def test_combine(self):
"""
tests the combine (linear combination) kernel
"""
width = numpy.int32(157)
height = numpy.int32(147)
coeff1 = numpy.random.rand(1)[0].astype(numpy.float32)
coeff2 = numpy.random.rand(1)[0].astype(numpy.float32)
mat1 = numpy.random.rand(height, width).astype(numpy.float32)
mat2 = numpy.random.rand(height, width).astype(numpy.float32)
gpu_mat1 = pyopencl.array.to_device(queue, mat1)
gpu_mat2 = pyopencl.array.to_device(queue, mat2)
gpu_out = pyopencl.array.empty(queue,
mat1.shape,
dtype=numpy.float32,
order="C")
shape = calc_size((width, height), self.wg)
t0 = time.time()
k1 = self.program.combine(queue, shape, self.wg, gpu_mat1.data, coeff1,
gpu_mat2.data, coeff2, gpu_out.data,
numpy.int32(0), width, height)
res = gpu_out.get()
t1 = time.time()
ref = my_combine(mat1, coeff1, mat2, coeff2)
t2 = time.time()
delta = abs(ref - res).max()
logger.info("delta=%s" % delta)
self.assert_(delta < 1e-4, "delta=%s" % (delta))
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." %
(1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Linear combination took %.3fms" %
(1e-6 * (k1.profile.end - k1.profile.start)))
def setUp(self):
self.input = numpy.ascontiguousarray(scipy.misc.lena()[:510, :511])
self.gpudata = pyopencl.array.empty(queue,
self.input.shape,
dtype=numpy.float32,
order="C")
kernel_path = os.path.join(
os.path.dirname(os.path.abspath(sift.__file__)), "preprocess.cl")
reduct_path = os.path.join(
os.path.dirname(os.path.abspath(sift.__file__)), "reductions.cl")
kernel_src = open(kernel_path).read()
reduct_src = open(reduct_path).read()
self.program = pyopencl.Program(ctx, kernel_src).build()
self.reduction = pyopencl.Program(ctx, reduct_src).build()
self.IMAGE_W = numpy.int32(self.input.shape[-1])
self.IMAGE_H = numpy.int32(self.input.shape[0])
self.wg = (32, 16) #(256, 2) #(32, 16) # (2, 256)
self.shape = calc_size((self.IMAGE_W, self.IMAGE_H), self.wg)
# print self.shape
self.binning = (
4, 2) # Nota if wg < ouptup size weired results are expected !
# self.binning = (2, 2)
self.red_size = 128 #reduction size
self.twofivefive = pyopencl.array.to_device(
queue, numpy.array([255], numpy.float32))
self.buffers_max_min = pyopencl.array.empty(
queue, (self.red_size, 2),
dtype=numpy.float32) # temporary buffer for max/min reduction
self.buffers_min = pyopencl.array.empty(queue, (1),
dtype=numpy.float32)
self.buffers_max = pyopencl.array.empty(queue, (1),
dtype=numpy.float32)
def normalize(self, raw, flat1, flat2):
'''
Normalizes the image with OpenCL
NOTA: images are passed as numpy.array, so the read (edf/hdf5) is done before calling this function
'''
output_height, output_width = raw.shape
shape = calc_size((output_width, output_height), self.wg)
gpu_raw = pyopencl.array.to_device(self.queue, raw)
gpu_dark3 = pyopencl.array.to_device(self.queue, self.dark_data)
gpu_dark6 = pyopencl.array.to_device(self.queue, self.dark_ref)
gpu_flat1 = pyopencl.array.to_device(self.queue, flat1)
gpu_flat2 = pyopencl.array.to_device(self.queue, flat2)
gpu_output = pyopencl.array.empty(self.queue,
(output_height, output_width),
dtype=numpy.float32,
order="C")
output_height, output_width = numpy.int32(
(output_height, output_width))
