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AtL)H =Hu>L$0H$ LH5=AsL)H e=H5>AL$0H$ LH5=ArL)H %=H=L$0H$ LH5=RAyL)H <H=L$0H$ LH5=AxL)H <Hu=L$01HDŽ$ EH$@LH$ H$0 H$ AvLH$0foGH ;<)H$@foG@@ == @foG@D1@ foG@0H$ H$0H$8H<L$01HDŽ$ EH$@LH$ H$0FH$ AwLH$0fo%GH v;)H$@foG@@ == @foF@D1@ foG@0H$ H$0H$8H;L$0H$ LH5m;HAuL)H :H;HEHrHHHHHHHH.H;HAHHHH\H.HfHHHHHHAWIAVAUATIUHSH5"H8H<$H|$dH%(H$(1H|$HcHMLwLaLHNfHqHL~LMfLXPLB:LHHD$hLfLl$`fHnfo)D$pH$)$fH:"H$)$fHn)T$`H$)$fH:")$L$)$)$)$)$)$)$ALHHH<$L|$@LHHL$ MHD$PD$@Lt$HHD$0D$ Ll$(LLH\$HHD$PD$@UH$ fHCH`Ht hSHC8)C)C ~HS@1@H9CH{HHCPH9tCL9fuD$u>H$(dH+%(8H8[]A\A]A^A_@L9^D$tH|$uL#zfDHf.Ll$`1HD$@?H\$pLHt$@H\$`HT$@HD$`HchannelsAdfoAL)HT$pfoAHH0= @foAfH2HD$@HT$`HD$hHLl$`HT$@LH5AbL)H j5HFLl$`HT$@LH5T6AeL)H 05H Ll$`HT$@LH55cAcL)H 4HjLl$`HT$@LH54)A`L)H 4H0Ll$`HT$@LH54AaL)H 4H^yHHHHH HHHHHname(String)fn["name"] == name_readhistorynsamplesnKNNdist2ThresholddetectShadowsshadowValueshadowThreshold/code/SuperBuild/src/opencv/modules/video/src/bgfg_KNN.cppNo element name has been given/code/SuperBuild/src/opencv/modules/core/include/opencv2/core/persistence.hppoperator<< -D SHADOW_DETECT-D CN=%d -D NSAMPLES=%d%sknn_kernel-D CN=%d -D NSAMPLES=%dgetBackgroundImage2_kernellearningRate >= 0ocl_apply!kernel_apply.empty()setDetectShadowsBackgroundSubtractor.KNNgetBackgroundImageSt11_Mutex_baseILN9__gnu_cxx12_Lock_policyE2EESt19_Sp_make_shared_tagSt16_Sp_counted_baseILN9__gnu_cxx12_Lock_policyE2EEN2cv20BackgroundSubtractorEN2cv23BackgroundSubtractorKNNEN2cv27BackgroundSubtractorKNNImplEN2cv10KNNInvokerESt23_Sp_counted_ptr_inplaceIN2cv27BackgroundSubtractorKNNImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EEvirtual void cv::BackgroundSubtractorKNNImpl::getBackgroundImage(cv::OutputArray) constvirtual void cv::BackgroundSubtractorKNNImpl::apply(cv::InputArray, cv::OutputArray, double)?P?$ֿw@RUk>B@CnmixturesbackgroundRatiovarThresholdvarThresholdGenvarInitvarMinvarMaxcomplexityReductionThreshold/code/SuperBuild/src/opencv/modules/video/src/bgfg_gaussmix2.cpptotal() == 0 || data != NULLMat/code/SuperBuild/src/opencv/modules/core/include/opencv2/core/mat.inl.hppmog2_kernel-D CN=%d -D FL=%d -D NMIXTURES=%d%snmixtures <= 255initialize-D CN=%d -D FL=%d -D NMIXTURES=%dBackgroundSubtractor.MOG2frameType == CV_8UC1 || frameType == CV_8UC3 || frameType == CV_32FC1 || frameType == CV_32FC3N2cv24BackgroundSubtractorMOG2EN2cv28BackgroundSubtractorMOG2ImplEN2cv11MOG2InvokerESt23_Sp_counted_ptr_inplaceIN2cv28BackgroundSubtractorMOG2ImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EEvoid cv::BackgroundSubtractorMOG2Impl::getBackgroundImage_intern(cv::OutputArray) const [with T = float; int CN = 3; cv::OutputArray = const cv::_OutputArray&]void cv::BackgroundSubtractorMOG2Impl::getBackgroundImage_intern(cv::OutputArray) const [with T = float; int CN = 1; cv::OutputArray = const cv::_OutputArray&]void cv::BackgroundSubtractorMOG2Impl::getBackgroundImage_intern(cv::OutputArray) const [with T = unsigned char; int CN = 3; cv::OutputArray = const cv::_OutputArray&]void cv::BackgroundSubtractorMOG2Impl::getBackgroundImage_intern(cv::OutputArray) const [with T = unsigned char; int CN = 1; cv::OutputArray = const cv::_OutputArray&]virtual void cv::BackgroundSubtractorMOG2Impl::apply(cv::InputArray, cv::OutputArray, double)complexityReductfff?ApA@?40@basic_string::_M_construct null not validcn == 1meanShift/code/SuperBuild/src/opencv/modules/video/src/camshift.cppInput window has non-positive sizescv::RotatedRect cv::CamShift(cv::InputArray, cv::Rect&, cv::TermCriteria)int cv::meanShift(cv::InputArray, cv::Rect&, cv::TermCriteria)<?@-DT!?f@-DT! @C4C?-DDIS_BORDER_SIZE=%d -DDIS_PATCH_SIZE=%d -DDIS_PATCH_STRIDE=%d/code/SuperBuild/src/opencv/modules/video/src/dis_flow.cppdis_patch_inverse_search_fwd_1dis_patch_inverse_search_fwd_2dis_patch_inverse_search_bwd_1dis_patch_inverse_search_bwd_2 -DCV_USE_SUBGROUPS=1num_iter == 2ocl_PatchInverseSearch-DDIS_PATCH_SIZE=%d -DDIS_PATCH_STRIDE=%ddis_densificationdis_precomputeStructureTensor_hordis_precomputeStructureTensor_vervector::_M_default_appendThe input image must have either width or height >= 12ocl_calcI0.sameSize(I1)I0.isContinuous()I1.isContinuous()vector::_M_realloc_insertN2cv16DenseOpticalFlowEN2cv14DISOpticalFlowEN2cv18DISOpticalFlowImpl26PatchInverseSearch_ParBodyEN2cv18DISOpticalFlowImpl21Densification_ParBodyEN2cv18DISOpticalFlowImplESt23_Sp_counted_ptr_inplaceIN2cv18DISOpticalFlowImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EEstatic cv::Ptr cv::DISOpticalFlow::create(int)virtual void cv::DISOpticalFlowImpl::collectGarbage()virtual void cv::DISOpticalFlowImpl::calc(cv::InputArray, cv::InputArray, cv::InputOutputArray)bool cv::DISOpticalFlowImpl::ocl_calc(cv::InputArray, cv::InputArray, cv::InputOutputArray)bool cv::DISOpticalFlowImpl::ocl_precomputeStructureTensor(cv::UMat&, cv::UMat&, cv::UMat&, cv::UMat&, cv::UMat&, cv::UMat&, cv::UMat&)void cv::DISOpticalFlowImpl::ocl_prepareBuffers(cv::UMat&, cv::UMat&, cv::InputArray, bool)bool cv::DISOpticalFlowImpl::ocl_Densification(cv::UMat&, cv::UMat&, cv::UMat&, cv::UMat&)bool cv::DISOpticalFlowImpl::ocl_PatchInverseSearch(cv::UMat&, cv::UMat&, cv::UMat&, cv::UMat&, cv::UMat&, int, int)virtual void cv::DISOpticalFlowImpl::Densification_ParBody::operator()(const cv::Range&) constvirtual void cv::DISOpticalFlowImpl::PatchInverseSearch_ParBody::operator()(const cv::Range&) constvoid cv::DISOpticalFlowImpl::precomputeStructureTensor(cv::Mat&, cv::Mat&, cv::Mat&, cv::Mat&, cv::Mat&, cv::Mat&, cv::Mat&)void cv::DISOpticalFlowImpl::prepareBuffers(cv::Mat&, cv::Mat&, cv::Mat&, bool)cv::DISOpticalFlowImpl::DISOpticalFlowImpl()coarsest_scale_iterationOpenCLo:P@ BpBcl_khr_subgroupsBBU_channels.size(!I0.empty() && I0.depth() == CV_8U && I0.channel!I1.empty() && I1.depth() == CV_8U && I1.channel B 9B.?@?map_matrix.type() == CV_32FC1update_warping_matrix_ECCupdate.type() == CV_32FC1update.cols == 1map_matrix.isContinuous()update.isContinuous()/code/SuperBuild/src/opencv/modules/video/src/ecc.cppmotionType == MOTION_TRANSLATION || motionType == MOTION_EUCLIDEAN || motionType == MOTION_AFFINE || motionType == MOTION_HOMOGRAPHYmap_matrix.rows == 3 && update.rows == 8map_matrix.rows == 2 && update.rows == 6map_matrix.rows == 2 && update.rows == 3map_matrix.rows == 2 && update.rows == 2src1.rows == src2.rowsproject_onto_jacobian_ECC(src1.cols % src2.cols) == 0dst.cols == dst.rowsimage_jacobian_affine_ECCsrc1.rows == dst.rowsdst.cols == (6*src1.cols)dst.type() == CV_32FC1image_jacobian_homo_ECCdst.cols == (src1.cols*8)src5.isContinuous()image_jacobian_euclidean_ECCdst.cols == (src1.cols*3)!templateImage.empty()computeECC!inputImage.empty()Both input images must have the same data type!src.empty()findTransformECC!dst.empty()map.cols == 3map.rows == 2 || map.rows ==3dst.cols == (src1.cols*2)NaN encountered.Images must have 8uC1 or 32fC1 typewarpMatrix must be single-channel floating-point matrixmotionType == MOTION_AFFINE || motionType == MOTION_HOMOGRAPHY || motionType == MOTION_EUCLIDEAN || motionType == MOTION_TRANSLATIONcriteria.type & TermCriteria::COUNT || criteria.type & TermCriteria::EPSimage_jacobian_translation_ECCThe algorithm stopped before its convergence. The correlation is going to be minimized. Images may be uncorrelated or non-overlappedsrc1.size() == s?src1.size()==srcy 5?DP > 0 && MP > 0init/code/SuperBuild/src/opencv/modules/video/src/kalman.cpptype == CV_32F || type == CV_64Fconst cv::Mat& cv::KalmanFilter::correct(const cv::Mat&)const cv::Mat& cv::KalmanFilter::predict(const cv::Mat&)depth == CV_8UcalcScharrDeriv/code/SuperBuild/src/opencv/modules/video/src/lkpyramid.cppstatus != NULLoperator()buildOpticalFlowPyramid -D CPU-D WSX=%d -D WSY=%dlkSparselkSparse_runI.depth() == CV_32F && J.depth() == CV_32FstatusMat.isContinuous()errMat.isContinuous()levels1 >= 0levels2 >= 0(npoints = prevPtsMat.checkVector(2, CV_32F, true)) >= 0nextPtsMat.checkVector(2, CV_32F, true) == npointsofs.x >= winSize.width && ofs.y >= winSize.height && ofs.x + prevPyr[lvlStep1].cols + winSize.width <= fullSize.width && ofs.y + prevPyr[lvlStep1].rows + winSize.height <= fullSize.heightofs.x >= winSize.width && ofs.y >= winSize.height && ofs.x + nextPyr[lvlStep2].cols + winSize.width <= fullSize.width && ofs.y + nextPyr[lvlStep2].rows + winSize.height <= fullSize.heightprevPyr[level * lvlStep1].type() == nextPyr[level * lvlStep2].type()estimateRigidTransformcn == 1 || cn == 3 || cn == 4Both input images must have either 8uC1 or 8uC3 typeN2cv17SparseOpticalFlowEN2cv22SparsePyrLKOpticalFlowEN2cv6detail18ScharrDerivInvokerEN2cv6detail16LKTrackerInvokerE*N2cv12_GLOBAL__N_126SparsePyrLKOpticalFlowImplE*St23_Sp_counted_ptr_inplaceIN2cv12_GLOBAL__N_126SparsePyrLKOpticalFlowImplESaIS2_ELN9__gnu_cxx12_Lock_policyE2EEcv::Mat cv::estimateRigidTransform(cv::InputArray, cv::InputArray, bool)virtual void cv::{anonymous}::SparsePyrLKOpticalFlowImpl::calc(cv::InputArray, cv::InputArray, cv::InputArray, cv::InputOutputArray, cv::OutputArray, cv::OutputArray)int cv::buildOpticalFlowPyramid(cv::InputArray, cv::OutputArrayOfArrays, cv::Size, int, bool, int, int, bool)virtual void cv::detail::LKTrackerInvoker::operator()(const cv::Range&) const  img.depth() == CV_8U && winSize.width > 2 && win??dmaxLevel >= 0 && winSize.width > 2 && winSize.heprevPyr[level * lvlStep1].size() == nextPyr[level * lvlStep2].si????Both input images must have the F5@pA{Gz?Y@-C6?