 2013 11:23:43 +0800 Subject: [PATCH] fix pyrLK's mismatch on Linux --- modules/ocl/src/mcwutil.cpp | 95 ++++++++++++++++++ modules/ocl/src/mcwutil.hpp | 6 ++ modules/ocl/src/pyrlk.cpp | 240 +++++--------------------------------------- 3 files changed, 126 insertions(+), 215 deletions(-) diff --git a/modules/ocl/src/mcwutil.cpp b/modules/ocl/src/mcwutil.cpp index b6c99e1..57ead2c 100644 --- a/modules/ocl/src/mcwutil.cpp +++ b/modules/ocl/src/mcwutil.cpp @@ -123,6 +123,101 @@ namespace cv openCLExecuteKernel_2(clCxt, source, kernelName, globalThreads, localThreads, args, channels, depth, build_options, finish_mode); } + + cl_mem bindTexture(const oclMat &mat) + { + cl_mem texture; + cl_image_format format; + int err; + int depth = mat.depth(); + int channels = mat.channels(); + + switch(depth) + { + case CV_8U: + format.image_channel_data_type = CL_UNSIGNED_INT8; + break; + case CV_32S: + format.image_channel_data_type = CL_UNSIGNED_INT32; + break; + case CV_32F: + format.image_channel_data_type = CL_FLOAT; + break; + default: + throw std::exception(); + break; + } + switch(channels) + { + case 1: + format.image_channel_order = CL_R; + break; + case 3: + format.image_channel_order = CL_RGB; + break; + case 4: + format.image_channel_order = CL_RGBA; + break; + default: + throw std::exception(); + break; + } +#if CL_VERSION_1_2 + cl_image_desc desc; + desc.image_type = CL_MEM_OBJECT_IMAGE2D; + desc.image_width = mat.cols; + desc.image_height = mat.rows; + desc.image_depth = 0; + desc.image_array_size = 1; + desc.image_row_pitch = 0; + desc.image_slice_pitch = 0; + desc.buffer = NULL; + desc.num_mip_levels = 0; + desc.num_samples = 0; + texture = clCreateImage(mat.clCxt->impl->clContext, CL_MEM_READ_WRITE, &format, &desc, NULL, &err); +#else + texture = clCreateImage2D( + mat.clCxt->impl->clContext, + CL_MEM_READ_WRITE, + &format, + mat.cols, + mat.rows, + 0, + NULL, + &err); +#endif + size_t origin[] = { 0, 0, 0 }; + size_t region[] = { mat.cols, mat.rows, 1 }; + + cl_mem devData; + if (mat.cols * mat.elemSize() != mat.step) + { + devData = clCreateBuffer(mat.clCxt->impl->clContext, CL_MEM_READ_ONLY, mat.cols * mat.rows + * mat.elemSize(), NULL, NULL); + const size_t regin[3] = {mat.cols * mat.elemSize(), mat.rows, 1}; + clEnqueueCopyBufferRect(mat.clCxt->impl->clCmdQueue, (cl_mem)mat.data, devData, origin, origin, + regin, mat.step, 0, mat.cols * mat.elemSize(), 0, 0, NULL, NULL); + } + else + { + devData = (cl_mem)mat.data; + } + + clEnqueueCopyBufferToImage(mat.clCxt->impl->clCmdQueue, devData, texture, 0, origin, region, 0, NULL, 0); + if ((mat.cols * mat.elemSize() != mat.step)) + { + clFinish(mat.clCxt->impl->clCmdQueue); + clReleaseMemObject(devData); + } + + openCLSafeCall(err); + return texture; + } + + void releaseTexture(cl_mem& texture) + { + openCLFree(texture); + } }//namespace ocl }//namespace cv diff --git a/modules/ocl/src/mcwutil.hpp b/modules/ocl/src/mcwutil.hpp index fe2b49a..8db61f1 100644 --- a/modules/ocl/src/mcwutil.hpp +++ b/modules/ocl/src/mcwutil.hpp @@ -67,6 +67,12 @@ namespace cv void openCLExecuteKernel2(Context *clCxt , const char **source, string kernelName, size_t globalThreads[3], size_t localThreads[3], vector< pair > &args, int channels, int depth, char *build_options, FLUSH_MODE finish_mode = DISABLE); + // bind oclMat to OpenCL image textures + // note: + // 1. there is no memory management. User need to explicitly