k1 = self.program.correction(self.queue, shape, self.wg, gpu_raw.data,
gpu_dark3.data, gpu_dark6.data,
gpu_flat1.data, gpu_flat2.data,
gpu_output.data, output_width,
output_height)
res = gpu_output.get()
return res
def test_combine(self):
"""
tests the combine (linear combination) kernel
"""
width = numpy.int32(157)
height = numpy.int32(147)
coeff1 = numpy.random.rand(1)[0].astype(numpy.float32)
coeff2 = numpy.random.rand(1)[0].astype(numpy.float32)
mat1 = numpy.random.rand(height, width).astype(numpy.float32)
mat2 = numpy.random.rand(height, width).astype(numpy.float32)
gpu_mat1 = pyopencl.array.to_device(queue, mat1)
gpu_mat2 = pyopencl.array.to_device(queue, mat2)
gpu_out = pyopencl.array.empty(queue, mat1.shape, dtype=numpy.float32, order="C")
shape = calc_size((width, height), self.wg)
t0 = time.time()
k1 = self.program.combine(queue, shape, self.wg,
gpu_mat1.data, coeff1, gpu_mat2.data, coeff2,
gpu_out.data, numpy.int32(0),
width, height)
res = gpu_out.get()
t1 = time.time()
ref = my_combine(mat1, coeff1, mat2, coeff2)
t2 = time.time()
delta = abs(ref - res).max()
logger.info("delta=%s" % delta)
self.assert_(delta < 1e-4, "delta=%s" % (delta))
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Linear combination took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
def test_gradient(self):
"""
tests the gradient kernel (norm and orientation)
"""
self.width = numpy.int32(15)
self.height = numpy.int32(14)
self.mat = numpy.random.rand(self.height,self.width).astype(numpy.float32)
self.gpu_mat = pyopencl.array.to_device(queue, self.mat)
self.gpu_grad = pyopencl.array.empty(queue, self.mat.shape, dtype=numpy.float32, order="C")
self.gpu_ori = pyopencl.array.empty(queue, self.mat.shape, dtype=numpy.float32, order="C")
self.shape = calc_size(self.mat.shape, self.wg)
t0 = time.time()
k1 = self.program.compute_gradient_orientation(queue, self.shape, self.wg, self.gpu_mat.data, self.gpu_grad.data, self.gpu_ori.data, self.width, self.height)
res_norm = self.gpu_grad.get()
res_ori = self.gpu_ori.get()
t1 = time.time()
ref_norm,ref_ori = my_gradient(self.mat)
t2 = time.time()
delta_norm = abs(ref_norm - res_norm).max()
delta_ori = abs(ref_ori - res_ori).max()
self.assert_(delta_norm < 1e-4, "delta_norm=%s" % (delta_norm))
self.assert_(delta_ori < 1e-4, "delta_ori=%s" % (delta_ori))
logger.info("delta_norm=%s" % delta_norm)
logger.info("delta_ori=%s" % delta_ori)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Gradient computation took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
def test_local_maxmin(self):
"""
tests the local maximum/minimum detection kernel
"""
#local_maxmin_setup :
border_dist, peakthresh, EdgeThresh, EdgeThresh0, octsize, s, nb_keypoints, width, height, DOGS, g = local_maxmin_setup()
self.s = numpy.int32(s) #1, 2, 3 ... not 4 nor 0.
self.gpu_dogs = pyopencl.array.to_device(queue, DOGS)
self.output = pyopencl.array.empty(queue, (nb_keypoints,4), dtype=numpy.float32, order="C")
self.output.fill(-1.0,queue) #memset for invalid keypoints
self.counter = pyopencl.array.zeros(queue, (1,), dtype=numpy.int32, order="C")
nb_keypoints = numpy.int32(nb_keypoints)
self.shape = calc_size((DOGS.shape[1],DOGS.shape[0]*DOGS.shape[2]), self.wg) #it's a 3D vector !!