$@^@d@.@(?Gz?@-D polyN=%dpolynomialExpansionupdateMatricesframe0.channels() == 1 && frame1.channels() == 1/code/SuperBuild/src/opencv/modules/video/src/optflowgf.cpp!fastPyramids_ || std::abs(pyrScale_ - 0.5) < 1e-6cannot create std::vector larger than max_size()polyN_ == 5 || polyN_ == 7gaussianBlurgaussianBlurOclgaussianBlur5updateFlowboxFilter5src.type() == CV_32FC1FarnebackPolyExpN2cv20FarnebackOpticalFlowE*N2cv12_GLOBAL__N_124FarnebackOpticalFlowImplE*St23_Sp_counted_ptr_inplaceIN2cv12_GLOBAL__N_124FarnebackOpticalFlowImplESaIS2_ELN9__gnu_cxx12_Lock_policyE2EEvoid cv::calcOpticalFlowFarneback(cv::InputArray, cv::InputArray, cv::InputOutputArray, double, int, int, int, int, double, int)virtual void cv::{anonymous}::FarnebackOpticalFlowImpl::calc(cv::InputArray, cv::InputArray, cv::InputOutputArray))\>)\>f>f>f> Bframe0.size() ==dst.size() == sr         prev0.size() == next0.size() && prev0.channels() == next0.channels() && prev0.channels() == 1 &&_flow0.size() == prev0.size() && _flow0.channels() == 2 && _flow>>>333333?ư>@@@MbP?PIEHPIEH!I0.empty() && I0.channels() == 1/code/SuperBuild/src/opencv/modules/video/src/variational_refinement.cpp!I1.empty() && I1.channels() == 1(I0.depth() == CV_8U && I1.depth() == CV_8U) || (I0.depth() == CV_32F && I1.depth() == CV_32F)calcUVI0.sameSize(flow_u)flow_u.sameSize(flow_v)I0.sameSize(flow)N2cv21VariationalRefinementEN2cv25VariationalRefinementImpl18ParallelOp_ParBodyEN2cv25VariationalRefinementImpl23ComputeDataTerm_ParBodyEN2cv25VariationalRefinementImpl36ComputeSmoothnessTermHorPass_ParBodyEN2cv25VariationalRefinementImpl37ComputeSmoothnessTermVertPass_ParBodyEN2cv25VariationalRefinementImpl19RedBlackSOR_ParBodyEN2cv25VariationalRefinementImplESt23_Sp_counted_ptr_inplaceIN2cv25VariationalRefinementImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EEvirtual void cv::VariationalRefinementImpl::collectGarbage()virtual void cv::VariationalRefinementImpl::calcUV(cv::InputArray, cv::InputArray, cv::InputOutputArray, cv::InputOutputArray)virtual void cv::VariationalRefinementImpl::calc(cv::InputArray, cv::InputArray, cv::InputOutputArray)virtual void cv::VariationalRefinementImpl::RedBlackSOR_ParBody::operator()(const cv::Range&) constvirtual void cv::VariationalRefinementImpl::ComputeSmoothnessTermVertPass_ParBody::operator()(const cv::Range&) constvirtual void cv::VariationalRefinementImpl::ComputeSmoothnessTermHorPass_ParBody::operator()(const cv::Range&) constvirtual void cv::VariationalRefinementImpl::ComputeDataTerm_ParBody::operator()(const cv::Range&) constvoid cv::VariationalRefinementImpl::prepareBuffers(cv::Mat&, cv::Mat&, cv::Mat&, cv::Mat&)void cv::VariationalRefinementImpl::warpImage(cv::Mat&, cv::Mat&, cv::Mat&, cv::Mat&)virtual void cv::VariationalRefinementImpl::ParallelOp_ParBody::operator()(const cv::Range&) constvoid cv::VariationalRefinementImpl::RedBlackBuffer::release()void cv::VariationalRefinementImpl::RedBlackBuffer::create(cv::Size)cv::VariationalRefinementImpl::RedBlackBuffer::RedBlackBuffer()void cv::VariationalRefinementImpl::updateRepeatedBorders(cv::VariationalRefinementImpl::RedBlackBuffer&)void cv::VariationalRefinementImpl::mergeCheckerboard(cv::Mat&, cv::VariationalRefinementImpl::RedBlackBuffer&)void cv::VariationalRefinementImpl::splitCheckerboard(cv::VariationalRefinementImpl::RedBlackBuffer&, cv::Mat&)cv::VariationalRefinementImpl::VariationalRefinementImpl()void cv::VariationalRefinementImpl::subtractOp(void*, void*, void*)void cv::VariationalRefinementImpl::averageOp(void*, void*, void*)void cv::VariationalRefinementImpl::gradVertAndSplitOp(void*, void*, void*)void cv::VariationalRefinementImpl::gradHorizAndSplitOp(void*, void*, void*)SOR_iterationfixedPoint_iteration?A@ A!flow_u.empty() && flow_u.depth() == CV_32F && flow_u.channels()!flow_v.empty() && flow_v.depth(low_v.channels()!flow.empty() && flow.depth() == CV_32F && flow.videopyrlkoptical_flow_farnebackdis_flowbgfg_mog2bgfg_knn#define GRIDSIZE 3 #define LSx 8 #define LSy 8 #define LM_W (LSx*GRIDSIZE+2) #define LM_H (LSy*GRIDSIZE+2) #define BUFFER (LSx*LSy) #define BUFFER2 BUFFER>>1 #ifdef CPU inline void reduce3(float val1, float val2, float val3, __local float* smem1, __local float* smem2, __local float* smem3, int tid) { smem1[tid] = val1; smem2[tid] = val2; smem3[tid] = val3; barrier(CLK_LOCAL_MEM_FENCE); for(int i = BUFFER2; i > 0; i >>= 1) { if(tid < i) { smem1[tid] += smem1[tid + i]; smem2[tid] += smem2[tid + i]; smem3[tid] += smem3[tid + i]; } barrier(CLK_LOCAL_MEM_FENCE); } } inline void reduce2(float val1, float val2, __local float* smem1, __local float* smem2, int tid) { smem1[tid] = val1; smem2[tid] = val2; barrier(CLK_LOCAL_MEM_FENCE); for(int i = BUFFER2; i > 0; i >>= 1) { if(tid < i) { smem1[tid] += smem1[tid + i]; smem2[tid] += smem2[tid + i]; } barrier(CLK_LOCAL_MEM_FENCE); } } inline void reduce1(float val1, __local float* smem1, int tid) { smem1[tid] = val1; barrier(CLK_LOCAL_MEM_FENCE); for(int i = BUFFER2; i > 0; i >>= 1) { if(tid < i) { smem1[tid] += smem1[tid + i]; } barrier(CLK_LOCAL_MEM_FENCE); } } #else inline void reduce3(float val1, float val2, float val3, __local float* smem1, __local float* smem2, __local float* smem3, int tid) { smem1[tid] = val1; smem2[tid] = val2; smem3[tid] = val3; barrier(CLK_LOCAL_MEM_FENCE); if (tid < 32) { smem1[tid] += smem1[tid + 32]; smem2[tid] += smem2[tid + 32]; smem3[tid] += smem3[tid + 32]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid < 16) { smem1[tid] += smem1[tid + 16]; smem2[tid] += smem2[tid + 16]; smem3[tid] += smem3[tid + 16]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid < 8) { smem1[tid] += smem1[tid + 8]; smem2[tid] += smem2[tid + 8]; smem3[tid] += smem3[tid + 8]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid < 4) { smem1[tid] += smem1[tid + 4]; smem2[tid] += smem2[tid + 4]; smem3[tid] += smem3[tid + 4]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid == 0) { smem1[0] = (smem1[0] + smem1[1]) + (smem1[2] + smem1[3]); smem2[0] = (smem2[0] + smem2[1]) + (smem2[2] + smem2[3]); smem3[0] = (smem3[0] + smem3[1]) + (smem3[2] + smem3[3]); } barrier(CLK_LOCAL_MEM_FENCE); } inline void reduce2(float val1, float val2, __local float* smem1, __local float* smem2, int tid) { smem1[tid] = val1; smem2[tid] = val2; barrier(CLK_LOCAL_MEM_FENCE); if (tid < 32) { smem1[tid] += smem1[tid + 32]; smem2[tid] += smem2[tid + 32]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid < 16) { smem1[tid] += smem1[tid + 16]; smem2[tid] += smem2[tid + 16]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid < 8) { smem1[tid] += smem1[tid + 8]; smem2[tid] += smem2[tid + 8]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid < 4) { smem1[tid] += smem1[tid + 4]; smem2[tid] += smem2[tid + 4]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid == 0) { smem1[0] = (smem1[0] + smem1[1]) + (smem1[2] + smem1[3]); smem2[0] = (smem2[0] + smem2[1]) + (smem2[2] + smem2[3]); } barrier(CLK_LOCAL_MEM_FENCE); } inline void reduce1(float val1, __local