public float RunSafe(NPPImage_32fC2 inShift, NPPImage_32fC2 outShift, int oldLevel, int newLevel, int oldCountX, int oldCountY, int newCountX, int newCountY, int oldTileSize, int newTileSize)
{
this.BlockDimensions = new dim3(16, 16, 1);
this.SetComputeSize((uint)(newCountX), (uint)(newCountY), 1);
return(this.Run(inShift.DevicePointerRoi, outShift.DevicePointerRoi, inShift.Pitch, outShift.Pitch, oldLevel, newLevel, oldCountX, oldCountY, newCountX, newCountY, oldTileSize, newTileSize));
}
public float RunSafe(CudaDeviceVariable <float> shiftImage, NPPImage_32fC2 coordinates, int maxShift, int tileCountX, int tileCountY, float threshold)
{
this.BlockDimensions = new dim3(128, 1, 1);
this.SetComputeSize((uint)(tileCountX * tileCountY), 1, 1);
return(this.Run(shiftImage.DevicePointer, coordinates.DevicePointerRoi, coordinates.Pitch, maxShift, tileCountX * tileCountY, tileCountX, threshold));
}
public float RunSafe(NPPImage_32fC2 optimalShifts, CudaDeviceVariable <float2> bestShifts, int imageCount, int referenceImage, int imageToTrack)
{
this.BlockDimensions = new dim3(32, 8, 1);
this.SetComputeSize((uint)(optimalShifts.WidthRoi), (uint)(optimalShifts.HeightRoi), 1);
return(this.Run(optimalShifts.DevicePointer, bestShifts.DevicePointer, imageCount, optimalShifts.WidthRoi, optimalShifts.HeightRoi, optimalShifts.Pitch, referenceImage, imageToTrack));
}
private void Swap(ref NPPImage_32fC2 a, ref NPPImage_32fC2 b)
{
NPPImage_32fC2 temp = a;
a = b;
b = temp;
}
public float RunSafe(NPPImage_32fC2 shifts, NPPImage_32fC1 imFx, NPPImage_32fC1 imFy, NPPImage_32fC1 imFt, float minDet, int windowSize)
{
this.BlockDimensions = new dim3(32, 16, 1);
this.SetComputeSize((uint)(shifts.WidthRoi), (uint)(shifts.HeightRoi), 1);
//this.DynamicSharedMemory = (uint)(5 * windowSize * windowSize) * BlockDimensions.x * BlockDimensions.y * sizeof(float);
int windowSizeHalf = windowSize / 2;
return(this.Run(shifts.DevicePointerRoi, imFx.DevicePointerRoi, imFy.DevicePointerRoi, imFt.DevicePointerRoi, shifts.Pitch, imFx.Pitch, shifts.WidthRoi, shifts.HeightRoi, windowSizeHalf, minDet));
}
public NPPImage_32fC2 getOptimalShift(int imageToTrack)
{
//assume measured shifts are not used anymore:
NPPImage_32fC2 ret = shifts[0];
ret.ResetRoi();
//float2[] test2 = shiftsOneToOne_d;
getOptimalShifts.RunSafe(ret, shiftsOneToOne_d, frameCount, referenceIndex, imageToTrack);
//float2[] test = ret.ToCudaPitchedDeviceVariable();
return(ret);
}
//float2* __restrict__ outImg,
//cudaTextureObject_t texObjShiftXY,
//int imgWidth,
//int imgHeight,
//int imgPitch
public float RunSafe(NPPImage_32fC2 inFlow, NPPImage_32fC2 outFlow, float2 baseShift, float baseRotation, int tileSize, int tileCountX, int tileCountY)
{
this.BlockDimensions = new dim3(32, 6, 1);
this.SetComputeSize((uint)(outFlow.WidthRoi), (uint)(outFlow.HeightRoi), 1);
CudaResourceDesc descImg = new CudaResourceDesc(inFlow);
CudaTextureDescriptor texDescImg = new CudaTextureDescriptor(CUAddressMode.Clamp, CUFilterMode.Linear, CUTexRefSetFlags.NormalizedCoordinates);
CudaTexObject texImg = new CudaTexObject(descImg, texDescImg);
