From 3695a31606c4c5b6d850bf445a90a577e9e61dd2 Mon Sep 17 00:00:00 2001 From: Alexander Karsakov Date: Fri, 12 Sep 2014 11:20:33 +0400 Subject: [PATCH] Combined counter and corner buffers into one --- modules/imgproc/src/featureselect.cpp | 38 +++++++++++++++-------------------- modules/imgproc/src/opencl/gftt.cl | 17 ++++++++-------- 2 files changed, 25 insertions(+), 30 deletions(-) diff --git a/modules/imgproc/src/featureselect.cpp b/modules/imgproc/src/featureselect.cpp index c61ceb0..4a234f3 100644 --- a/modules/imgproc/src/featureselect.cpp +++ b/modules/imgproc/src/featureselect.cpp @@ -81,11 +81,12 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners, cornerMinEigenVal( _image, eig, blockSize, 3 ); Size imgsize = _image.size(); - std::vector tmpCorners; size_t total, i, j, ncorners = 0, possibleCornersCount = std::max(1024, static_cast(imgsize.area() * 0.1)); bool haveMask = !_mask.empty(); - UMat counter(1, 1, CV_32SC1); + UMat corners_buffer(1, (int)possibleCornersCount + 1, CV_32FC2); + CV_Assert(sizeof(Corner) == corners_buffer.elemSize()); + Mat tmpCorners; // find threshold { @@ -110,7 +111,7 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners, ocl::KernelArg eigarg = ocl::KernelArg::ReadOnlyNoSize(eig), dbarg = ocl::KernelArg::PtrWriteOnly(maxEigenValue), maskarg = ocl::KernelArg::ReadOnlyNoSize(mask), - counterarg = ocl::KernelArg::PtrReadWrite(counter); + cornersarg = ocl::KernelArg::PtrWriteOnly(corners_buffer); if (haveMask) k.args(eigarg, eig.cols, (int)eig.total(), dbarg, maskarg); @@ -127,7 +128,7 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners, if (k2.empty()) return false; - k2.args(dbarg, (float)qualityLevel, counterarg); + k2.args(dbarg, (float)qualityLevel, cornersarg); if (!k2.runTask(false)) return false; @@ -140,23 +141,18 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners, if (k.empty()) return false; - UMat corners(1, (int)possibleCornersCount, CV_32FC2); - CV_Assert(sizeof(Corner) == corners.elemSize()); - ocl::KernelArg eigarg = ocl::KernelArg::ReadOnlyNoSize(eig), - cornersarg = ocl::KernelArg::PtrWriteOnly(corners), - counterarg = ocl::KernelArg::PtrReadWrite(counter), + cornersarg = ocl::KernelArg::PtrWriteOnly(corners_buffer), thresholdarg = ocl::KernelArg::PtrReadOnly(maxEigenValue); if (!haveMask) - k.args(eigarg, cornersarg, counterarg, - eig.rows - 2, eig.cols - 2, thresholdarg, - (int)possibleCornersCount); + k.args(eigarg, cornersarg, eig.rows - 2, eig.cols - 2, thresholdarg, + (int)possibleCornersCount); else { UMat mask = _mask.getUMat(); k.args(eigarg, ocl::KernelArg::ReadOnlyNoSize(mask), - cornersarg, counterarg, eig.rows - 2, eig.cols - 2, + cornersarg, eig.rows - 2, eig.cols - 2, thresholdarg, (int)possibleCornersCount); } @@ -164,19 +160,17 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners, if (!k.run(2, globalsize, NULL, false)) return false; - total = std::min(counter.getMat(ACCESS_READ).at(0, 0), possibleCornersCount); + tmpCorners = corners_buffer.getMat(ACCESS_RW); + total = std::min(tmpCorners.at(0, 0)[0], possibleCornersCount); if (total == 0) { _corners.release(); return true; } - - tmpCorners.resize(total); - - Mat mcorners(1, (int)total, CV_32FC2, &tmpCorners[0]); - corners.colRange(0, (int)total).copyTo(mcorners); } - std::sort(tmpCorners.begin(), tmpCorners.end()); + + Corner* corner_ptr = tmpCorners.ptr() + 1; + std::sort(corner_ptr, corner_ptr + total); std::vector corners; corners.reserve(total); @@ -195,7 +189,7 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners, for( i = 0; i < total; i++ ) { - const Corner & c = tmpCorners[i]; + const Corner & c = corner_ptr[i]; bool good = true; int x_cell = c.x / cell_size; @@ -251,7 +245,7 @@ static bool ocl_goodFeaturesToTrack( InputArray _image, OutputArray _corners, { for( i = 0; i < total; i++ ) { - const Corner & c = tmpCorners[i]; + const Corner & c = corner_ptr[i]; corners.push_back(Point2f((float)c.x, (float)c.y)); ++ncorners; diff --git a/modules/imgproc/src/opencl/gftt.cl b/modules/imgproc/src/opencl/gftt.cl index 0ecbf3a..584ab41 100644 --- a/modules/imgproc/src/opencl/gftt.cl +++ b/modules/imgproc/src/opencl/gftt.cl @@ -92,7 +92,7 @@ __kernel void maxEigenVal(__global const uchar * srcptr, int src_step, int src_o } __kernel void maxEigenValTask(__global float * dst, float qualityLevel, - __global int * counter) + __global int * cornersptr) { float maxval = -FLT_MAX; @@ -101,7 +101,7 @@ __kernel void maxEigenValTask(__global float * dst, float qualityLevel, maxval = max(maxval, dst[x]); dst[0] = maxval * qualityLevel; - counter[0] = 0; + cornersptr[0] = 0; } #elif OP_FIND_CORNERS @@ -112,12 +112,15 @@ __kernel void findCorners(__global const uchar * eigptr, int eig_step, int eig_o #ifdef HAVE_MASK __global const uchar * mask, int mask_step, int mask_offset, #endif - __global uchar * cornersptr, __global int * counter, - int rows, int cols, __constant float * threshold, int max_corners) + __global uchar * cornersptr, int rows, int cols, + __constant float * threshold, int max_corners) { int x = get_global_id(0); int y = get_global_id(1); + __global int* counter = (__global int*) cornersptr; + __global float2 * corners = (__global float2 *)(cornersptr + (int)sizeof(float2)); + if (y < rows && x < cols #ifdef HAVE_MASK && mask[mad24(y, mask_step, x + mask_offset)] @@ -146,11 +149,9 @@ __kernel void findCorners(__global const uchar * eigptr, int eig_step, int eig_o int ind = atomic_inc(counter); if (ind < max_corners) { - __global float2 * corners = (__global float2 *)(cornersptr + ind * (int)sizeof(float2)); - // pack and store eigenvalue and its coordinates - corners[0].x = val; - corners[0].y = as_float(y | (x << 16)); + corners[ind].x = val; + corners[ind].y = as_float(y | (x << 16)); } } } -- 2.7.4