float* smem1, int tid) { smem1[tid] = val1; barrier(CLK_LOCAL_MEM_FENCE); if (tid < 32) { smem1[tid] += smem1[tid + 32]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid < 16) { smem1[tid] += smem1[tid + 16]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid < 8) { smem1[tid] += smem1[tid + 8]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid < 4) { smem1[tid] += smem1[tid + 4]; } barrier(CLK_LOCAL_MEM_FENCE); if (tid == 0) { smem1[0] = (smem1[0] + smem1[1]) + (smem1[2] + smem1[3]); } barrier(CLK_LOCAL_MEM_FENCE); } #endif #define SCALE (1.0f / (1 << 20)) #define THRESHOLD 0.01f __constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_LINEAR; #define VAL(_y,_x,_yy,_xx) (IPatchLocal[mad24(((_y) + (_yy)), LM_W, ((_x) + (_xx)))]) inline void SetPatch(local float* IPatchLocal, int TileY, int TileX, float* Pch, float* Dx, float* Dy, float* A11, float* A12, float* A22, float w) { int xid=get_local_id(0); int yid=get_local_id(1); int xBase = mad24(TileX, LSx, (xid + 1)); int yBase = mad24(TileY, LSy, (yid + 1)); *Pch = VAL(yBase,xBase,0,0); *Dx = mad((VAL(yBase,xBase,-1,1) + VAL(yBase,xBase,+1,1) - VAL(yBase,xBase,-1,-1) - VAL(yBase,xBase,+1,-1)), 3.0f, (VAL(yBase,xBase,0,1) - VAL(yBase,xBase,0,-1)) * 10.0f) * w; *Dy = mad((VAL(yBase,xBase,1,-1) + VAL(yBase,xBase,1,+1) - VAL(yBase,xBase,-1,-1) - VAL(yBase,xBase,-1,+1)), 3.0f, (VAL(yBase,xBase,1,0) - VAL(yBase,xBase,-1,0)) * 10.0f) * w; *A11 = mad(*Dx, *Dx, *A11); *A12 = mad(*Dx, *Dy, *A12); *A22 = mad(*Dy, *Dy, *A22); } #undef VAL inline void GetPatch(image2d_t J, float x, float y, float* Pch, float* Dx, float* Dy, float* b1, float* b2) { float diff = read_imagef(J, sampler, (float2)(x,y)).x-*Pch; *b1 = mad(diff, *Dx, *b1); *b2 = mad(diff, *Dy, *b2); } inline void GetError(image2d_t J, const float x, const float y, const float* Pch, float* errval, float w) { float diff = ((((read_imagef(J, sampler, (float2)(x,y)).x * 16384) + 256) / 512) - (((*Pch * 16384) + 256) /512)) * w; *errval += fabs(diff); } #define READI(_y,_x) IPatchLocal[mad24(mad24((_y), LSy, yid), LM_W, mad24((_x), LSx, xid))] = read_imagef(I, sampler, (float2)(mad((float)(_x), (float)LSx, Point.x + xid - 0.5f), mad((float)(_y), (float)LSy, Point.y + yid - 0.5f))).x; void ReadPatchIToLocalMem(image2d_t I, float2 Point, local float* IPatchLocal) { int xid=get_local_id(0); int yid=get_local_id(1); READI(0,0);READI(0,1);READI(0,2); READI(1,0);READI(1,1);READI(1,2); READI(2,0);READI(2,1);READI(2,2); if(xid<2) { READI(0,3); READI(1,3); READI(2,3); } if(yid<2) { READI(3,0);READI(3,1);READI(3,2); } if(yid<2 && xid<2) { READI(3,3); } barrier(CLK_LOCAL_MEM_FENCE); } #undef READI __attribute__((reqd_work_group_size(LSx, LSy, 1))) __kernel void lkSparse(image2d_t I, image2d_t J, __global const float2* prevPts, __global float2* nextPts, __global uchar* status, __global float* err, const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr) { __local float smem1[BUFFER]; __local float smem2[BUFFER]; __local float smem3[BUFFER]; int xid=get_local_id(0); int yid=get_local_id(1); int gid=get_group_id(0); int xsize=get_local_size(0); int ysize=get_local_size(1); int k; #ifdef CPU float wx0 = 1.0f; float wy0 = 1.0f; int xBase = mad24(xsize, 2, xid); int yBase = mad24(ysize, 2, yid); float wx1 = (xBase < c_winSize_x) ? 1 : 0; float wy1 = (yBase < c_winSize_y) ? 1 : 0; #else #if WSX == 1 float wx0 = 1.0f; int xBase = mad24(xsize, 2, xid); float wx1 = (xBase < c_winSize_x) ? 1 : 0; #else int xBase = mad24(xsize, 1, xid); float wx0 = (xBase < c_winSize_x) ? 1 : 0; float wx1 = 0.0f; #endif #if WSY == 1 float wy0 = 1.0f; int yBase = mad24(ysize, 2, yid); float wy1 = (yBase < c_winSize_y) ? 1 : 0; #else int yBase = mad24(ysize, 1, yid); float wy0 = (yBase < c_winSize_y) ? 1 : 0; float wy1 = 0.0f; #endif #endif float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1); const int tid = mad24(yid, xsize, xid); float2 prevPt = prevPts[gid] / (float2)(1 << level); if (prevPt.x < 0 || prevPt.x >= cols || prevPt.y < 0 || prevPt.y >= rows) { if (tid == 0 && level == 0) { status[gid] = 0; } return; } prevPt -= c_halfWin; float A11 = 0; float A12 = 0; float A22 = 0; float I_patch[GRIDSIZE][GRIDSIZE]; float dIdx_patch[GRIDSIZE][GRIDSIZE]; float dIdy_patch[GRIDSIZE][GRIDSIZE]; local float IPatchLocal[LM_W*LM_H]; ReadPatchIToLocalMem(I,prevPt,IPatchLocal); { SetPatch(IPatchLocal, 0, 0, &I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0], &A11, &A12, &A22,1); SetPatch(IPatchLocal, 0, 1, &I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1], &A11, &A12, &A22,wx0); SetPatch(IPatchLocal, 0, 2, &I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2], &A11, &A12, &A22,wx1); } { SetPatch(IPatchLocal, 1, 0, &I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0], &A11, &A12, &A22,wy0); SetPatch(IPatchLocal, 1,1, &I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1], &A11, &A12, &A22,wx0*wy0); SetPatch(IPatchLocal, 1,2, &I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2], &A11, &A12, &A22,wx1*wy0); } { SetPatch(IPatchLocal, 2,0, &I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0], &A11, &A12, &A22,wy1); SetPatch(IPatchLocal, 2,1, &I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1], &A11, &A12, &A22,wx0*wy1); SetPatch(IPatchLocal, 2,2, &I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2], &A11, &A12, &A22,wx1*wy1); } reduce3(A11, A12, A22, smem1, smem2, smem3, tid); A11 = smem1[0]; A12 = smem2[0]; A22 = smem3[0]; barrier(CLK_LOCAL_MEM_FENCE); float D = mad(A11, A22, - A12 * A12); if (D < 1.192092896e-07f) { if (tid == 0 && level == 0) status[gid] = 0; return; } A11 /= D; A12 /= D; A22 /= D; prevPt = mad(nextPts[gid], 2.0f, - c_halfWin); float2 offset0 = (float2)(xid + 0.5f, yid + 0.5f); float2 offset1 = (float2)(xsize, ysize); float2 loc0 = prevPt + offset0; float2 loc1 = loc0 + offset1; float2 loc2 = loc1 + offset1; for (k = 0; k < c_iters; ++k) { if (prevPt.x < -c_halfWin.x || prevPt.x >= cols || prevPt.y < -c_halfWin.y || prevPt.y >= rows) { if (tid == 0 && level == 0) status[gid] = 0; break; } float b1 = 0; float b2 = 0; { GetPatch(J, loc0.x, loc0.y, &I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0], &b1, &b2); GetPatch(J, loc1.x, loc0.y, &I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1], &b1, &b2); GetPatch(J, loc2.x, loc0.y, &I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2], &b1, &b2); } { GetPatch(J, loc0.x, loc1.y, &I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0], &b1, &b2); GetPatch(J, loc1.x, loc1.y, &I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1], &b1, &b2); GetPatch(J, loc2.x, loc1.y, &I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2], &b1, &b2); } { GetPatch(J, loc0.x, loc2.y, &I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0], &b1, &b2); GetPatch(J, loc1.x, loc2.y, &I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1], &b1, &b2); GetPatch(J, loc2.x, loc2.y, &I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2], &b1, &b2); } reduce2(b1, b2, smem1, smem2, tid); b1 = smem1[0]; b2 = smem2[0]; barrier(CLK_LOCAL_MEM_FENCE); float2 delta; delta.x = mad(A12, b2, - A22 * b1) * 32.0f; delta.y = mad(A12, b1, - A11 * b2) * 32.0f; prevPt += delta; loc0 += delta; loc1 += delta; loc2 += delta; if (fabs(delta.x) < THRESHOLD && fabs(delta.y) < THRESHOLD) break; } D = 0.0f; if (calcErr) { { GetError(J, loc0.x, loc0.y, &I_patch[0][0], &D, 1); GetError(J, loc1.x, loc0.y, &I_patch[0][1], &D, wx0); } { GetError(J, loc0.x, loc1.y, &I_patch[1][0], &D, wy0); GetError(J, loc1.x, loc1.y, &I_patch[1][1], &D, wx0*wy0); } if(xBase < c_winSize_x) { GetError(J, loc2.x, loc0.y, &I_patch[0][2], &D, wx1); GetError(J, loc2.x, loc1.y, &I_patch[1][2], &D, wx1*wy0); } if(yBase < c_winSize_y) { GetError(J, loc0.x, loc2.y, &I_patch[2][0], &D, wy1); GetError(J, loc1.x, loc2.y, &I_patch[2][1], &D, wx0*wy1); if(xBase < c_winSize_x) GetError(J, loc2.x, loc2.y, &I_patch[2][2], &D, wx1*wy1); } reduce1(D, smem1, tid); } if (tid == 0) { prevPt += c_halfWin; nextPts[gid] = prevPt; if (calcErr) err[gid] = smem1[0] / (float)(32 * c_winSize_x * c_winSize_y); } } fa578a4fdcd31c3e32eedab3e323ac05#define tx (int)get_local_id(0) #define ty get_local_id(1) #define bx get_group_id(0) #define