float t = this.Run(outFlow.DevicePointerRoi, texImg.TexObject, tileSize, tileCountX, tileCountY, outFlow.WidthRoi, outFlow.HeightRoi, outFlow.Pitch, baseShift, baseRotation);
texImg.Dispose();
return(t);
}
//int width, int height, int stride,
//cudaTextureObject_t texUV, float* __restrict__ out, cudaTextureObject_t texToWarp
public float RunSafe(NPPImage_32fC1 inImg, NPPImage_32fC1 outImg, NPPImage_32fC2 flow)
{
this.BlockDimensions = new dim3(32, 6, 1);
this.SetComputeSize((uint)(outImg.WidthRoi), (uint)(outImg.HeightRoi), 1);
CudaResourceDesc descImg = new CudaResourceDesc(inImg);
CudaTextureDescriptor texDescImg = new CudaTextureDescriptor(CUAddressMode.Mirror, CUFilterMode.Linear, CUTexRefSetFlags.NormalizedCoordinates);
CudaTexObject texImg = new CudaTexObject(descImg, texDescImg);
CudaResourceDesc descFlow = new CudaResourceDesc(flow);
CudaTextureDescriptor texDescFlow = new CudaTextureDescriptor(CUAddressMode.Clamp, CUFilterMode.Point, CUTexRefSetFlags.NormalizedCoordinates);
CudaTexObject texFlow = new CudaTexObject(descFlow, texDescFlow);
return(this.Run(outImg.WidthRoi, outImg.HeightRoi, outImg.Pitch, texFlow.TexObject, outImg.DevicePointerRoi, texImg.TexObject));
}
public void LucasKanade(NPPImage_32fC1 sourceImg, NPPImage_32fC1 targetImg, NPPImage_32fC2 tiledFlow, int tileSize, int tileCountX, int tileCountY, int iterations, float2 baseShift, float baseRotation, float minDet, int windowSize)
{
createFlowFieldFromTiles.RunSafe(tiledFlow, d_flow, baseShift, baseRotation, tileSize, tileCountX, tileCountY);
for (int iter = 0; iter < iterations; iter++)
{
warpingKernel.RunSafe(sourceImg, d_tmp, d_flow);
NppiPoint p = new NppiPoint(0, 0);
d_Ix.Set(0);
d_Iy.Set(0);
d_Iz.Set(0);
computeDerivativesKernel.RunSafe(d_tmp, targetImg, d_Ix, d_Iy, d_Iz);
lukasKanade.RunSafe(d_flow, d_Ix, d_Iy, d_Iz, minDet, windowSize);
}
warpingKernel.RunSafe(sourceImg, d_tmp, d_flow);
d_tmp.Copy(sourceImg);
}
public void Track(NPPImage_32fC1 imgTrack, NPPImage_32fC1 imgRef, NPPImage_32fC2 preShift, int i, float2 baseShiftRef, float baseRotationRef, float2 baseShifttoTrack, float baseRotationtoTrack, float threshold)
{
if (imgTrack.WidthRoi != imgRef.WidthRoi || imgTrack.HeightRoi != imgRef.HeightRoi ||
imgTrack.WidthRoi != currentWidth || imgTrack.HeightRoi != currentHeight)
{
throw new ArgumentOutOfRangeException();
}
int level = imgTrack.Width / imgTrack.WidthRoi;
convertToTilesBorder.RunSafe(imgRef, imgRefSortedTiles, currentTileSize, currentMaxShift, CurrentBlockCountX, CurrentBlockCountY, baseShiftRef, baseRotationRef); //template
forward[i].Exec(imgRefSortedTiles.DevicePointer, imgRefCplx.DevicePointer);
convertToTiles.RunSafe(imgTrack, imgToTrackSortedTiles, preShift, currentTileSize, currentMaxShift, CurrentBlockCountX, CurrentBlockCountY, baseShifttoTrack, baseRotationtoTrack); //image in paper
//DumpFloat(imgToTrackSortedTiles, currentTileSize + 2* currentMaxShift, currentTileSize + 2 * currentMaxShift, CurrentBlockCountX * CurrentBlockCountY, tileIdx, "tilesTrack_" + level + "_" + debugCallCounter + ".bin");
