window = (weight_length - 1) #window is 8
host_image_filtered = np.zeros_like(host_image)
gpu_image_in = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
zero_derivative_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
first_derivative_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
derivative_kernel_x = cl.Buffer(context, cl.mem_flags.READ_WRITE, filter_kernel_derivative.size * 4)
zero_kernel = cl.Buffer(context, cl.mem_flags.READ_WRITE, filter_kernel_zero.size * 4)
Harris_Matrix = np.zeros_like(host_image)
# Intermediate storage area, between Derivative of Gaussian and Gaussian Filter
local_size = (int(4), int(4)) # 2D local_size
global_size = tuple([round_up(g, l) for g, l in zip(host_image.shape[::-1], local_size)]) # shape
width = np.int32(host_image.shape[1])
height = np.int32(host_image.shape[0])
cl.enqueue_copy(queue, gpu_image_in, host_image, is_blocking=False)
cl.enqueue_copy(queue, derivative_kernel_x, filter_kernel_derivative, is_blocking=False)
cl.enqueue_copy(queue, zero_kernel, filter_kernel_zero, is_blocking=False)
########################################### First Kernel ##################################
# This Kernel takes the first derivative of a guasisan #
# of the image in the y-direction (axis = 0) and zero Derivatives #
# of a gaussian in the y-direction (axis = 0) #
########################################### First Kernel ##################################
def harris_get_corners(num_runs = 100, image_file = '1.tif'):
'''
This funciton is the final and most efficent implementation of our parallel harris corner detection implemenatation in openCL
INPUTS:
image_file1: <TYPE STRING> the image to be analyzed
num_runs: <TYPE INT> number of iterations to have the algorithm run, for profiling against serial version
OUTPUT:
1) two images saved to your directory with points labled, one image is from serial version and one from parallel version
2) the harris points from the serial and parallel implementations
3) average of times from serial and parallel implemenatations
'''
output_times_openCL = np.zeros(num_runs)
output_times_serial = np.zeros(num_runs)
#Initalize loop to get average of times
for i in range(num_runs):
# List our platforms
platforms = cl.get_platforms()
#Define the number of runs to get average of run times
# Create a context with all the devices
devices = platforms[0].get_devices()
context = cl.Context(devices)
# Create a queue for transferring data and launching computations.
# Turn on profiling to allow us to check event times.
queue = cl.CommandQueue(context, context.devices[0],
properties=cl.command_queue_properties.PROFILING_ENABLE)
program = cl.Program(context, open('harris_corner_detection_final.cl').read()).build(options='')
#Load in image to be analyzed
host_image = np.array(Image.open(str(image_file)).convert('L')).astype(np.float32)[::1, ::1].copy()
#start time after image load for consistancy
start = time.time()
sigma = 1 #Define the standard deviation for the gauussian
#Generate the 1D first dimensional gaussian kernel
filter_kernel_derivative = np.asarray(generate_weights(sigma), order = 1).astype(np.float32)
#Generate the 1D zero derivative gaussian kernel
filter_kernel_zero = np.asarray(generate_weights(sigma, order = 0)).astype(np.float32)
#Determine the length of the entire weight vector based on the sigma of the gaussian
weight_length = len(filter_kernel_derivative) #should be 9 with sigma = 1
#This is the number of neighbors for each analyzed pixel, should be even number
window = (weight_length - 1) #window is 8
#the halo is the number of nieghbors on each side of the analyzed pixelsd
halo = np.int32(window / 2.)