t0 = time.time()
k1 = self.program.local_maxmin(queue, self.shape, self.wg,
self.gpu_dogs.data, self.output.data,
border_dist, peakthresh, octsize, EdgeThresh0, EdgeThresh,
self.counter.data, nb_keypoints, self.s, width, height)
res = self.output.get()
self.keypoints1 = self.output #for further use
self.actual_nb_keypoints = self.counter.get()[0] #for further use
t1 = time.time()
ref, actual_nb_keypoints2 = my_local_maxmin(DOGS,peakthresh,border_dist, octsize,
EdgeThresh0, EdgeThresh,nb_keypoints,self.s,width,height)
t2 = time.time()
#we have to sort the arrays, for peaks orders is unknown for GPU
res_peaks = res[(res[:,0].argsort(axis=0)),0]
ref_peaks = ref[(ref[:,0].argsort(axis=0)),0]
res_r = res[(res[:,1].argsort(axis=0)),1]
ref_r = ref[(ref[:,1].argsort(axis=0)),1]
res_c = res[(res[:,2].argsort(axis=0)),2]
ref_c = ref[(ref[:,2].argsort(axis=0)),2]
#res_s = res[(res[:,3].argsort(axis=0)),3]
#ref_s = ref[(ref[:,3].argsort(axis=0)),3]
delta_peaks = abs(ref_peaks - res_peaks).max()
delta_r = abs(ref_r - res_r).max()
delta_c = abs(ref_c - res_c).max()
if (PRINT_KEYPOINTS):
print("keypoints after 2 steps of refinement: (s= %s, octsize=%s) %s" %(self.s,octsize,self.actual_nb_keypoints))
#print("For ref: %s" %(ref_peaks[ref_peaks!=-1].shape))
print res[0:self.actual_nb_keypoints]#[0:74]
#print ref[0:32]
self.assert_(delta_peaks < 1e-4, "delta_peaks=%s" % (delta_peaks))
self.assert_(delta_r < 1e-4, "delta_r=%s" % (delta_r))
self.assert_(delta_c < 1e-4, "delta_c=%s" % (delta_c))
logger.info("delta_peaks=%s" % delta_peaks)
logger.info("delta_r=%s" % delta_r)
logger.info("delta_c=%s" % delta_c)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Local extrema search took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
def test_orientation(self):
'''
#tests keypoints orientation assignment kernel
'''
#orientation_setup :
keypoints, nb_keypoints, updated_nb_keypoints, grad, ori, octsize = orientation_setup()
#keypoints is a compacted vector of keypoints #not anymore
keypoints_before_orientation = numpy.copy(keypoints) #important here
wg = max(self.wg),
shape = calc_size((keypoints.shape[0],), wg)
#shape = calc_size(keypoints.shape, self.wg)
gpu_keypoints = pyopencl.array.to_device(queue,keypoints)
actual_nb_keypoints = numpy.int32(updated_nb_keypoints)
print("Max. number of keypoints before orientation assignment : %s" %actual_nb_keypoints)
gpu_grad = pyopencl.array.to_device(queue, grad)
gpu_ori = pyopencl.array.to_device(queue, ori)
orisigma = numpy.float32(1.5) #SIFT
grad_height, grad_width = numpy.int32(grad.shape)
keypoints_start = numpy.int32(0)
keypoints_end = numpy.int32(actual_nb_keypoints)
counter = pyopencl.array.to_device(queue, keypoints_end) #actual_nb_keypoints)
t0 = time.time()
k1 = self.program.orientation_assignment(queue, shape, wg,
gpu_keypoints.data, gpu_grad.data, gpu_ori.data, counter.data,
octsize, orisigma, nb_keypoints, keypoints_start, keypoints_end, grad_width, grad_height)
res = gpu_keypoints.get()
cnt = counter.get()
t1 = time.time()
ref,updated_nb_keypoints = my_orientation(keypoints, nb_keypoints, keypoints_start, keypoints_end, grad, ori, octsize, orisigma)
t2 = time.time()
