private void AllocateImagesNPP(Bitmap size)
{
int w = size.Width;
int h = size.Height;
if (inputImage8uC3 == null)
{
inputImage8uC1 = new NPPImage_8uC1(w, h);
inputImage8uC3 = new NPPImage_8uC3(w, h);
inputImage8uC4 = new NPPImage_8uC4(w, h);
imageBayer = new NPPImage_32fC1(w, h);
inputImage32f = new NPPImage_32fC3(w, h);
noisyImage8u = new NPPImage_8uC3(w, h);
noiseImage32f = new NPPImage_32fC3(w, h);
resultImage8u = new NPPImage_8uC3(w, h);
resultImage32f = new NPPImage_32fC3(w, h);
return;
}
if (inputImage8uC3.Width >= w && inputImage8uC3.Height >= h)
{
inputImage8uC1.SetRoi(0, 0, w, h);
inputImage8uC3.SetRoi(0, 0, w, h);
inputImage8uC4.SetRoi(0, 0, w, h);
imageBayer.SetRoi(0, 0, w, h);
inputImage32f.SetRoi(0, 0, w, h);
noisyImage8u.SetRoi(0, 0, w, h);
noiseImage32f.SetRoi(0, 0, w, h);
resultImage8u.SetRoi(0, 0, w, h);
resultImage32f.SetRoi(0, 0, w, h);
}
else
{
inputImage8uC1.Dispose();
inputImage8uC3.Dispose();
inputImage8uC4.Dispose();
imageBayer.Dispose();
inputImage32f.Dispose();
noisyImage8u.Dispose();
noiseImage32f.Dispose();
resultImage8u.Dispose();
resultImage32f.Dispose();
inputImage8uC1 = new NPPImage_8uC1(w, h);
inputImage8uC3 = new NPPImage_8uC3(w, h);
inputImage8uC4 = new NPPImage_8uC4(w, h);
imageBayer = new NPPImage_32fC1(w, h);
inputImage32f = new NPPImage_32fC3(w, h);
noisyImage8u = new NPPImage_8uC3(w, h);
noiseImage32f = new NPPImage_32fC3(w, h);
resultImage8u = new NPPImage_8uC3(w, h);
resultImage32f = new NPPImage_32fC3(w, h);
}
}
public void SetReferenceImage(NPPImage_32fC1 reference)
{
NppiRect saveRoi = new NppiRect(reference.PointRoi, reference.SizeRoi);
NppiRect roi = new NppiRect();
roi.x = 0; // (reference.WidthRoi - imgToTrackRotated.WidthRoi) / 2;
roi.y = 0; // (reference.HeightRoi - imgToTrackRotated.HeightRoi) / 2;
roi.width = imgToTrackRotated.WidthRoi;
roi.height = imgToTrackRotated.HeightRoi;
reference.SetRoi(roi);
reference.Copy(imgToTrackRotated);
forward.Exec(imgToTrackRotated.DevicePointerRoi, imgRefCplx.DevicePointer);
reference.SetRoi(saveRoi);
}
public override float Inference(CudaDeviceVariable <float> input)
{
_input = input;
NPPImage_32fC1 tempConv = new NPPImage_32fC1(_tempConvolution.DevicePointer, InWidth, InHeight, InWidth * sizeof(float));
for (int outLayer = 0; outLayer < OutChannels; outLayer++)
{
SizeT offsetOut = outLayer * OutWidth * OutHeight * sizeof(float);
CUdeviceptr ptrWithOffsetOut = _z.DevicePointer + offsetOut;
NPPImage_32fC1 imgOut = new NPPImage_32fC1(ptrWithOffsetOut, OutWidth, OutHeight, OutWidth * sizeof(float));
imgOut.Set(0);
for (int inLayer = 0; inLayer < InChannels; inLayer++)
{
SizeT offsetIn = inLayer * InWidth * InHeight * sizeof(float);
CUdeviceptr ptrWithOffsetIn = _input.DevicePointer + offsetIn;
NPPImage_32fC1 imgIn = new NPPImage_32fC1(ptrWithOffsetIn, InWidth, InHeight, InWidth * sizeof(float));
imgIn.SetRoi(_filterX / 2, _filterY / 2, InWidth - _filterX + 1, InHeight - _filterY + 1);
SizeT offsetFilter = (outLayer * InChannels * _filterX * _filterY + inLayer * _filterX * _filterY) * sizeof(float);
CudaDeviceVariable <float> filter = new CudaDeviceVariable <float>(_weights.DevicePointer + offsetFilter, false, _filterX * _filterY * sizeof(float));
imgIn.Filter(tempConv, filter, new NppiSize(_filterX, _filterY), new NppiPoint(_filterX / 2, _filterY / 2));
imgOut.Add(tempConv);
}
imgOut.Add(bHost[outLayer]);
}
switch (_activation)
{
case Activation.None:
_y.CopyToDevice(_z);
break;
case Activation.Relu:
//_aRelu is set to 0!