host_image_filtered = np.zeros_like(host_image)
gpu_image_in = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
zero_derivative_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
first_derivative_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
derivative_kernel_x = cl.Buffer(context, cl.mem_flags.READ_WRITE, filter_kernel_derivative.size * 4)
zero_kernel = cl.Buffer(context, cl.mem_flags.READ_WRITE, filter_kernel_zero.size * 4)
Harris_Matrix = np.zeros_like(host_image)
# Intermediate storage area, between Derivative of Gaussian and Gaussian Filter
local_size = (int(halo), int(halo)) # 2D local_size
global_size = tuple([round_up(g, l) for g, l in zip(host_image.shape[::-1], local_size)]) # shape
width = np.int32(host_image.shape[1])
height = np.int32(host_image.shape[0])
local_memory = cl.LocalMemory(4 * ((local_size[0] + (halo * 2)) * (local_size[1] + 1)))
local_buffer_zero_1 = cl.LocalMemory(4 * (np.shape(filter_kernel_zero)[0] + 1))
local_buffer_first_1 = cl.LocalMemory(4 * (np.shape(filter_kernel_derivative)[0] + 1))
buf_width = np.int32(local_size[0] + window)
buf_height = np.int32(local_size[1] + window)
cl.enqueue_copy(queue, gpu_image_in, host_image, is_blocking=False)
cl.enqueue_copy(queue, derivative_kernel_x, filter_kernel_derivative, is_blocking=False)
cl.enqueue_copy(queue, zero_kernel, filter_kernel_zero, is_blocking=False)
########################################### First Kernel ##################################
# This Kernel takes the first derivative of a guasisan #
# of the image in the y-direction (axis = 0) and zero Derivatives #
# of a gaussian in the y-direction (axis = 0) #
########################################### First Kernel ##################################
#Execute Derivative of Gaussian Function
program.gaussian_first_axis(
queue, global_size, local_size,
gpu_image_in,
zero_derivative_out,
first_derivative_out,
local_memory, width,
height, buf_width, buf_height, halo,
derivative_kernel_x, zero_kernel,
local_buffer_first_1, local_buffer_zero_1
)
########################################### Second Kernel ##################################
# This Kernel takes the first derivative of a guasisan #
# of the image in the x-direction (axis = 1) and zero Derivatives #
# of a gaussian in the x-direction (axis = 1) #
########################################### Second Kernel ##################################
#allocate local memory buffers for the two filters used in the second kernel
local_memory_axis2_1 = cl.LocalMemory(4 * ((local_size[0]) * (local_size[1] + (halo * 2) + 1)))
local_memory_axis2_2 = cl.LocalMemory(4 * ((local_size[0]) * (local_size[1] + (halo * 2) + 1)))
local_buffer_zero_2 = cl.LocalMemory(4 * (np.shape(filter_kernel_zero)[0] + 1))
local_buffer_first_2 = cl.LocalMemory(4 * (np.shape(filter_kernel_derivative)[0] + 1))
#allocate memory for the output of the second kernel
gpu_image_Wxx_derivative_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
gpu_image_Wyy_derivative_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
gpu_image_Wxy_derivative_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
#Execute Derivative of Gaussian Function
program.gaussian_second_axis(
queue, global_size, local_size,
zero_derivative_out,
first_derivative_out,
gpu_image_Wxx_derivative_out,
gpu_image_Wyy_derivative_out,
gpu_image_Wxy_derivative_out,
local_memory_axis2_1, local_memory_axis2_2,
width,
height, buf_width, buf_height, halo,
derivative_kernel_x, zero_kernel,
local_buffer_first_2, local_buffer_zero_2
)
########################################### Third Kernel ###################################
# This Kernel applies a gaussian to the product of the #
# parital derivatives in the y-direction (axis = 0) #
# #
########################################### Third Kernel ###################################
#load in the local memory buffer allocation for all the compents fo the harris matrix
local_memory_filter_Wxx = cl.LocalMemory(4 * ((local_size[0] + (halo * 2)) * (local_size[1] + 1)))
local_memory_filter_Wyy = cl.LocalMemory(4 * ((local_size[0] + (halo * 2)) * (local_size[1] + 1)))
local_memory_filter_Wxy = cl.LocalMemory(4 * ((local_size[0] + (halo * 2)) * (local_size[1] + 1)))
local_buffer_zero_3 = cl.LocalMemory(4 * (np.shape(filter_kernel_zero)[0] + 1))