bdx (int)get_local_size(0) #define BORDER_SIZE 5 #define MAX_KSIZE_HALF 100 #ifndef polyN #define polyN 5 #endif #if USE_DOUBLE #ifdef cl_amd_fp64 #pragma OPENCL EXTENSION cl_amd_fp64:enable #elif defined (cl_khr_fp64) #pragma OPENCL EXTENSION cl_khr_fp64:enable #endif #define TYPE double #define VECTYPE double4 #else #define TYPE float #define VECTYPE float4 #endif __kernel void polynomialExpansion(__global __const float * src, int srcStep, __global float * dst, int dstStep, const int rows, const int cols, __global __const float * c_g, __global __const float * c_xg, __global __const float * c_xxg, __local float * smem, const VECTYPE ig) { const int y = get_global_id(1); const int x = bx * (bdx - 2*polyN) + tx - polyN; int xWarped; __local float *row = smem + tx; if (y < rows && y >= 0) { xWarped = min(max(x, 0), cols - 1); row[0] = src[mad24(y, srcStep, xWarped)] * c_g[0]; row[bdx] = 0.f; row[2*bdx] = 0.f; #pragma unroll for (int k = 1; k <= polyN; ++k) { float t0 = src[mad24(max(y - k, 0), srcStep, xWarped)]; float t1 = src[mad24(min(y + k, rows - 1), srcStep, xWarped)]; row[0] += c_g[k] * (t0 + t1); row[bdx] += c_xg[k] * (t1 - t0); row[2*bdx] += c_xxg[k] * (t0 + t1); } } barrier(CLK_LOCAL_MEM_FENCE); if (y < rows && y >= 0 && tx >= polyN && tx + polyN < bdx && x < cols) { TYPE b1 = c_g[0] * row[0]; TYPE b3 = c_g[0] * row[bdx]; TYPE b5 = c_g[0] * row[2*bdx]; TYPE b2 = 0, b4 = 0, b6 = 0; #pragma unroll for (int k = 1; k <= polyN; ++k) { b1 += (row[k] + row[-k]) * c_g[k]; b4 += (row[k] + row[-k]) * c_xxg[k]; b2 += (row[k] - row[-k]) * c_xg[k]; b3 += (row[k + bdx] + row[-k + bdx]) * c_g[k]; b6 += (row[k + bdx] - row[-k + bdx]) * c_xg[k]; b5 += (row[k + 2*bdx] + row[-k + 2*bdx]) * c_g[k]; } dst[mad24(y, dstStep, xWarped)] = (float)(b3*ig.s0); dst[mad24(rows + y, dstStep, xWarped)] = (float)(b2*ig.s0); dst[mad24(2*rows + y, dstStep, xWarped)] = (float)(b1*ig.s1 + b5*ig.s2); dst[mad24(3*rows + y, dstStep, xWarped)] = (float)(b1*ig.s1 + b4*ig.s2); dst[mad24(4*rows + y, dstStep, xWarped)] = (float)(b6*ig.s3); } } inline int idx_row_low(const int y, const int last_row) { return abs(y) % (last_row + 1); } inline int idx_row_high(const int y, const int last_row) { return abs(last_row - abs(last_row - y)) % (last_row + 1); } inline int idx_col_low(const int x, const int last_col) { return abs(x) % (last_col + 1); } inline int idx_col_high(const int x, const int last_col) { return abs(last_col - abs(last_col - x)) % (last_col + 1); } inline int idx_col(const int x, const int last_col) { return idx_col_low(idx_col_high(x, last_col), last_col); } __kernel void gaussianBlur(__global const float * src, int srcStep, __global float * dst, int dstStep, const int rows, const int cols, __global const float * c_gKer, const int ksizeHalf, __local float * smem) { const int y = get_global_id(1); const int x = get_global_id(0); __local float *row = smem + ty * (bdx + 2*ksizeHalf); if (y < rows) { for (int i = tx; i < bdx + 2*ksizeHalf; i += bdx) { int xExt = (int)(bx * bdx) + i - ksizeHalf; xExt = idx_col(xExt, cols - 1); row[i] = src[mad24(y, srcStep, xExt)] * c_gKer[0]; for (int j = 1; j <= ksizeHalf; ++j) row[i] += (src[mad24(idx_row_low(y - j, rows - 1), srcStep, xExt)] + src[mad24(idx_row_high(y + j, rows - 1), srcStep, xExt)]) * c_gKer[j]; } } barrier(CLK_LOCAL_MEM_FENCE); if (y < rows && y >= 0 && x < cols && x >= 0) { row += tx + ksizeHalf; float res = row[0] * c_gKer[0]; for (int i = 1; i <= ksizeHalf; ++i) res += (row[-i] + row[i]) * c_gKer[i]; dst[mad24(y, dstStep, x)] = res; } } __kernel void gaussianBlur5(__global const float * src, int srcStep, __global float * dst, int dstStep, const int rows, const int cols, __global const float * c_gKer, const int ksizeHalf, __local float * smem) { const int y = get_global_id(1); const int x = get_global_id(0); const int smw = bdx + 2*ksizeHalf; __local volatile float *row = smem + 5 * ty * smw; if (y < rows) { for (int i = tx; i < bdx + 2*ksizeHalf; i += bdx) { int xExt = (int)(bx * bdx) + i - ksizeHalf; xExt = idx_col(xExt, cols - 1); #pragma unroll for (int k = 0; k < 5; ++k) row[k*smw + i] = src[mad24(k*rows + y, srcStep, xExt)] * c_gKer[0]; for (int j = 1; j <= ksizeHalf; ++j) #pragma unroll for (int k = 0; k < 5; ++k) row[k*smw + i] += (src[mad24(k*rows + idx_row_low(y - j, rows - 1), srcStep, xExt)] + src[mad24(k*rows + idx_row_high(y + j, rows - 1), srcStep, xExt)]) * c_gKer[j]; } } barrier(CLK_LOCAL_MEM_FENCE); if (y < rows && y >= 0 && x < cols && x >= 0) { row += tx + ksizeHalf; float res[5]; #pragma unroll for (int k = 0; k < 5; ++k) res[k] = row[k*smw] * c_gKer[0]; for (int i = 1; i <= ksizeHalf; ++i) #pragma unroll for (int k = 0; k < 5; ++k) res[k] += (row[k*smw - i] + row[k*smw + i]) * c_gKer[i]; #pragma unroll for (int k = 0; k < 5; ++k) dst[mad24(k*rows + y, dstStep, x)] = res[k]; } } __constant float c_border[BORDER_SIZE + 1] = { 0.14f, 0.14f, 0.4472f, 0.4472f, 0.4472f, 1.f }; __kernel void updateMatrices(__global const float * flowx, int xStep, __global const float * flowy, int yStep, const int rows, const int cols, __global const float * R0, int R0Step, __global const float * R1, int R1Step, __global float * M, int mStep) { const int y = get_global_id(1); const int x = get_global_id(0); if (y < rows && y >= 0 && x < cols && x >= 0) { float dx = flowx[mad24(y, xStep, x)]; float dy = flowy[mad24(y, yStep, x)]; float fx = x + dx; float fy = y + dy; int x1 = convert_int(floor(fx)); int y1 = convert_int(floor(fy)); fx -= x1; fy -= y1; float r2, r3, r4, r5, r6; if (x1 >= 0 && y1 >= 0 && x1 < cols - 1 && y1 < rows - 1) { float a00 = (1.f - fx) * (1.f - fy); float a01 = fx * (1.f - fy); float a10 = (1.f - fx) * fy; float a11 = fx * fy; r2 = a00 * R1[mad24(y1, R1Step, x1)] + a01 * R1[mad24(y1, R1Step, x1 + 1)] + a10 * R1[mad24(y1 + 1, R1Step, x1)] + a11 * R1[mad24(y1 + 1, R1Step, x1 + 1)]; r3 = a00 * R1[mad24(rows + y1, R1Step, x1)] + a01 * R1[mad24(rows + y1, R1Step, x1 + 1)] + a10 * R1[mad24(rows + y1 + 1, R1Step, x1)] + a11 * R1[mad24(rows + y1 + 1, R1Step, x1 + 1)]; r4 = a00 * R1[mad24(2*rows + y1, R1Step, x1)] + a01 * R1[mad24(2*rows + y1, R1Step, x1 + 1)] + a10 * R1[mad24(2*rows + y1 + 1, R1Step, x1)] + a11 * R1[mad24(2*rows + y1 + 1, R1Step, x1 + 1)]; r5 = a00 * R1[mad24(3*rows + y1, R1Step, x1)] + a01 * R1[mad24(3*rows + y1, R1Step, x1 + 1)] + a10 * R1[mad24(3*rows + y1 + 1, R1Step, x1)] + a11 * R1[mad24(3*rows + y1 + 1, R1Step, x1 + 1)]; r6 = a00 * R1[mad24(4*rows + y1, R1Step, x1)] + a01 * R1[mad24(4*rows + y1, R1Step, x1 + 1)] + a10 * R1[mad24(4*rows + y1 + 1, R1Step, x1)] + a11 * R1[mad24(4*rows + y1 + 1, R1Step, x1 + 1)]; r4 = (R0[mad24(2*rows + y, R0Step, x)] + r4) * 0.5f; r5 = (R0[mad24(3*rows + y, R0Step, x)] + r5) * 0.5f; r6 = (R0[mad24(4*rows + y, R0Step, x)] + r6) * 0.25f; } else { r2 = r3 = 0.f; r4 = R0[mad24(2*rows + y, R0Step, x)]; r5 = R0[mad24(3*rows + y, R0Step, x)]; r6 = R0[mad24(4*rows + y, R0Step, x)] * 0.5f; } r2 = (R0[mad24(y, R0Step, x)] - r2) * 0.5f; r3 = (R0[mad24(rows + y, R0Step, x)] - r3) * 0.5f; r2 += r4*dy + r6*dx; r3 += r6*dy + r5*dx; float scale = c_border[min(x, BORDER_SIZE)] * c_border[min(y, BORDER_SIZE)] * c_border[min(cols - x - 1, BORDER_SIZE)] * c_border[min(rows - y - 1, BORDER_SIZE)]; r2 *= scale; r3 *= scale; r4 *= scale; r5 *= scale; r6 *= scale; M[mad24(y, mStep, x)] = r4*r4 + r6*r6; M[mad24(rows + y, mStep, x)] = (r4 + r5)*r6; M[mad24(2*rows + y, mStep, x)] = r5*r5 + r6*r6; M[mad24(3*rows + y, mStep, x)] = r4*r2 + r6*r3; M[mad24(4*rows + y, mStep, x)] = r6*r2 + r5*r3; } } __kernel void boxFilter5(__global const float * src, int srcStep, __global float * dst, int dstStep, const int rows, const int cols, const int ksizeHalf, __local float * smem) { const int y = get_global_id(1); const int x = get_global_id(0); const float boxAreaInv = 1.f / ((1 + 2*ksizeHalf) * (1 + 2*ksizeHalf)); const int smw = bdx + 2*ksizeHalf; __local float *row = smem + 5 * ty * smw; if (y < rows) { for (int i = tx; i < bdx + 2*ksizeHalf; i += bdx) { int xExt = (int)(bx * bdx) + i - ksizeHalf; xExt = min(max(xExt, 0), cols - 1); #pragma unroll for (int k = 0; k < 5; ++k) row[k*smw + i] = src[mad24(k*rows + y, srcStep, xExt)]; for (int j = 1; j <= ksizeHalf; ++j) #pragma unroll for (int k = 0; k < 5; ++k) row[k*smw + i] += src[mad24(k*rows + max(y - j, 0), srcStep, xExt)] + src[mad24(k*rows + min(y + j, rows - 1), srcStep, xExt)]; } } barrier(CLK_LOCAL_MEM_FENCE); if (y < rows && y >= 0 && x < cols && x >= 0) { row += tx + ksizeHalf; float res[5]; #pragma unroll for (int k = 0; k < 5; ++k) res[k] = row[k*smw]; for (int i = 1; i <= ksizeHalf; ++i) #pragma unroll for (int k = 0; k < 5; ++k) res[k] += row[k*smw - i] + row[k*smw + i]; #pragma unroll for (int k = 0; k < 5; ++k) dst[mad24(k*rows + y, dstStep, x)] = res[k] * boxAreaInv; } } __kernel void updateFlow(__global const float * M, int mStep, __global float * flowx, int xStep, __global float * flowy, int yStep, const int rows, const int cols) { const int y = get_global_id(1); const int x = get_global_id(0); if (y < rows && y >= 0 && x < cols && x >= 0) { float g11 = M[mad24(y, mStep, x)]; float g12 = M[mad24(rows + y, mStep, x)]; float g22 = M[mad24(2*rows + y, mStep, x)]; float h1 = M[mad24(3*rows + y, mStep, x)]; float h2 = M[mad24(4*rows + y, mStep, x)]; float detInv = 1.f / (g11*g22 - g12*g12 + 1e-3f); flowx[mad24(y, xStep, x)] = (g11*h2 - g12*h1) * detInv; flowy[mad24(y, yStep, x)] = (g22*h1 - g12*h2) * detInv; } } 529300e6242f574f83d11a089cc120c0#define EPS 0.001f #define INF 1E+10F #define DIS_PATCH_SIZE_HALF (DIS_PATCH_SIZE / 2) #ifndef DIS_BORDER_SIZE __kernel void dis_precomputeStructureTensor_hor(__global const short *I0x, __global const short *I0y, int w, int h, int ws, __global float *I0xx_aux_ptr, __global float *I0yy_aux_ptr, __global float *I0xy_aux_ptr, __global float *I0x_aux_ptr, __global float *I0y_aux_ptr) { int i = get_global_id(0); if (i >= h) return; const __global short *x_row = I0x + i * w; const __global short *y_row = I0y + i * w; float sum_xx = 0.0f, sum_yy = 0.0f, sum_xy = 0.0f, sum_x = 0.0f, sum_y = 0.0f; float8 x_vec = convert_float8(vload8(0, x_row)); float8 y_vec = convert_float8(vload8(0, y_row)); sum_xx = dot(x_vec.lo, x_vec.lo) + dot(x_vec.hi, x_vec.hi); sum_yy = dot(y_vec.lo, y_vec.lo) + dot(y_vec.hi, y_vec.hi); sum_xy = dot(x_vec.lo, y_vec.lo) + dot(x_vec.hi, y_vec.hi); sum_x = dot(x_vec.lo, 1.0f) + dot(x_vec.hi, 1.0f); sum_y = dot(y_vec.lo, 1.0f) + dot(y_vec.hi, 1.0f); I0xx_aux_ptr[i * ws] = sum_xx; I0yy_aux_ptr[i * ws] = sum_yy; I0xy_aux_ptr[i * ws] = sum_xy; I0x_aux_ptr[i * ws] = sum_x; I0y_aux_ptr[i * ws] = sum_y; int js = 1; for (int j = DIS_PATCH_SIZE; j < w; j++) { short x_val1 = x_row[j]; short x_val2 = x_row[j - DIS_PATCH_SIZE]; short y_val1 = y_row[j]; short y_val2 = y_row[j - DIS_PATCH_SIZE]; sum_xx += (x_val1 * x_val1 - x_val2 * x_val2); sum_yy += (y_val1 * y_val1 - y_val2 * y_val2); sum_xy += (x_val1 * y_val1 - x_val2 * y_val2); sum_x += (x_val1 - x_val2); sum_y += (y_val1 - y_val2); if ((j - DIS_PATCH_SIZE + 1) % DIS_PATCH_STRIDE == 0) { int index = i * ws + js; I0xx_aux_ptr[index] = sum_xx; I0yy_aux_ptr[index] = sum_yy; I0xy_aux_ptr[index] = sum_xy; I0x_aux_ptr[index] = sum_x; I0y_aux_ptr[index] = sum_y; js++; } } } __kernel void dis_precomputeStructureTensor_ver(__global const float *I0xx_aux_ptr, __global const float *I0yy_aux_ptr, __global const float *I0xy_aux_ptr, __global const float *I0x_aux_ptr, __global const float *I0y_aux_ptr, int w, int h, int ws, __global float *I0xx_ptr, __global float *I0yy_ptr, __global float *I0xy_ptr, __global float *I0x_ptr, __global float *I0y_ptr) { int j = get_global_id(0); if (j >= ws) return; float sum_xx, sum_yy, sum_xy, sum_x, sum_y; sum_xx = sum_yy = sum_xy = sum_x = sum_y = 0.0f; for (int i = 0; i < DIS_PATCH_SIZE; i++) { sum_xx += I0xx_aux_ptr[i * ws + j]; sum_yy += I0yy_aux_ptr[i * ws + j]; sum_xy += I0xy_aux_ptr[i * ws + j]; sum_x += I0x_aux_ptr[i * ws + j]; sum_y += I0y_aux_ptr[i * ws + j]; } I0xx_ptr[j] = sum_xx; I0yy_ptr[j] = sum_yy; I0xy_ptr[j] = sum_xy; I0x_ptr[j] = sum_x; I0y_ptr[j] = sum_y; int is = 1; for (int i = DIS_PATCH_SIZE; i < h; i++) { sum_xx += (I0xx_aux_ptr[i * ws + j] - I0xx_aux_ptr[(i - DIS_PATCH_SIZE) * ws + j]); sum_yy += (I0yy_aux_ptr[i * ws + j] - I0yy_aux_ptr[(i - DIS_PATCH_SIZE) * ws + j]); sum_xy += (I0xy_aux_ptr[i * ws + j] - I0xy_aux_ptr[(i - DIS_PATCH_SIZE) * ws + j]); sum_x += (I0x_aux_ptr[i * ws + j] - I0x_aux_ptr[(i - DIS_PATCH_SIZE) * ws + j]); sum_y += (I0y_aux_ptr[i * ws + j] - I0y_aux_ptr[(i - DIS_PATCH_SIZE) * ws + j]); if ((i - DIS_PATCH_SIZE + 1) % DIS_PATCH_STRIDE == 0) { I0xx_ptr[is * ws + j] = sum_xx; I0yy_ptr[is * ws + j] = sum_yy; I0xy_ptr[is * ws + j] = sum_xy; I0x_ptr[is * ws + j] = sum_x; I0y_ptr[is * ws + j] = sum_y; is++; } } } __kernel void dis_densification(__global const float2 *S_ptr, __global const uchar *i0, __global const uchar *i1, int w, int h, int ws, __global float2 *U_ptr) { int x = get_global_id(0); int y = get_global_id(1); int i, j; if (x >= w || y >= h) return; int start_is, end_is; int start_js, end_js; end_is = min(y / DIS_PATCH_STRIDE, (h - DIS_PATCH_SIZE) / DIS_PATCH_STRIDE); start_is = max(0, y - DIS_PATCH_SIZE + DIS_PATCH_STRIDE) / DIS_PATCH_STRIDE; start_is = min(start_is, end_is); end_js = min(x / DIS_PATCH_STRIDE, (w - DIS_PATCH_SIZE) / DIS_PATCH_STRIDE); start_js = max(0, x - DIS_PATCH_SIZE + DIS_PATCH_STRIDE) / DIS_PATCH_STRIDE; start_js = min(start_js, end_js); float sum_coef = 0.0f; float2 sum_U = (float2)(0.0f, 0.0f); int i_l, i_u; int j_l, j_u; float i_m, j_m, diff; i = y; j = x; for (int is = start_is; is <= end_is; is++) for (int js = start_js; js <= end_js; js++) { float2 s_val = S_ptr[is * ws + js]; uchar2 i1_vec1, i1_vec2; j_m = min(max(j + s_val.x, 0.0f), w - 1.0f - EPS); i_m = min(max(i + s_val.y, 0.0f), h - 1.0f - EPS); j_l = (int)j_m; j_u = j_l + 1; i_l = (int)i_m; i_u = i_l + 1; i1_vec1 = vload2(0, i1 + i_u * w + j_l); i1_vec2 = vload2(0, i1 + i_l * w + j_l); diff = (j_m - j_l) * (i_m - i_l) * i1_vec1.y + (j_u - j_m) * (i_m - i_l) * i1_vec1.x + (j_m - j_l) * (i_u - i_m) * i1_vec2.y + (j_u - j_m) * (i_u - i_m) * i1_vec2.x - i0[i * w + j]; float coef = 1.0f / max(1.0f, fabs(diff)); sum_U += coef * s_val; sum_coef += coef; } float inv_sum_coef = 1.0 / sum_coef; U_ptr[i * w + j] = sum_U * inv_sum_coef; } #else #define INIT_BILINEAR_WEIGHTS(Ux, Uy) \ i_I1 = clamp(i + Uy + DIS_BORDER_SIZE, i_lower_limit, i_upper_limit); \ j_I1 = clamp(j + Ux + DIS_BORDER_SIZE, j_lower_limit, j_upper_limit); \ { \ float di = i_I1 - floor(i_I1); \ float dj = j_I1 - floor(j_I1); \ w11 = di * dj; \ w10 = di * (1 - dj); \ w01 = (1 - di) * dj; \ w00 = (1 - di) * (1 - dj); \ } float computeSSDMeanNorm(const __global uchar *I0_ptr, const __global uchar *I1_ptr, int I0_stride, int I1_stride, float w00, float w01, float w10, float w11, int i #ifndef CV_USE_SUBGROUPS , __local float2 *smem #endif ) { float sum_diff = 0.0f, sum_diff_sq = 0.0f; int n = DIS_PATCH_SIZE * DIS_PATCH_SIZE; uchar8 I1_vec1, I1_vec2, I0_vec; uchar I1_val1, I1_val2; I0_vec = vload8(0, I0_ptr + i * I0_stride); I1_vec1 = vload8(0, I1_ptr + i * I1_stride); I1_vec2 = vload8(0, I1_ptr + (i + 1) * I1_stride); I1_val1 = I1_ptr[i * I1_stride + 8]; I1_val2 = I1_ptr[(i + 1) * I1_stride + 8]; float8 vec = w00 * convert_float8(I1_vec1) + w01 * convert_float8((uchar8)(I1_vec1.s123, I1_vec1.s4567, I1_val1)) + w10 * convert_float8(I1_vec2) + w11 * convert_float8((uchar8)(I1_vec2.s123, I1_vec2.s4567, I1_val2)) - convert_float8(I0_vec); sum_diff = (dot(vec.lo, 1.0) + dot(vec.hi, 1.0)); sum_diff_sq = (dot(vec.lo, vec.lo) + dot(vec.hi, vec.hi)); #ifdef CV_USE_SUBGROUPS sum_diff = sub_group_reduce_add(sum_diff); sum_diff_sq = sub_group_reduce_add(sum_diff_sq); #else barrier(CLK_LOCAL_MEM_FENCE); smem[i] = (float2)(sum_diff, sum_diff_sq); barrier(CLK_LOCAL_MEM_FENCE); if (i < 4) smem[i] += smem[i + 4]; barrier(CLK_LOCAL_MEM_FENCE); if (i < 2) smem[i] += smem[i + 2]; barrier(CLK_LOCAL_MEM_FENCE); if (i == 0) smem[0] += smem[1]; barrier(CLK_LOCAL_MEM_FENCE); float2 reduce_add_result = smem[0]; sum_diff = reduce_add_result.x; sum_diff_sq = reduce_add_result.y; #endif return sum_diff_sq - sum_diff * sum_diff / n; } __attribute__((reqd_work_group_size(8, 1, 1))) __kernel void dis_patch_inverse_search_fwd_1(__global const float2 *U_ptr, __global const uchar *I0_ptr, __global const uchar *I1_ptr, int w, int h, int ws, int