//DumpFloat(imgRefSortedTiles, currentTileSize + 2 * currentMaxShift, currentTileSize + 2 * currentMaxShift, CurrentBlockCountX * CurrentBlockCountY, tileIdx, "tilesRef_" + level + "_" + debugCallCounter + ".bin");
forward[i].Exec(imgToTrackSortedTiles.DevicePointer, imgToTrackCplx.DevicePointer);
conjKernel.RunSafe(imgRefCplx, imgToTrackCplx);
backward[i].Exec(imgToTrackCplx.DevicePointer, imgCrossCorrelation.DevicePointer);
imgCrossCorrelation.DivC(CurrentBlockSize * CurrentBlockSize);
squaredSumKernel.RunSafe(imgRefSortedTiles, squaredSumsOfTiles, currentMaxShift, currentTileSize, CurrentBlockCountX * CurrentBlockCountY);
//DumpFloat(squaredSumsOfTiles, 1, 1, CurrentBlockCountX * CurrentBlockCountY, tileIdx, "squaredSums_" + level + "_" + debugCallCounter + ".bin");
boxFilterXKernel.RunSafe(imgToTrackSortedTiles, imgRefSortedTiles, currentMaxShift, currentTileSize, CurrentBlockCountX * CurrentBlockCountY);
boxFilterYKernel.RunSafe(imgRefSortedTiles, imgToTrackSortedTiles, currentMaxShift, currentTileSize, CurrentBlockCountX * CurrentBlockCountY);
//DumpFloat(imgToTrackSortedTiles, currentTileSize + 2 * currentMaxShift, currentTileSize + 2 * currentMaxShift, CurrentBlockCountX * CurrentBlockCountY, tileIdx, "boxFilter_" + level + "_" + debugCallCounter + ".bin");
normalizedCCKernel.RunSafe(imgCrossCorrelation, squaredSumsOfTiles, imgToTrackSortedTiles, shiftImages, currentMaxShift, currentTileSize, CurrentBlockCountX * CurrentBlockCountY);
//DumpFloat(shiftImages, (2 * currentMaxShift + 1), (2 * currentMaxShift + 1), CurrentBlockCountX * CurrentBlockCountY, tileIdx, "tilesShift_" + level + "_" + debugCallCounter + ".bin");
patchShift.SetRoi(0, 0, CurrentBlockCountX, CurrentBlockCountY);
findMinimumKernel.RunSafe(shiftImages, patchShift, currentMaxShift, CurrentBlockCountX, CurrentBlockCountY, threshold);
NPPImage_32fC1 preShiftFloat = new NPPImage_32fC1(preShift.DevicePointer, 2 * CurrentBlockCountX, CurrentBlockCountY, preShift.Pitch);
NPPImage_32fC1 patchShiftFloat = new NPPImage_32fC1(patchShift.DevicePointer, 2 * CurrentBlockCountX, CurrentBlockCountY, patchShift.Pitch);
preShiftFloat.Add(patchShiftFloat);
debugCallCounter++;
}
public void DumpFlowField(NPPImage_32fC2 flow, string filename)
{
float2[] f = new float2[flow.WidthRoi * flow.HeightRoi];
flow.CopyToHostRoi(f, new NppiRect(0, 0, flow.WidthRoi, flow.HeightRoi));
FileStream fs = File.OpenWrite(filename);
BinaryWriter bw = new BinaryWriter(fs);
bw.Write(flow.WidthRoi);
bw.Write(flow.HeightRoi);
for (int i = 0; i < f.Length; i++)
{
bw.Write(f[i].x);
bw.Write(f[i].y);
}
bw.Close();
fs.Close();
bw.Dispose();
fs.Dispose();
}
private void DumpFlowField(NPPImage_32fC2 flow, string filename)
{
float2[] f = new float2[flow.Width * flow.Height];
flow.CopyToHost(f);
FileStream fs = File.OpenWrite(filename);
BinaryWriter bw = new BinaryWriter(fs);
bw.Write(flow.Width);
bw.Write(flow.Height);
for (int i = 0; i < f.Length; i++)
{
bw.Write(f[i].x);
bw.Write(f[i].y);
}
bw.Close();
fs.Close();
bw.Dispose();
fs.Dispose();
}
public OpticalFlow(int width, int height, CudaContext ctx)
{