release the resource + // 2. for faster clamping, there is no buffer padding for the constructed texture + cl_mem bindTexture(const oclMat &mat); + void releaseTexture(cl_mem& texture); }//namespace ocl }//namespace cv diff --git a/modules/ocl/src/pyrlk.cpp b/modules/ocl/src/pyrlk.cpp index d14201d..87c536e 100644 --- a/modules/ocl/src/pyrlk.cpp +++ b/modules/ocl/src/pyrlk.cpp @@ -10,10 +10,15 @@ // License Agreement // For Open Source Computer Vision Library // -// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. -// Copyright (C) 2009, Willow Garage Inc., all rights reserved. +// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved. +// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved. // Third party copyrights are property of their respective owners. // +// @Authors +// Dachuan Zhao, dachuan@multicorewareinc.com +// Yao Wang, yao@multicorewareinc.com +// Nathan, liujun@multicorewareinc.com +// // Redistribution and use in source and binary forms, with or without modification, // are permitted provided that the following conditions are met: // @@ -22,13 +27,13 @@ // // * Redistribution's in binary form must reproduce the above copyright notice, // this list of conditions and the following disclaimer in the documentation -// and/or other GpuMaterials provided with the distribution. +// and/or other oclMaterials provided with the distribution. // // * The name of the copyright holders may not be used to endorse or promote products // derived from this software without specific prior written permission. // // This software is provided by the copyright holders and contributors "as is" and -// any express or bpied warranties, including, but not limited to, the bpied +// any express or implied warranties, including, but not limited to, the implied // warranties of merchantability and fitness for a particular purpose are disclaimed. // In no event shall the Intel Corporation or contributors be liable for any direct, // indirect, incidental, special, exemplary, or consequential damages @@ -40,6 +45,7 @@ // //M*/ + #include "precomp.hpp" #include "mcwutil.hpp" using namespace std; @@ -568,197 +574,16 @@ static void pyrDown_cus(const oclMat &src, oclMat &dst) pyrdown_run_cus(src, dst); } - -//struct MultiplyScalar -//{ -// MultiplyScalar(double val_, double scale_) : val(val_), scale(scale_) {} -// double operator ()(double a) const -// { -// return (scale * a * val); -// } -// const double val; -// const double scale; -//}; -// -//void callF(const oclMat& src, oclMat& dst, MultiplyScalar op, int mask) -//{ -// Mat srcTemp; -// Mat dstTemp; -// src.download(srcTemp); -// dst.download(dstTemp); -// -// int i; -// int j; -// int k; -// for(i = 0; i < srcTemp.rows; i++) -// { -// for(j = 0; j < srcTemp.cols; j++) -// { -// for(k = 0; k < srcTemp.channels(); k++) -// { -// ((float*)dstTemp.data)[srcTemp.channels() * (i * srcTemp.rows + j) + k] = (float)op(((float*)srcTemp.data)[srcTemp.channels() * (i * srcTemp.rows + j) + k]); -// } -// } -// } -// -// dst = dstTemp; -//} -// -//static inline bool isAligned(const unsigned char* ptr, size_t size) -//{ -// return reinterpret_cast(ptr) % size == 0; -//} -// -//static inline bool isAligned(size_t step, size_t size) -//{ -// return step % size == 0; -//} -// -//void callT(const oclMat& src, oclMat& dst, MultiplyScalar op, int mask) -//{ -// if (!isAligned(src.data, 4 * sizeof(double)) || !isAligned(src.step, 