hs, __global float2 *S_ptr) { int id = get_global_id(0); int is = get_group_id(0); int i = is * DIS_PATCH_STRIDE; int j = 0; int w_ext = w + 2 * DIS_BORDER_SIZE; float i_lower_limit = DIS_BORDER_SIZE - DIS_PATCH_SIZE + 1.0f; float i_upper_limit = DIS_BORDER_SIZE + h - 1.0f; float j_lower_limit = DIS_BORDER_SIZE - DIS_PATCH_SIZE + 1.0f; float j_upper_limit = DIS_BORDER_SIZE + w - 1.0f; float2 prev_U = U_ptr[(i + DIS_PATCH_SIZE_HALF) * w + j + DIS_PATCH_SIZE_HALF]; S_ptr[is * ws] = prev_U; j += DIS_PATCH_STRIDE; #ifdef CV_USE_SUBGROUPS int sid = get_sub_group_local_id(); #define EXTRA_ARGS_computeSSDMeanNorm sid #else __local float2 smem[8]; int sid = get_local_id(0); #define EXTRA_ARGS_computeSSDMeanNorm sid, smem #endif for (int js = 1; js < ws; js++, j += DIS_PATCH_STRIDE) { float2 U = U_ptr[(i + DIS_PATCH_SIZE_HALF) * w + j + DIS_PATCH_SIZE_HALF]; float i_I1, j_I1, w00, w01, w10, w11; INIT_BILINEAR_WEIGHTS(U.x, U.y); float min_SSD = computeSSDMeanNorm( I0_ptr + i * w + j, I1_ptr + (int)i_I1 * w_ext + (int)j_I1, w, w_ext, w00, w01, w10, w11, EXTRA_ARGS_computeSSDMeanNorm); INIT_BILINEAR_WEIGHTS(prev_U.x, prev_U.y); float cur_SSD = computeSSDMeanNorm( I0_ptr + i * w + j, I1_ptr + (int)i_I1 * w_ext + (int)j_I1, w, w_ext, w00, w01, w10, w11, EXTRA_ARGS_computeSSDMeanNorm); prev_U = (cur_SSD < min_SSD) ? prev_U : U; S_ptr[is * ws + js] = prev_U; } #undef EXTRA_ARGS_computeSSDMeanNorm } #endif float4 processPatchMeanNorm(const __global uchar *I0_ptr, const __global uchar *I1_ptr, const __global short *I0x_ptr, const __global short *I0y_ptr, int I0_stride, int I1_stride, float w00, float w01, float w10, float w11, float x_grad_sum, float y_grad_sum) { const float inv_n = 1.0f / (float)(DIS_PATCH_SIZE * DIS_PATCH_SIZE); float sum_diff = 0.0, sum_diff_sq = 0.0; float sum_I0x_mul = 0.0, sum_I0y_mul = 0.0; uchar8 I1_vec1; uchar8 I1_vec2 = vload8(0, I1_ptr); uchar I1_val1; uchar I1_val2 = I1_ptr[DIS_PATCH_SIZE]; for (int i = 0; i < 8; i++) { uchar8 I0_vec = vload8(0, I0_ptr + i * I0_stride); I1_vec1 = I1_vec2; I1_vec2 = vload8(0, I1_ptr + (i + 1) * I1_stride); I1_val1 = I1_val2; I1_val2 = I1_ptr[(i + 1) * I1_stride + DIS_PATCH_SIZE]; float8 vec = w00 * convert_float8(I1_vec1) + w01 * convert_float8((uchar8)(I1_vec1.s123, I1_vec1.s4567, I1_val1)) + w10 * convert_float8(I1_vec2) + w11 * convert_float8((uchar8)(I1_vec2.s123, I1_vec2.s4567, I1_val2)) - convert_float8(I0_vec); sum_diff += (dot(vec.lo, 1.0) + dot(vec.hi, 1.0)); sum_diff_sq += (dot(vec.lo, vec.lo) + dot(vec.hi, vec.hi)); short8 I0x_vec = vload8(0, I0x_ptr + i * I0_stride); short8 I0y_vec = vload8(0, I0y_ptr + i * I0_stride); sum_I0x_mul += dot(vec.lo, convert_float4(I0x_vec.lo)); sum_I0x_mul += dot(vec.hi, convert_float4(I0x_vec.hi)); sum_I0y_mul += dot(vec.lo, convert_float4(I0y_vec.lo)); sum_I0y_mul += dot(vec.hi, convert_float4(I0y_vec.hi)); } float dst_dUx = sum_I0x_mul - sum_diff * x_grad_sum * inv_n; float dst_dUy = sum_I0y_mul - sum_diff * y_grad_sum * inv_n; float SSD = sum_diff_sq - sum_diff * sum_diff * inv_n; return (float4)(SSD, dst_dUx, dst_dUy, 0); } #ifdef DIS_BORDER_SIZE __kernel void dis_patch_inverse_search_fwd_2(__global const float2 *U_ptr, __global const uchar *I0_ptr, __global const uchar *I1_ptr, __global const short *I0x_ptr, __global const short *I0y_ptr, __global const float *xx_ptr, __global const float *yy_ptr, __global const float *xy_ptr, __global const float *x_ptr, __global const float *y_ptr, int w, int h, int ws, int hs, int num_inner_iter, __global float2 *S_ptr) { int js = get_global_id(0); int is = get_global_id(1); int i = is * DIS_PATCH_STRIDE; int j = js * DIS_PATCH_STRIDE; const int psz = DIS_PATCH_SIZE; int w_ext = w + 2 * DIS_BORDER_SIZE; int index = is * ws + js; if (js >= ws || is >= hs) return; float2 U0 = S_ptr[index]; float2 cur_U = U0; float cur_xx = xx_ptr[index]; float cur_yy = yy_ptr[index]; float cur_xy = xy_ptr[index]; float detH = cur_xx * cur_yy - cur_xy * cur_xy; float inv_detH = (fabs(detH) < EPS) ? 1.0 / EPS : 1.0 / detH; float invH11 = cur_yy * inv_detH; float invH12 = -cur_xy * inv_detH; float invH22 = cur_xx * inv_detH; float prev_SSD = INF; float x_grad_sum = x_ptr[index]; float y_grad_sum = y_ptr[index]; const float i_lower_limit = DIS_BORDER_SIZE - DIS_PATCH_SIZE + 1.0f; const float i_upper_limit = DIS_BORDER_SIZE + h - 1.0f; const float j_lower_limit = DIS_BORDER_SIZE - DIS_PATCH_SIZE + 1.0f; const float j_upper_limit = DIS_BORDER_SIZE + w - 1.0f; for (int t = 0; t < num_inner_iter; t++) { float i_I1, j_I1, w00, w01, w10, w11; INIT_BILINEAR_WEIGHTS(cur_U.x, cur_U.y); float4 res = processPatchMeanNorm( I0_ptr + i * w + j, I1_ptr + (int)i_I1 * w_ext + (int)j_I1, I0x_ptr + i * w + j, I0y_ptr + i * w + j, w, w_ext, w00, w01, w10, w11, x_grad_sum, y_grad_sum); float SSD = res.x; float dUx = res.y; float dUy = res.z; float dx = invH11 * dUx + invH12 * dUy; float dy = invH12 * dUx + invH22 * dUy; cur_U -= (float2)(dx, dy); if (SSD >= prev_SSD) break; prev_SSD = SSD; } float2 vec = cur_U - U0; S_ptr[index] = (dot(vec, vec) <= (float)(DIS_PATCH_SIZE * DIS_PATCH_SIZE)) ? cur_U : U0; } __attribute__((reqd_work_group_size(8, 1, 1))) __kernel void dis_patch_inverse_search_bwd_1(__global const uchar *I0_ptr, __global const uchar *I1_ptr, int w, int h, int ws, int hs, __global float2 *S_ptr) { int id = get_global_id(0); int is = get_group_id(0); is = (hs - 1 - is); int i = is * DIS_PATCH_STRIDE; int j = (ws - 2) * DIS_PATCH_STRIDE; const int w_ext = w + 2 * DIS_BORDER_SIZE; const float i_lower_limit = DIS_BORDER_SIZE - DIS_PATCH_SIZE + 1.0f; const float i_upper_limit = DIS_BORDER_SIZE + h - 1.0f; const float j_lower_limit = DIS_BORDER_SIZE - DIS_PATCH_SIZE + 1.0f; const float j_upper_limit = DIS_BORDER_SIZE + w - 1.0f; #ifdef CV_USE_SUBGROUPS int sid = get_sub_group_local_id(); #define EXTRA_ARGS_computeSSDMeanNorm sid #else __local float2 smem[8]; int sid = get_local_id(0); #define EXTRA_ARGS_computeSSDMeanNorm sid, smem #endif for (int js = (ws - 2); js > -1; js--, j -= DIS_PATCH_STRIDE) { float2 U0 = S_ptr[is * ws + js]; float2 U1 = S_ptr[is * ws + js + 1]; float i_I1, j_I1, w00, w01, w10, w11; INIT_BILINEAR_WEIGHTS(U0.x, U0.y); float min_SSD = computeSSDMeanNorm( I0_ptr + i * w + j, I1_ptr + (int)i_I1 * w_ext + (int)j_I1, w, w_ext, w00, w01, w10, w11, EXTRA_ARGS_computeSSDMeanNorm); INIT_BILINEAR_WEIGHTS(U1.x, U1.y); float cur_SSD = computeSSDMeanNorm( I0_ptr + i * w + j, I1_ptr + (int)i_I1 * w_ext + (int)j_I1, w, w_ext, w00, w01, w10, w11, EXTRA_ARGS_computeSSDMeanNorm); S_ptr[is * ws + js] = (cur_SSD < min_SSD) ? U1 : U0; } #undef EXTRA_ARGS_computeSSDMeanNorm } __kernel void dis_patch_inverse_search_bwd_2(__global const uchar *I0_ptr, __global const uchar *I1_ptr, __global const short *I0x_ptr, __global const short *I0y_ptr, __global const float *xx_ptr, __global const float *yy_ptr, __global const float *xy_ptr, __global const float *x_ptr, __global const float *y_ptr, int w, int h, int ws, int hs, int num_inner_iter, __global float2 *S_ptr) { int js = get_global_id(0); int is = get_global_id(1); if (js >= ws || is >= hs) return; js = (ws - 1 - js); is = (hs - 1 - is); int j = js * DIS_PATCH_STRIDE; int i = is * DIS_PATCH_STRIDE; int w_ext = w + 2 * DIS_BORDER_SIZE; int index = is * ws + js; float2 U0 = S_ptr[index]; float2 cur_U = U0; float cur_xx = xx_ptr[index]; float cur_yy = yy_ptr[index]; float cur_xy = xy_ptr[index]; float detH = cur_xx * cur_yy - cur_xy * cur_xy; float inv_detH = (fabs(detH) < EPS) ? 