_KernelPReluForward.RunSafe(_z, _aRelu, _y, _outWidth * _outHeight, _outChannels, _batch);
break;
case Activation.PRelu:
_KernelPReluForward.RunSafe(_z, _aRelu, _y, _outWidth * _outHeight, _outChannels, _batch);
break;
case Activation.LeakyRelu:
_KernelPReluForward.RunSafe(_z, _aRelu, _y, _outWidth * _outHeight, _outChannels, _batch);
break;
default:
break;
}
return(_nextLayer.Inference(_y));
}
public double4 ScanAngles(NPPImage_32fC1 img, double incr, double range, double zero)
{
NppiRect saveRoi = new NppiRect(img.PointRoi, img.SizeRoi);
NppiRect roi = new NppiRect();
roi.x = 0;
roi.y = 0;
roi.width = imgToTrackRotated.WidthRoi;
roi.height = imgToTrackRotated.HeightRoi;
img.SetRoi(roi);
double maxVal = -double.MaxValue;
double maxAng = 0;
double maxX = 0;
double maxY = 0;
//first perform a coarse search
for (double ang = zero - range; ang <= zero + range; ang += 5 * incr)
{
Matrix3x3 mat = Matrix3x3.RotAroundCenter(ang, imgToTrackRotated.Width, imgToTrackRotated.Height);
imgToTrackRotated.Set(0);
img.WarpAffine(imgToTrackRotated, mat.ToAffine(), InterpolationMode.Cubic);
forward.Exec(imgToTrackRotated.DevicePointerRoi, imgToTrackCplx.DevicePointer);
conjKernel.RunSafe(imgRefCplx, imgToTrackCplx);
backward.Exec(imgToTrackCplx.DevicePointer, imgToTrackRotated.DevicePointerRoi);
imgToTrackRotated.Div(imgToTrackRotated.WidthRoi * imgToTrackRotated.HeightRoi);
imgToTrackRotated.MaxIndex(val, x, y);
float v = val;
int hx = x;
int hy = y;
//Console.WriteLine("Found Max at " + ang.ToString("0.000") + " deg (" + hx + ", " + hy + ") = " + v);
if (v > maxVal)
{
maxVal = v;
maxAng = ang;
maxX = x;
maxY = y;
//Console.WriteLine("Max set!");
}
}
zero = maxAng;
range = 10 * incr;
//now perform a fine search but only around the previously found peak
for (double ang = zero - range; ang <= zero + range; ang += incr)
{
Matrix3x3 mat = Matrix3x3.RotAroundCenter(ang, imgToTrackRotated.Width, imgToTrackRotated.Height);
imgToTrackRotated.Set(0);
img.WarpAffine(imgToTrackRotated, mat.ToAffine(), InterpolationMode.Cubic);
int fftWidth = width / 2 + 1;
forward.Exec(imgToTrackRotated.DevicePointerRoi, imgToTrackCplx.DevicePointer);
conjKernel.RunSafe(imgRefCplx, imgToTrackCplx);
backward.Exec(imgToTrackCplx.DevicePointer, imgToTrackRotated.DevicePointerRoi);
imgToTrackRotated.Div(imgToTrackRotated.WidthRoi * imgToTrackRotated.HeightRoi);
imgToTrackRotated.MaxIndex(val, x, y);
float v = val;
int hx = x;
int hy = y;
if (v > maxVal)
{
maxVal = v;
maxAng = ang;
maxX = x;
maxY = y;
//Console.WriteLine("Found Max at " + ang.ToString("0.000") + " deg (" + hx + ", " + hy + ") = " + v);
//Console.WriteLine("Max set!");
}
}
if (maxX > imgToTrackRotated.WidthRoi / 2)
{
maxX -= imgToTrackRotated.WidthRoi;
}
if (maxY > imgToTrackRotated.HeightRoi / 2)
{
maxY -= imgToTrackRotated.HeightRoi;
}
img.SetRoi(saveRoi);
return(new double4(-maxX, -maxY, maxAng, maxVal));
}