4 * sizeof(double)) || -// !isAligned(dst.data, 4 * sizeof(double)) || !isAligned(dst.step, 4 * sizeof(double))) -// { -// callF(src, dst, op, mask); -// return; -// } -// -// Mat srcTemp; -// Mat dstTemp; -// src.download(srcTemp); -// dst.download(dstTemp); -// -// int x_shifted; -// -// int i; -// int j; -// for(i = 0; i < srcTemp.rows; i++) -// { -// const double* srcRow = (const double*)srcTemp.data + i * srcTemp.rows; -// double* dstRow = (double*)dstTemp.data + i * dstTemp.rows;; -// -// for(j = 0; j < srcTemp.cols; j++) -// { -// x_shifted = j * 4; -// -// if(x_shifted + 4 - 1 < srcTemp.cols) -// { -// dstRow[x_shifted ] = op(srcRow[x_shifted ]); -// dstRow[x_shifted + 1] = op(srcRow[x_shifted + 1]); -// dstRow[x_shifted + 2] = op(srcRow[x_shifted + 2]); -// dstRow[x_shifted + 3] = op(srcRow[x_shifted + 3]); -// } -// else -// { -// for (int real_x = x_shifted; real_x < srcTemp.cols; ++real_x) -// { -// ((float*)dstTemp.data)[i * srcTemp.rows + real_x] = op(((float*)srcTemp.data)[i * srcTemp.rows + real_x]); -// } -// } -// } -// } -//} -// -//void multiply(const oclMat& src1, double val, oclMat& dst, double scale = 1.0f); -//void multiply(const oclMat& src1, double val, oclMat& dst, double scale) -//{ -// MultiplyScalar op(val, scale); -// //if(src1.channels() == 1 && dst.channels() == 1) -// //{ -// // callT(src1, dst, op, 0); -// //} -// //else -// //{ -// callF(src1, dst, op, 0); -// //} -//} - -static cl_mem bindTexture(const oclMat &mat, int depth, int channels) -{ - cl_mem texture; - cl_image_format format; - int err; - if(depth == 0) - { - format.image_channel_data_type = CL_UNSIGNED_INT8; - } - else if(depth == 5) - { - format.image_channel_data_type = CL_FLOAT; - } - if(channels == 1) - { - format.image_channel_order = CL_R; - } - else if(channels == 3) - { - format.image_channel_order = CL_RGB; - } - else if(channels == 4) - { - format.image_channel_order = CL_RGBA; - } -#ifdef CL_VERSION_1_2 - cl_image_desc desc; - desc.image_type = CL_MEM_OBJECT_IMAGE2D; - desc.image_width = mat.step / mat.elemSize(); - desc.image_height = mat.rows; - desc.image_depth = 0; - desc.image_array_size = 1; - desc.image_row_pitch = 0; - desc.image_slice_pitch = 0; - desc.buffer = NULL; - desc.num_mip_levels = 0; - desc.num_samples = 0; - texture = clCreateImage(mat.clCxt->impl->clContext, CL_MEM_READ_WRITE, &format, &desc, NULL, &err); -#else - texture = clCreateImage2D( - mat.clCxt->impl->clContext, - CL_MEM_READ_WRITE, - &format, - mat.step / mat.elemSize(), - mat.rows, - 0, - NULL, - &err); -#endif - size_t origin[] = { 0, 0, 0 }; - size_t region[] = { mat.step / mat.elemSize(), mat.rows, 1 }; - clEnqueueCopyBufferToImage(mat.clCxt->impl->clCmdQueue, (cl_mem)mat.data, texture, 0, origin, region, 0, NULL, 0); - openCLSafeCall(err); - - return texture; -} - -static void releaseTexture(cl_mem texture) -{ - openCLFree(texture); -} - static void lkSparse_run(oclMat &I, oclMat &J, const oclMat &prevPts, oclMat &nextPts, oclMat &status, oclMat& err, bool /*GET_MIN_EIGENVALS*/, int ptcount, int level, /*dim3 block, */dim3 patch, Size winSize, int iters) { Context *clCxt = I.clCxt; - char platform[256] = {0}; - cl_platform_id pid; - clGetDeviceInfo(clCxt->impl->devices, CL_DEVICE_PLATFORM, sizeof(pid), &pid, NULL); - clGetPlatformInfo(pid, CL_PLATFORM_NAME, 256, platform, NULL); - std::string namestr = platform; - bool isImageSupported = true; - if(namestr.find("NVIDIA")!