CUmodule mod = ctx.LoadModulePTX("opticalFlow.ptx");
warpingKernel = new WarpingKernel(ctx, mod);
createFlowFieldFromTiles = new CreateFlowFieldFromTiles(ctx, mod);
computeDerivativesKernel = new ComputeDerivativesKernel(ctx, mod);
lukasKanade = new LukasKanadeKernel(ctx, mod);
d_tmp = new NPPImage_32fC1(width, height);
d_Ix = new NPPImage_32fC1(width, height);
d_Iy = new NPPImage_32fC1(width, height);
d_Iz = new NPPImage_32fC1(width, height);
d_flow = new NPPImage_32fC2(width, height);
buffer = new CudaDeviceVariable <byte>(d_tmp.MeanStdDevGetBufferHostSize() * 3);
mean = new CudaDeviceVariable <double>(1);
std = new CudaDeviceVariable <double>(1);
d_filterX = new float[] { -0.25f, 0.25f, -0.25f, 0.25f };
d_filterY = new float[] { -0.25f, -0.25f, 0.25f, 0.25f };
d_filterT = new float[] { 0.25f, 0.25f, 0.25f, 0.25f };
}
public void AllocateDeviceMemory()
{
//Allocate FFT Buffer
FFTBuffer = new CudaDeviceVariable <byte>(FTTBufferSize);
for (int i = 0; i < forward.Length; i++)
{
forward[i].SetWorkArea(FFTBuffer.DevicePointer);
backward[i].SetWorkArea(FFTBuffer.DevicePointer);
}
int tilePixels = maxPixelsImage;
imgToTrackSortedTiles = new CudaDeviceVariable <float>(tilePixels);
imgRefSortedTiles = new CudaDeviceVariable <float>(tilePixels);
imgCrossCorrelation = new CudaDeviceVariable <float>(tilePixels);
int tilePixelsFFT = maxPixelsFFT;
imgToTrackCplx = new CudaDeviceVariable <float2>(tilePixelsFFT);
imgRefCplx = new CudaDeviceVariable <float2>(tilePixelsFFT);
squaredSumsOfTiles = new CudaDeviceVariable <float>(MaxBlockCountX * MaxBlockCountY);
shiftImages = new CudaDeviceVariable <float>(maxPixelsShiftImage);
patchShift = new NPPImage_32fC2(MaxBlockCountX, MaxBlockCountY);
}
public ShiftCollection(int aFrameCount, int aMaxTileCountX, int aMaxTileCountY, int aReferenceIndex, TrackingStrategy aStrategy, int aBlockSize, CudaContext ctx)
{
strategy = aStrategy;
referenceIndex = aReferenceIndex;
frameCount = aFrameCount;
if (aBlockSize >= aFrameCount)
{
blockSize = aFrameCount - 1;
}
else
{
blockSize = aBlockSize;
}
blas = new CudaBlas(PointerMode.Device, AtomicsMode.Allowed);
one = 1.0f;
zero = 0.0f;
shiftPairs = new List <ShiftPair>();
int shiftCount = GetShiftCount();
FillShiftPairs();
FillIndexTable();
if (shiftPairs.Count != shiftCount)
{
throw new Exception("Ooups, something went wrong with my math...");
}
shifts = new List <NPPImage_32fC2>(shiftCount);
int[] shiftPitches_h = new int[shiftCount];
CUdeviceptr[] ptrList = new CUdeviceptr[shiftCount];
for (int i = 0; i < shiftCount; i++)
{
NPPImage_32fC2 devVar = new NPPImage_32fC2(aMaxTileCountX, aMaxTileCountY);
shifts.Add(devVar);
shiftPitches_h[i] = devVar.Pitch;
ptrList[i] = devVar.DevicePointer;
}
shiftPitches = shiftPitches_h;
AllShifts_d = new CudaDeviceVariable <float2>(aMaxTileCountX * aMaxTileCountY * shiftCount);
shiftsOneToOne_d = new CudaDeviceVariable <float2>(aMaxTileCountX * aMaxTileCountY * (frameCount - 1));
shifts_d = ptrList;
status = new CudaDeviceVariable <int>(aMaxTileCountX * aMaxTileCountY);
infoInverse = new CudaDeviceVariable <int>(aMaxTileCountX * aMaxTileCountY);