#allocate memory for the output of the third kernel
gpu_image_Wxx_third_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
gpu_image_Wyy_third_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
gpu_image_Wxy_third_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
# Execute gaussian filter on all component matrices and calculate Harris Matrix
program.filter_first_axis_second_pass(
queue, global_size, local_size,
gpu_image_Wxx_derivative_out,
gpu_image_Wyy_derivative_out,
gpu_image_Wxy_derivative_out,
gpu_image_Wxx_third_out,
gpu_image_Wyy_third_out,
gpu_image_Wxy_third_out,
local_memory_filter_Wxx,
local_memory_filter_Wyy,
local_memory_filter_Wxy,
halo, width, height, buf_width, buf_height,
zero_kernel, local_buffer_zero_3
)
########################################### Fourth Kernel ##################################
# This Kernel applies a gaussian to the product of the #
# parital derivatives in the x-direction (axis = 1) #
# and computes the final Harris Matrix for the output #
########################################### Fourth Kernel ##################################
#Allocate local memory buffer for fourth kernel
local_memory_filter_Wxx_2 = cl.LocalMemory(4 * ((local_size[0]) * (local_size[1] + (halo * 2)) + 1))
local_memory_filter_Wyy_2 = cl.LocalMemory(4 * ((local_size[0]) * (local_size[1] + (halo * 2)) + 1))
local_memory_filter_Wxy_2 = cl.LocalMemory(4 * ((local_size[0]) * (local_size[1] + (halo * 2)) + 1))
local_buffer_zero_4 = cl.LocalMemory(4 * (np.shape(filter_kernel_zero)[0]))
# Allocate memory to store output from fourth kernel, this is the final Harris Matrix
gpu_image_filter_out = cl.Buffer(context, cl.mem_flags.READ_WRITE, host_image.size * 4)
program.filter_second_axis_second_pass(
queue, global_size, local_size,
gpu_image_Wxx_third_out,
gpu_image_Wyy_third_out,
gpu_image_Wxy_third_out,
gpu_image_filter_out,
local_memory_filter_Wxx_2,
local_memory_filter_Wyy_2,
local_memory_filter_Wxy_2,
halo, width, height, buf_width, buf_height,
zero_kernel, local_buffer_zero_4
)
#Output the final Harris Matrix to the CPU
cl.enqueue_copy(queue, Harris_Matrix, gpu_image_filter_out, is_blocking=False)
points = get_harris_points(Harris_Matrix)
end = time.time()
#Store the time to run the entire openCL version
output_times_openCL[i] = end - start
#Store the time to run the entire serial version
with Timer() as serial_time:
harris = run_harris(host_image)
output_times_serial[i] = serial_time.interval
########################################################################
# test comparision for accuracy vs. harris.py Serial implementation by #
# "Programming Computer Vision with Python" by Jan Erik Solem #
########################################################################
print '-------------Check Plots: Saved to the Directory--------------------------'
plot_harris_points(host_image, points, im_name = 'Harris openCL Image')
response = compute_harris_response(host_image, sigma=1)
serial_points = get_harris_points(response, min_dist=10, threshold=0.1)
plot_harris_points(host_image, serial_points, im_name = 'Harris Serial Image')
print '--------------------------------------------------------------------------'
print '-------------Check For Correctness----------------------------------------'
pt_x = np.random.randint(np.shape(host_image)[0])
pt_y = np.random.randint(np.shape(host_image)[1])
print 'openCL Harris Matrix Random Point Check:', Harris_Matrix[pt_x, pt_y]
print 'Serial Baseline Harris Matrix Random Point Check:', response[pt_x, pt_y]
print 'Number of openCL points:', np.shape(points)
print 'Number of Serial Points:', np.shape(serial_points)
print 'Are the two lists of corner points the same?', (np.array(serial_points) == np.array(points)).all()
print '--------------------------------------------------------------------------'
print '-------------Check Timing Comparision-------------------------------------'
mean_openCL = output_times_openCL.mean()
mean_serial = output_times_serial.mean()
print 'Time to run openCL', mean_openCL
print 'Time to run Serial', mean_serial
print '--------------------------------------------------------------------------'
return Harris_Matrix, serial_points, points, mean_openCL, mean_serial