1.0 / EPS : 1.0 / detH; float invH11 = cur_yy * inv_detH; float invH12 = -cur_xy * inv_detH; float invH22 = cur_xx * inv_detH; float prev_SSD = INF; float x_grad_sum = x_ptr[index]; float y_grad_sum = y_ptr[index]; const float i_lower_limit = DIS_BORDER_SIZE - DIS_PATCH_SIZE + 1.0f; const float i_upper_limit = DIS_BORDER_SIZE + h - 1.0f; const float j_lower_limit = DIS_BORDER_SIZE - DIS_PATCH_SIZE + 1.0f; const float j_upper_limit = DIS_BORDER_SIZE + w - 1.0f; for (int t = 0; t < num_inner_iter; t++) { float i_I1, j_I1, w00, w01, w10, w11; INIT_BILINEAR_WEIGHTS(cur_U.x, cur_U.y); float4 res = processPatchMeanNorm( I0_ptr + i * w + j, I1_ptr + (int)i_I1 * w_ext + (int)j_I1, I0x_ptr + i * w + j, I0y_ptr + i * w + j, w, w_ext, w00, w01, w10, w11, x_grad_sum, y_grad_sum); float SSD = res.x; float dUx = res.y; float dUy = res.z; float dx = invH11 * dUx + invH12 * dUy; float dy = invH12 * dUx + invH22 * dUy; cur_U -= (float2)(dx, dy); if (SSD >= prev_SSD) break; prev_SSD = SSD; } float2 vec = cur_U - U0; S_ptr[index] = ((dot(vec, vec)) <= (float)(DIS_PATCH_SIZE * DIS_PATCH_SIZE)) ? cur_U : U0; } #endif 39015c9b775dfd3350237f6206822f49#if CN==1 #define T_MEAN float #define F_ZERO (0.0f) #define cnMode 1 #define frameToMean(a, b) (b) = *(a); #if FL==0 #define meanToFrame(a, b) *b = convert_uchar_sat(a); #else #define meanToFrame(a, b) *b = (float)a; #endif #else #define T_MEAN float4 #define F_ZERO (0.0f, 0.0f, 0.0f, 0.0f) #define cnMode 4 #if FL == 0 #define meanToFrame(a, b)\ b[0] = convert_uchar_sat(a.x); \ b[1] = convert_uchar_sat(a.y); \ b[2] = convert_uchar_sat(a.z); #else #define meanToFrame(a, b)\ b[0] = a.x; \ b[1] = a.y; \ b[2] = a.z; #endif #define frameToMean(a, b)\ b.x = a[0]; \ b.y = a[1]; \ b.z = a[2]; \ b.w = 0.0f; #endif __kernel void mog2_kernel(__global const uchar* frame, int frame_step, int frame_offset, int frame_row, int frame_col, __global uchar* modesUsed, __global uchar* weight, __global uchar* mean, __global uchar* variance, __global uchar* fgmask, int fgmask_step, int fgmask_offset, float alphaT, float alpha1, float prune, float c_Tb, float c_TB, float c_Tg, float c_varMin, float c_varMax, float c_varInit, float c_tau #ifdef SHADOW_DETECT , uchar c_shadowVal #endif ) { int x = get_global_id(0); int y = get_global_id(1); if( x < frame_col && y < frame_row) { #if FL==0 __global const uchar* _frame = (frame + mad24(y, frame_step, mad24(x, CN, frame_offset))); #else __global const float* _frame = ((__global const float*)( frame + mad24(y, frame_step, frame_offset)) + mad24(x, CN, 0)); #endif T_MEAN pix; frameToMean(_frame, pix); uchar foreground = 255; bool fitsPDF = false; int pt_idx = mad24(y, frame_col, x); int idx_step = frame_row * frame_col; __global uchar* _modesUsed = modesUsed + pt_idx; uchar nmodes = _modesUsed[0]; float totalWeight = 0.0f; __global float* _weight = (__global float*)(weight); __global float* _variance = (__global float*)(variance); __global T_MEAN* _mean = (__global T_MEAN*)(mean); uchar mode = 0; for (; mode < nmodes; ++mode) { int mode_idx = mad24(mode, idx_step, pt_idx); float c_weight = mad(alpha1, _weight[mode_idx], prune); float c_var = _variance[mode_idx]; T_MEAN c_mean = _mean[mode_idx]; T_MEAN diff = c_mean - pix; float dist2 = dot(diff, diff); if (totalWeight < c_TB && dist2 < c_Tb * c_var) foreground = 0; if (dist2 < c_Tg * c_var) { fitsPDF = true; c_weight += alphaT; float k = alphaT / c_weight; T_MEAN mean_new = mad((T_MEAN)-k, diff, c_mean); float variance_new = clamp(mad(k, (dist2 - c_var), c_var), c_varMin, c_varMax); for (int i = mode; i > 0; --i) { int prev_idx = mode_idx - idx_step; if (c_weight < _weight[prev_idx]) break; _weight[mode_idx] = _weight[prev_idx]; _variance[mode_idx] = _variance[prev_idx]; _mean[mode_idx] = _mean[prev_idx]; mode_idx = prev_idx; } _mean[mode_idx] = mean_new; _variance[mode_idx] = variance_new; _weight[mode_idx] = c_weight; totalWeight += c_weight; mode ++; break; } if (c_weight < -prune) c_weight = 0.0f; _weight[mode_idx] = c_weight; totalWeight += c_weight; } for (; mode < nmodes; ++mode) { int mode_idx = mad24(mode, idx_step, pt_idx); float c_weight = mad(alpha1, _weight[mode_idx], prune); if (c_weight < -prune) { c_weight = 0.0f; nmodes = mode; break; } _weight[mode_idx] = c_weight; totalWeight += c_weight; } if (0.f < totalWeight) { totalWeight = 1.f / totalWeight; for (int mode = 0; mode < nmodes; ++mode) _weight[mad24(mode, idx_step, pt_idx)] *= totalWeight; } if (!fitsPDF) { uchar mode = nmodes == (NMIXTURES) ? (NMIXTURES) - 1 : nmodes++; int mode_idx = mad24(mode, idx_step, pt_idx); if (nmodes == 1) _weight[mode_idx] = 1.f; else { _weight[mode_idx] = alphaT; for (int i = pt_idx; i < mode_idx; i += idx_step) _weight[i] *= alpha1; } for (int i = nmodes - 1; i > 0; --i) { int prev_idx = mode_idx - idx_step; if (alphaT < _weight[prev_idx]) break; _weight[mode_idx] = _weight[prev_idx]; _variance[mode_idx] = _variance[prev_idx]; _mean[mode_idx] = _mean[prev_idx]; mode_idx = prev_idx; } _mean[mode_idx] = pix; _variance[mode_idx] = c_varInit; } _modesUsed[0] = nmodes; #ifdef SHADOW_DETECT if (foreground) { float tWeight = 0.0f; for (uchar mode = 0; mode < nmodes; ++mode) { int mode_idx = mad24(mode, idx_step, pt_idx); T_MEAN c_mean = _mean[mode_idx]; float numerator = dot(pix, c_mean); float denominator = dot(c_mean, c_mean); if (denominator == 0) break; if (numerator <= denominator && numerator >= c_tau * denominator) { float a = numerator / denominator; T_MEAN dD = mad(a, c_mean, -pix); if (dot(dD, dD) < c_Tb * _variance[mode_idx] * a * a) { foreground = c_shadowVal; break; } } tWeight += _weight[mode_idx]; if (tWeight > c_TB) break; } } #endif __global uchar* _fgmask = fgmask + mad24(y, fgmask_step, x + fgmask_offset); *_fgmask = (uchar)foreground; } } __kernel void getBackgroundImage2_kernel(__global const uchar* modesUsed, __global const uchar* weight, __global const uchar* mean, __global uchar* dst, int dst_step, int dst_offset, int dst_row, int dst_col, float c_TB) { int x = get_global_id(0); int y = get_global_id(1); if(x < dst_col && y < dst_row) { int pt_idx = mad24(y, dst_col, x); __global const uchar* _modesUsed = modesUsed + pt_idx; uchar nmodes = _modesUsed[0]; T_MEAN meanVal = (T_MEAN)F_ZERO; float totalWeight = 0.0f; __global const float* _weight = (__global const float*)weight; __global const T_MEAN* _mean = (__global const T_MEAN*)(mean); int idx_step = dst_row * dst_col; for (uchar mode = 0; mode < nmodes; ++mode) { int mode_idx = mad24(mode, idx_step, pt_idx); float c_weight = _weight[mode_idx]; T_MEAN c_mean = _mean[mode_idx]; meanVal = mad(c_weight, c_mean, meanVal); totalWeight += c_weight; if (totalWeight > c_TB) break; } if (0.f < totalWeight) meanVal = meanVal / totalWeight; else meanVal = (T_MEAN)(0.f); #if FL==0 __global uchar* _dst = dst + mad24(y, dst_step, mad24(x, CN, dst_offset)); meanToFrame(meanVal, _dst); #else __global float* _dst = ((__global float*)( dst + mad24(y, dst_step, dst_offset)) + mad24(x, CN, 0)); meanToFrame(meanVal, _dst); #endif } } 39b7e7b52e8eb53029cf2337ae3d904f#if CN==1 #define T_MEAN float #define F_ZERO (0.0f) #define frameToMean(a, b) (b) = *(a); #define meanToFrame(a, b) *b = convert_uchar_sat(a); #else #define T_MEAN float4 #define F_ZERO (0.0f, 0.0f, 0.0f, 0.0f) #define meanToFrame(a, b)\ b[0] = convert_uchar_sat(a.x); \ b[1] = convert_uchar_sat(a.y); \ b[2] = convert_uchar_sat(a.z); #define frameToMean(a, b)\ b.x = a[0]; \ b.y = a[1]; \ b.z = a[2]; \ b.w = 0.0f; #endif __kernel void knn_kernel(__global const uchar* frame, int frame_step, int frame_offset, int frame_row, int frame_col, __global const uchar* nNextLongUpdate, __global const uchar* nNextMidUpdate, __global const uchar* nNextShortUpdate, __global uchar* aModelIndexLong, __global uchar* aModelIndexMid, __global uchar* aModelIndexShort, __global uchar* flag, __global uchar* sample, __global uchar* fgmask, int fgmask_step, int fgmask_offset, int nLongCounter, int nMidCounter, int nShortCounter, float c_Tb, int c_nkNN, float c_tau #ifdef SHADOW_DETECT , uchar c_shadowVal #endif ) { int x = get_global_id(0); int y = get_global_id(1); if( x < frame_col && y < frame_row) { __global const uchar* _frame = (frame + mad24(y, frame_step, mad24(x, CN, frame_offset))); T_MEAN pix; frameToMean(_frame, pix); uchar foreground = 255; int Pbf = 0; int Pb = 0; uchar include = 0; int pt_idx = mad24(y, frame_col, x); int idx_step = frame_row * frame_col; __global T_MEAN* _sample = (__global T_MEAN*)(sample); for (uchar n = 0; n < (NSAMPLES) * 3 ; ++n) { int n_idx = mad24(n, idx_step, pt_idx); T_MEAN c_mean = _sample[n_idx]; uchar c_flag = flag[n_idx]; T_MEAN diff = c_mean - pix; float dist2 = dot(diff, diff); if (dist2 < c_Tb) { Pbf++; if (c_flag) { Pb++; if (Pb >= c_nkNN) { include = 1; foreground = 0; break; } } } } if (Pbf >= c_nkNN) { include = 1; } #ifdef SHADOW_DETECT if (foreground) { int Ps = 0; for (uchar n = 0; n < (NSAMPLES) * 