shiftMatrixArray = new CudaDeviceVariable <CUdeviceptr>(aMaxTileCountX * aMaxTileCountY);
shiftMatrixSafeArray = new CudaDeviceVariable <CUdeviceptr>(aMaxTileCountX * aMaxTileCountY);
matrixSquareArray = new CudaDeviceVariable <CUdeviceptr>(aMaxTileCountX * aMaxTileCountY);
matrixInvertedArray = new CudaDeviceVariable <CUdeviceptr>(aMaxTileCountX * aMaxTileCountY);
solvedMatrixArray = new CudaDeviceVariable <CUdeviceptr>(aMaxTileCountX * aMaxTileCountY);
shiftOneToOneArray = new CudaDeviceVariable <CUdeviceptr>(aMaxTileCountX * aMaxTileCountY);
shiftMeasuredArray = new CudaDeviceVariable <CUdeviceptr>(aMaxTileCountX * aMaxTileCountY);
shiftOptimArray = new CudaDeviceVariable <CUdeviceptr>(aMaxTileCountX * aMaxTileCountY);
shiftMatrices = new CudaDeviceVariable <float>(aMaxTileCountX * aMaxTileCountY * shiftCount * (frameCount - 1));
shiftSafeMatrices = new CudaDeviceVariable <float>(aMaxTileCountX * aMaxTileCountY * shiftCount * (frameCount - 1));
matricesSquared = new CudaDeviceVariable <float>(aMaxTileCountX * aMaxTileCountY * (frameCount - 1) * (frameCount - 1));
matricesInverted = new CudaDeviceVariable <float>(aMaxTileCountX * aMaxTileCountY * (frameCount - 1) * (frameCount - 1));
solvedMatrices = new CudaDeviceVariable <float>(aMaxTileCountX * aMaxTileCountY * shiftCount * (frameCount - 1));
shiftsOneToOne = new CudaDeviceVariable <float2>(aMaxTileCountX * aMaxTileCountY * (frameCount - 1));
pivotArray = new CudaDeviceVariable <int>(aMaxTileCountX * aMaxTileCountY * (frameCount - 1));
shiftsMeasured = new CudaDeviceVariable <float2>(aMaxTileCountX * aMaxTileCountY * shiftCount);
shiftsOptim = new CudaDeviceVariable <float2>(aMaxTileCountX * aMaxTileCountY * shiftCount);
buffer = new CudaDeviceVariable <byte>(status.SumGetBufferSize());
statusSum = new CudaDeviceVariable <int>(1);
CUmodule mod = ctx.LoadModulePTX("ShiftMinimizerKernels.ptx");
concatenateShifts = new concatenateShiftsKernel(ctx, mod);
separateShifts = new separateShiftsKernel(ctx, mod);
getOptimalShifts = new getOptimalShiftsKernel(ctx, mod);
copyShiftMatrixKernel = new copyShiftMatrixKernel(ctx, mod);
setPointers = new setPointersKernel(ctx, mod);
checkForOutliers = new checkForOutliersKernel(ctx, mod);
transposeShifts = new transposeShiftsKernel(ctx, mod);
setPointers.RunSafe(shiftMatrixArray, shiftMatrixSafeArray, matrixSquareArray, matrixInvertedArray, solvedMatrixArray,
shiftOneToOneArray, shiftMeasuredArray, shiftOptimArray, shiftMatrices, shiftSafeMatrices, matricesSquared,
matricesInverted, solvedMatrices, shiftsOneToOne, shiftsMeasured, shiftsOptim, aMaxTileCountX * aMaxTileCountY, frameCount, shiftCount);
Reset();
}
public float RunSafe(CudaDeviceVariable <ushort> dataIn, NPPImage_32fC3 imgOut, NPPImage_32fC3 totalWeights, NPPImage_32fC4 certaintyMask, NPPImage_32fC3 kernelParam, NPPImage_32fC2 shifts, float3 whiteLevel, float3 blackLevel)
{
SetComputeSize((uint)imgOut.WidthRoi, (uint)imgOut.HeightRoi);
return(base.Run(dataIn.DevicePointer, imgOut.DevicePointerRoi, totalWeights.DevicePointerRoi,
