Merge pull request #288 from Auron-X/TLD_OpenCL_Support

TLD Open CL Support

Author: vpisarev

modules/tracking/samples/tld_test.cpp

@@ -48,8 +48,8 @@
 using namespace std;
 using namespace cv;
 
-#define NUM_TEST_FRAMES 500
-#define TEST_VIDEO_INDEX 1		//TLD Dataset Video Index from 1-10
+#define NUM_TEST_FRAMES 100
+#define TEST_VIDEO_INDEX 7		//TLD Dataset Video Index from 1-10
 //#define RECORD_VIDEO_FLG
 
 static Mat image;

modules/tracking/src/opencl/tldDetector.cl

@@ -0,0 +1,133 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+// Copyright (C) 2014, Advanced Micro Devices, Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+
+
+
+__kernel void NCC(__global const uchar *patch,
+				 __global const uchar *positiveSamples,
+				 __global const uchar *negativeSamples,
+				 __global float *ncc,
+				 int posNum,
+				 int negNum)
+{
+	int id = get_global_id(0);
+	if (id >= 1000) return;
+	bool posFlg;
+
+	if (id < 500)
+		posFlg = true;
+	if (id >= 500)
+	{
+		//Negative index
+		id = id - 500;
+		posFlg = false;
+	}
+
+	//Variables
+	int s1 = 0, s2 = 0, n1 = 0, n2 = 0, prod = 0;
+	float sq1 = 0, sq2 = 0, ares = 0;
+	int N = 225;
+	//NCC with positive sample
+	if (posFlg && id < posNum)
+	{
+		for (int i = 0; i < N; i++)
+		{
+			s1 += positiveSamples[id * N + i];
+			s2 += patch[i];
+			n1 += positiveSamples[id * N + i] * positiveSamples[id * N + i];
+			n2 += patch[i] * patch[i];
+			prod += positiveSamples[id * N + i] * patch[i];
+		}
+		sq1 = sqrt(max(0.0, n1 - 1.0 * s1 * s1 / N));
+		sq2 = sqrt(max(0.0, n2 - 1.0 * s2 * s2 / N));
+		ares = (sq2 == 0) ? sq1 / fabs(sq1) : (prod - s1 * s2 / N) / sq1 / sq2;
+		ncc[id] = ares;
+	}
+
+	//NCC with negative sample
+	if (!posFlg && id < negNum)
+	{
+		for (int i = 0; i < N; i++)
+		{
+
+			s1 += negativeSamples[id * N + i];
+			s2 += patch[i];
+			n1 += negativeSamples[id * N + i] * negativeSamples[id * N + i];
+			n2 += patch[i] * patch[i];
+			prod += negativeSamples[id * N + i] * patch[i];
+		}
+		sq1 = sqrt(max(0.0, n1 - 1.0 * s1 * s1 / N));
+		sq2 = sqrt(max(0.0, n2 - 1.0 * s2 * s2 / N));
+		ares = (sq2 == 0) ? sq1 / fabs(sq1) : (prod - s1 * s2 / N) / sq1 / sq2;
+		ncc[id+500] = ares;
+	}
+}
+
+__kernel void batchNCC(__global const uchar *patches,
+	__global const uchar *positiveSamples,
+	__global const uchar *negativeSamples,
+	__global float *posNcc,
+	__global float *negNcc,
+	int posNum,
+	int negNum,
+	int patchNum)
+{
+	int id = get_global_id(0);
+	bool posFlg;
+
+	if (id < 500*patchNum)
+		posFlg = true;
+	if (id >= 500*patchNum)
+	{
+		//Negative index
+		id = id - 500*patchNum;
+		posFlg = false;
+	}
+
+	int modelSampleID = id % 500;
+	int patchID = id / 500;
+
+	//Variables
+	int s1 = 0, s2 = 0, n1 = 0, n2 = 0, prod = 0;
+	float sq1 = 0, sq2 = 0, ares = 0;
+	int N = 225;
+
+	//NCC with positive sample
+	if (posFlg && modelSampleID < posNum)
+	{
+		for (int i = 0; i < N; i++)
+		{
+			s1 += positiveSamples[modelSampleID * N + i];
+			s2 += patches[patchID*N + i];
+			n1 += positiveSamples[modelSampleID * N + i] * positiveSamples[modelSampleID * N + i];
+			n2 += patches[patchID*N + i] * patches[patchID*N + i];
+			prod += positiveSamples[modelSampleID * N + i] * patches[patchID*N + i];
+		}
+		sq1 = sqrt(max(0.0, n1 - 1.0 * s1 * s1 / N));
+		sq2 = sqrt(max(0.0, n2 - 1.0 * s2 * s2 / N));
+		ares = (sq2 == 0) ? sq1 / fabs(sq1) : (prod - s1 * s2 / N) / sq1 / sq2;
+		posNcc[id] = ares;
+	}
+
+	//NCC with negative sample
+	if (!posFlg && modelSampleID < negNum)
+	{
+		for (int i = 0; i < N; i++)
+		{
+
+			s1 += negativeSamples[modelSampleID * N + i];
+			s2 += patches[patchID*N + i];
+			n1 += negativeSamples[modelSampleID * N + i] * negativeSamples[modelSampleID * N + i];
+			n2 += patches[patchID*N + i] * patches[patchID*N + i];
+			prod += negativeSamples[modelSampleID * N + i] * patches[patchID*N + i];
+		}
+		sq1 = sqrt(max(0.0, n1 - 1.0 * s1 * s1 / N));
+		sq2 = sqrt(max(0.0, n2 - 1.0 * s2 * s2 / N));
+		ares = (sq2 == 0) ? sq1 / fabs(sq1) : (prod - s1 * s2 / N) / sq1 / sq2;
+		negNcc[id] = ares;
+	}
+}

modules/tracking/src/precomp.hpp

@@ -44,10 +44,11 @@
 
 #include "opencv2/tracking.hpp"
 #include "opencv2/core/utility.hpp"
+#include "opencv2/core/ocl.hpp"
 
 namespace cv
 {
-    extern const double ColorNames[][10];
+	extern const double ColorNames[][10];
 }
 
 #endif