3 ; ++n) { int n_idx = mad24(n, idx_step, pt_idx); uchar c_flag = flag[n_idx]; if (c_flag) { T_MEAN c_mean = _sample[n_idx]; float numerator = dot(pix, c_mean); float denominator = dot(c_mean, c_mean); if (denominator == 0) break; if (numerator <= denominator && numerator >= c_tau * denominator) { float a = numerator / denominator; T_MEAN dD = mad(a, c_mean, -pix); if (dot(dD, dD) < c_Tb * a * a) { Ps++; if (Ps >= c_nkNN) { foreground = c_shadowVal; break; } } } } } } #endif __global uchar* _fgmask = fgmask + mad24(y, fgmask_step, x + fgmask_offset); *_fgmask = (uchar)foreground; __global const uchar* _nNextLongUpdate = nNextLongUpdate + pt_idx; __global const uchar* _nNextMidUpdate = nNextMidUpdate + pt_idx; __global const uchar* _nNextShortUpdate = nNextShortUpdate + pt_idx; __global uchar* _aModelIndexLong = aModelIndexLong + pt_idx; __global uchar* _aModelIndexMid = aModelIndexMid + pt_idx; __global uchar* _aModelIndexShort = aModelIndexShort + pt_idx; uchar nextLongUpdate = _nNextLongUpdate[0]; uchar nextMidUpdate = _nNextMidUpdate[0]; uchar nextShortUpdate = _nNextShortUpdate[0]; uchar modelIndexLong = _aModelIndexLong[0]; uchar modelIndexMid = _aModelIndexMid[0]; uchar modelIndexShort = _aModelIndexShort[0]; int offsetLong = mad24(mad24(2, (NSAMPLES), modelIndexLong), idx_step, pt_idx); int offsetMid = mad24((NSAMPLES)+modelIndexMid, idx_step, pt_idx); int offsetShort = mad24(modelIndexShort, idx_step, pt_idx); if (nextLongUpdate == nLongCounter) { _sample[offsetLong] = _sample[offsetMid]; flag[offsetLong] = flag[offsetMid]; _aModelIndexLong[0] = (modelIndexLong >= ((NSAMPLES)-1)) ? 0 : (modelIndexLong + 1); } if (nextMidUpdate == nMidCounter) { _sample[offsetMid] = _sample[offsetShort]; flag[offsetMid] = flag[offsetShort]; _aModelIndexMid[0] = (modelIndexMid >= ((NSAMPLES)-1)) ? 0 : (modelIndexMid + 1); } if (nextShortUpdate == nShortCounter) { _sample[offsetShort] = pix; flag[offsetShort] = include; _aModelIndexShort[0] = (modelIndexShort >= ((NSAMPLES)-1)) ? 0 : (modelIndexShort + 1); } } } __kernel void getBackgroundImage2_kernel(__global const uchar* flag, __global const uchar* sample, __global uchar* dst, int dst_step, int dst_offset, int dst_row, int dst_col) { int x = get_global_id(0); int y = get_global_id(1); if(x < dst_col && y < dst_row) { int pt_idx = mad24(y, dst_col, x); T_MEAN meanVal = (T_MEAN)F_ZERO; __global T_MEAN* _sample = (__global T_MEAN*)(sample); int idx_step = dst_row * dst_col; for (uchar n = 0; n < (NSAMPLES) * 3 ; ++n) { int n_idx = mad24(n, idx_step, pt_idx); uchar c_flag = flag[n_idx]; if(c_flag) { meanVal = _sample[n_idx]; break; } } __global uchar* _dst = dst + mad24(y, dst_step, mad24(x, CN, dst_offset)); meanToFrame(meanVal, _dst); } } a192721ae727b25afde8d854a0679ee4;H hd | <Tp\ 4lTdRp8 !x""(#Fd&|4''J'(X)O*gp*0+9+h,--l-vx.N// L0T3Y34#44L55@6z7 9 : ; <J \=Z = >8XJN\KKL,\@, < L \ l | 4 H \ p       , < L$ \8 lL ` |  #L(|,-1<8 80l:<;, F!>?AT?\I? 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IterationsEv_ZNK2cv25VariationalRefinementImpl8getAlphaEv_ZN2cv18DISOpticalFlowImpl29ocl_precomputeStructureTensorERNS_4UMatES2_S2_S2_S2_S2_S2__ZTIN2cv18DISOpticalFlowImpl21Densification_ParBodyE_ZN2cv28BackgroundSubtractorMOG2Impl18setVarThresholdGenEd_ZNSt23_Sp_counted_ptr_inplaceIN2cv25VariationalRefinementImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EE10_M_destroyEv_ZN2cv25VariationalRefinementImpl16setSorIterationsEi_ZN2cv11MOG2InvokerD2Ev_ZN2cv25VariationalRefinementImpl19RedBlackSOR_ParBodyD0Ev_ZTSN2cv11MOG2InvokerE_ZN2cv28BackgroundSubtractorMOG2Impl14setShadowValueEi_ZN2cv25VariationalRefinementImpl19RedBlackSOR_ParBodyD1Ev_ZN2cv18DISOpticalFlowImpl29setVariationalRefinementAlphaEf_ZNK2cv25VariationalRefinementImpl19RedBlackSOR_ParBodyclERKNS_5RangeE_ZN2cv25VariationalRefinementImpl14RedBlackBufferC2Ev_ZNK2cv27BackgroundSubtractorKNNImpl18getBackgroundImageERKNS_12_OutputArrayE_ZTSN2cv25VariationalRefinementImpl19RedBlackSOR_ParBodyE_ZN2cv25VariationalRefinementImpl9averageOpEPvS1_S1__ZNSt6vectorIN2cv4UMatESaIS1_EED1Ev_ZN2cv25VariationalRefinementImpl8setDeltaEf_ZN2cv27BackgroundSubtractorKNNImpl10initializeENS_5Size_IiEEi_ZN2cv10KNNInvokerD0Ev_ZNK2cv27BackgroundSubtractorKNNImpl18getShadowThresholdEv_ZN2cv25VariationalRefinementImpl14RedBlackBuffer7releaseEv_ZNSt23_Sp_counted_ptr_inplaceIN2cv25VariationalRefinementImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EED2Ev_ZNK2cv18DISOpticalFlowImpl28getGradientDescentIterationsEv_ZN2cv18DISOpticalFlowImpl29setVariationalRefinementGammaEf_ZTISt23_Sp_counted_ptr_inplaceIN2cv28BackgroundSubtractorMOG2ImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EE_ZNSt23_Sp_counted_ptr_inplaceIN2cv25VariationalRefinementImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EE14_M_get_deleterERKSt9type_info_ZNK2cv27BackgroundSubtractorKNNImpl13getkNNSamplesEv_ZN2cv25VariationalRefinementImpl19gradHorizAndSplitOpEPvS1_S1__ZN2cv18DISOpticalFlowImpl28autoSelectPatchSizeAndScalesEi_ZN2cv18DISOpticalFlowImpl21Densification_ParBodyD0Ev_ZN2cv28BackgroundSubtractorMOG2Impl18setBackgroundRatioEd_ZN2cv7MatExprD2Ev_ZTIN2cv27BackgroundSubtractorKNNImplE_ZZN2cv25VariationalRefinementImpl18gradVertAndSplitOpEPvS1_S1_E25__cv_trace_location_fn143_ZNK2cv28BackgroundSubtractorMOG2Impl25getBackgroundImage_internIhLi1EEEvRKNS_12_OutputArrayE_ZTSN2cv25VariationalRefinementImpl23ComputeDataTerm_ParBodyE_ZNSt23_Sp_counted_ptr_inplaceIN2cv18DISOpticalFlowImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EED0Ev_ZN2cv25VariationalRefinementImplC2Ev_ZTVN2cv18DISOpticalFlowImplE_ZNSt23_Sp_counted_ptr_inplaceIN2cv18DISOpticalFlowImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EED2Ev_ZTVN2cv27BackgroundSubtractorKNNImplE_ZZNK2cv28BackgroundSubtractorMOG2Impl25getBackgroundImage_internIfLi1EEEvRKNS_12_OutputArrayEE25__cv_trace_location_fn887_ZNK2cv27BackgroundSubtractorKNNImpl17getDist2ThresholdEv__dso_handle_ZNSt23_Sp_counted_ptr_inplaceIN2cv27BackgroundSubtractorKNNImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EED1Ev_ZTVN2cv18DISOpticalFlowImpl26PatchInverseSearch_ParBodyE_ZTIN2cv10KNNInvokerE_ZZN2cv25VariationalRefinementImpl18gradVertAndSplitOpEPvS1_S1_E31__cv_trace_location_extra_fn143_ZTSSt23_Sp_counted_ptr_inplaceIN2cv27BackgroundSubtractorKNNImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EE_ZN2cv28BackgroundSubtractorMOG2Impl10setVarInitEd_ZN2cv28BackgroundSubtractorMOG2Impl5applyERKNS_11_InputArrayERKNS_12_OutputArrayEd_ZNK2cv6detail16LKTrackerInvokerclERKNS_5RangeE_ZNSt23_Sp_counted_ptr_inplaceIN2cv18DISOpticalFlowImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EE14_M_get_deleterERKSt9type_info_ZN2cv3ocl5video15bgfg_knn_oclsrcE_ZN2cv3ocl5video12pyrlk_oclsrcE_ZNK2cv28BackgroundSubtractorMOG2Impl22ocl_getBackgroundImageERKNS_12_OutputArrayE_ZNK2cv28BackgroundSubtractorMOG2Impl25getBackgroundImage_internIfLi3EEEvRKNS_12_OutputArrayE_ZN2cv18DISOpticalFlowImpl14setFinestScaleEi_ZNSt6vectorIN2cv3PtrINS0_21VariationalRefinementEEESaIS3_EE17_M_realloc_insertIJS3_EEEvN9__gnu_cxx17__normal_iteratorIPS3_S5_EEDpOT__ZTVN2cv25VariationalRefinementImpl36ComputeSmoothnessTermHorPass_ParBodyE_ZN2cv28BackgroundSubtractorMOG2ImplD0Ev_ZN2cv11MOG2InvokerD1Ev_ZTIN2cv25VariationalRefinementImplE_ZN2cv18DISOpticalFlowImpl34setVariationalRefinementIterationsEi_ZNK2cv27BackgroundSubtractorKNNImpl5writeERNS_11FileStorageE_ZNK2cv27BackgroundSubtractorKNNImpl14getShadowValueEv_ZN2cv25VariationalRefinementImpl14collectGarbageEvDW.ref.__gxx_personality_v0_ZNSt6vectorIN2cv4Mat_IhEESaIS2_EED1Ev_ZTSN2cv25VariationalRefinementImplE_ZNK2cv28BackgroundSubtractorMOG2Impl12getNMixturesEv_ZNK2cv6detail18ScharrDerivInvokerclERKNS_5RangeE_ZN2cv6detail18ScharrDerivInvokerD2Ev_ZNK2cv28BackgroundSubtractorMOG2Impl10getHistoryEv_ZNSt23_Sp_counted_ptr_inplaceIN2cv28BackgroundSubtractorMOG2ImplESaIS1_ELN9__gnu_cxx12_Lock_policyE2EE10_M_disposeEv_fini_ZNK2cv18DISOpticalFlowImpl29getVariationalRefinementDeltaEv_ZTIN2cv18DISOpticalFlowImplE_ZNSt6vectorIN2cv4Mat_IsEESaIS2_EED1Ev_ZN2cv3ocl5video16bgfg_mog2_oclsrcE_ZN2cv18DISOpticalFlowImplD2Ev_ZN2cv25VariationalRefinementImplD1Ev_ZN2cv18DISOpticalFlowImpl21Densifi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