certaintyMask.DevicePointerRoi, kernelParam.DevicePointerRoi, shifts.DevicePointerRoi,
whiteLevel, blackLevel, imgOut.WidthRoi, imgOut.HeightRoi, imgOut.Pitch, certaintyMask.Pitch, shifts.Pitch));
}
/*
*
* const float3* __restrict__ rawImgRef,
* const float3* __restrict__ rawImgMoved,
* float3* __restrict__ robustnessMask,
* cudaTextureObject_t texUV,
* int imgWidth,
* int imgHeight,
* int imgPitch,
* float alpha,
* float beta)
*/
public float RunSafe(NPPImage_32fC3 rawImgRef, NPPImage_32fC3 rawImgMoved, NPPImage_32fC4 robustnessMask, NPPImage_32fC2 shift, float alpha, float beta, float thresholdM)
{
this.BlockDimensions = new dim3(8, 8, 1);
this.SetComputeSize((uint)(rawImgRef.WidthRoi), (uint)(rawImgRef.HeightRoi), 1);
this.DynamicSharedMemory = BlockDimensions.x * BlockDimensions.y * float3.SizeOf * 3 * 3;
CudaResourceDesc descShift = new CudaResourceDesc(shift);
CudaTextureDescriptor texDescShift = new CudaTextureDescriptor(CUAddressMode.Mirror, CUFilterMode.Linear, CUTexRefSetFlags.NormalizedCoordinates);
CudaTexObject texShift = new CudaTexObject(descShift, texDescShift);
float t = this.Run(rawImgRef.DevicePointerRoi, rawImgMoved.DevicePointerRoi, robustnessMask.DevicePointerRoi, texShift.TexObject, rawImgRef.WidthRoi,
rawImgRef.HeightRoi, rawImgRef.Pitch, robustnessMask.Pitch, alpha, beta, thresholdM);
texShift.Dispose();
return(t);
}
public float RunSafe(NPPImage_32fC1 inImg, CudaDeviceVariable <float> outTiles, NPPImage_32fC2 preShift, int tileSize, int maxShift, int tileCountX, int tileCountY, float2 baseShift, float baseRotation)
{
this.SetComputeSize((uint)(tileSize + 2 * maxShift), (uint)(tileSize + 2 * maxShift), (uint)(tileCountX * tileCountY));
return(this.Run(inImg.DevicePointerRoi, outTiles.DevicePointer, preShift.DevicePointer, preShift.Pitch, inImg.WidthRoi, inImg.HeightRoi, inImg.Pitch, maxShift, tileSize, tileCountX, tileCountY, baseShift, baseRotation));
}
public float RunSafe(CudaDeviceVariable <ushort> dataIn, NPPImage_32fC3 imgOut, NPPImage_32fC3 totalWeights, NPPImage_32fC4 certaintyMask, NPPImage_32fC4 kernelParam, NPPImage_32fC2 shifts, float3 whiteLevel, float3 blackLevel)
{
SetComputeSize((uint)imgOut.WidthRoi, (uint)imgOut.HeightRoi);
CudaResourceDesc descKernel = new CudaResourceDesc(kernelParam);
CudaTextureDescriptor texDescKernel = new CudaTextureDescriptor(CUAddressMode.Clamp, CUFilterMode.Linear, CUTexRefSetFlags.NormalizedCoordinates);
CudaTexObject texKernel = new CudaTexObject(descKernel, texDescKernel);
CudaResourceDesc descShift = new CudaResourceDesc(shifts);
CudaTextureDescriptor texDescShift = new CudaTextureDescriptor(CUAddressMode.Mirror, CUFilterMode.Linear, CUTexRefSetFlags.NormalizedCoordinates);
CudaTexObject texShift = new CudaTexObject(descShift, texDescShift);
float t = base.Run(dataIn.DevicePointer, imgOut.DevicePointerRoi, totalWeights.DevicePointerRoi,
certaintyMask.DevicePointerRoi, texKernel.TexObject, texShift.TexObject,
whiteLevel, blackLevel, imgOut.WidthRoi, imgOut.HeightRoi, imgOut.Pitch, certaintyMask.Pitch, kernelParam.Pitch, shifts.Pitch);
texShift.Dispose();
texKernel.Dispose();
return(t);
}