=string::npos || namestr.find("Intel")!=string::npos) - isImageSupported = false; - int elemCntPerRow = I.step / I.elemSize(); - string kernelName = "lkSparse"; - - - size_t localThreads[3] = { 8, isImageSupported?8:32, 1 }; - size_t globalThreads[3] = { 8 * ptcount, isImageSupported?8:32, 1}; - + size_t localThreads[3] = { 8, 8, 1 }; + size_t globalThreads[3] = { 8 * ptcount, 8, 1}; int cn = I.oclchannels(); - char calcErr; if (level == 0) { @@ -770,22 +595,11 @@ static void lkSparse_run(oclMat &I, oclMat &J, } vector > args; - cl_mem ITex; - cl_mem JTex; - if (isImageSupported) - { - ITex = bindTexture(I, I.depth(), cn); - JTex = bindTexture(J, J.depth(), cn); - } - else - { - ITex = (cl_mem)I.data; - JTex = (cl_mem)J.data; - } + cl_mem ITex = bindTexture(I); + cl_mem JTex = bindTexture(J); args.push_back( make_pair( sizeof(cl_mem), (void *)&ITex )); args.push_back( make_pair( sizeof(cl_mem), (void *)&JTex )); - //cl_mem clmD = clCreateBuffer(clCxt, CL_MEM_READ_WRITE, ptcount * sizeof(float), NULL, NULL); args.push_back( make_pair( sizeof(cl_mem), (void *)&prevPts.data )); args.push_back( make_pair( sizeof(cl_int), (void *)&prevPts.step )); args.push_back( make_pair( sizeof(cl_mem), (void *)&nextPts.data )); @@ -795,10 +609,6 @@ static void lkSparse_run(oclMat &I, oclMat &J, args.push_back( make_pair( sizeof(cl_int), (void *)&level )); args.push_back( make_pair( sizeof(cl_int), (void *)&I.rows )); args.push_back( make_pair( sizeof(cl_int), (void *)&I.cols )); - if (!isImageSupported) - { - args.push_back( make_pair( sizeof(cl_int), (void *)&elemCntPerRow ) ); - } args.push_back( make_pair( sizeof(cl_int), (void *)&patch.x )); args.push_back( make_pair( sizeof(cl_int), (void *)&patch.y )); args.push_back( make_pair( sizeof(cl_int), (void *)&cn )); @@ -806,18 +616,20 @@ static void lkSparse_run(oclMat &I, oclMat &J, args.push_back( make_pair( sizeof(cl_int), (void *)&winSize.height )); args.push_back( make_pair( sizeof(cl_int), (void *)&iters )); args.push_back( make_pair( sizeof(cl_char), (void *)&calcErr )); - //args.push_back( make_pair( sizeof(cl_char), (void *)&GET_MIN_EIGENVALS )); - if (isImageSupported) + try { openCLExecuteKernel2(clCxt, &pyrlk, kernelName, globalThreads, localThreads, args, I.oclchannels(), I.depth(), CLFLUSH); - - releaseTexture(ITex); - releaseTexture(JTex); } - else + catch(Exception&) { - //printf("Warning: The image2d_t is not supported by the device. Using alternative method!\n"); + printf("Warning: The image2d_t is not supported by the device. Using alternative method!\n"); + releaseTexture(ITex); + releaseTexture(JTex); + ITex = (cl_mem)I.data; + JTex = (cl_mem)J.data; + localThreads[1] = globalThreads[1] = 32; + args.insert( args.begin()+11, make_pair( sizeof(cl_int), (void *)&elemCntPerRow ) ); openCLExecuteKernel2(clCxt, &pyrlk_no_image, kernelName, globalThreads, localThreads, args, I.oclchannels(), I.depth(), CLFLUSH); } } @@ -927,8 +739,6 @@ static void lkDense_run(oclMat &I, oclMat &J, oclMat &u, oclMat &v, size_t localThreads[3] = { 16, 16, 1 }; size_t globalThreads[3] = { I.cols, I.rows, 1}; - int cn = I.oclchannels(); - bool calcErr; if (err) { @@ -944,8 +754,8 @@ static void lkDense_run(oclMat &I, oclMat &J, oclMat &u, oclMat &v, if (isImageSupported) { - ITex = bindTexture(I, I.depth(), cn); - JTex = bindTexture(J, J.depth(), cn); + ITex = bindTexture(I); + JTex = bindTexture(J); } else { -- 2.7.4