#print keypoints_before_orientation[0:33]
if (PRINT_KEYPOINTS):
print("Keypoints after orientation assignment :")
print res[0:actual_nb_keypoints]#[0:10]
#print " "
#print ref[0:7]
print("Total keypoints for kernel : %s -- For Python : %s \t [octsize = %s]" %(cnt,updated_nb_keypoints,octsize))
#sort to compare added keypoints
d1,d2,d3,d4 = keypoints_compare(ref,res)
self.assert_(d1 < 1e-4, "delta_cols=%s" % (d1))
self.assert_(d2 < 1e-4, "delta_rows=%s" % (d2))
self.assert_(d3 < 1e-4, "delta_sigma=%s" % (d3))
self.assert_(d4 < 1e-4, "delta_angle=%s" % (d4))
logger.info("delta_cols=%s" % d1)
logger.info("delta_rows=%s" % d2)
logger.info("delta_sigma=%s" % d3)
logger.info("delta_angle=%s" % d4)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Orientation assignment took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
def test_compact(self):
"""
tests the "compact" kernel
"""
nbkeypoints = 10000 #constant value
keypoints = numpy.random.rand(nbkeypoints, 4).astype(numpy.float32)
nb_ones = 0
for i in range(0, nbkeypoints):
if ((numpy.random.rand(1))[0] < 0.25):
keypoints[i] = (-1, -1, i, -1)
nb_ones += 1
else:
keypoints[i, 2] = i
gpu_keypoints = pyopencl.array.to_device(queue, keypoints)
output = pyopencl.array.empty(queue, (nbkeypoints, 4),
dtype=numpy.float32,
order="C")
output.fill(-1.0, queue)
counter = pyopencl.array.zeros(queue, (1, ),
dtype=numpy.int32,
order="C")
wg = max(self.wg),
shape = calc_size((keypoints.shape[0], ), wg)
nbkeypoints = numpy.int32(nbkeypoints)
startkeypoints = numpy.int32(0)
t0 = time.time()
k1 = self.program.compact(queue, shape, wg, gpu_keypoints.data,
output.data, counter.data, startkeypoints,
nbkeypoints)
res = output.get()
if (PRINT_KEYPOINTS):
print res
count = counter.get()[0]
t1 = time.time()
ref, count_ref = my_compact(keypoints, nbkeypoints)
t2 = time.time()
print("Kernel counter : %s / Python counter : %s / True value : %s" %
(count, count_ref, nbkeypoints - nb_ones))
res_sort_arg = res[:, 2].argsort(axis=0)
res_sort = res[res_sort_arg]
ref_sort_arg = ref[:, 2].argsort(axis=0)
ref_sort = ref[ref_sort_arg]
if (PRINT_KEYPOINTS):
print "Delta matrix :"
print(abs(res_sort - ref_sort) > 1e-5).sum()
delta = abs((res_sort - ref_sort)).max()
self.assert_(delta < 1e-5, "delta=%s" % (delta))
self.assertEqual(count, count_ref, "counters are the same")
logger.info("delta=%s" % delta)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." %
(1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Compact operation took %.3fms" %
(1e-6 * (k1.profile.end - k1.profile.start)))
def siftAlign(self):
'''
Call SIFT to align images
Assume that all the images have the same dimensions !
'''
mp = sift.MatchPlan(devicetype=self.devicetype)
#TODO: place the following in a separate routine (in SIFT module ?)
kernel_path = "openCL/transform.cl"
kernel_src = open(kernel_path).read()
program = pyopencl.Program(
self.ctx,
kernel_src).build() #.build('-D WORKGROUP_SIZE=%s' % wg_size)
wg = 8, 8 #FIXME: hard-coded
i = 0
for img in os.listdir(self.save_folder):
if i == 0: #compute SIFT keypoints on the first image
i = 1
plan = sift.SiftPlan(template=img, devicetype=self.devicetype)
kp_first = plan.keypoints(img)
else:
kp = plan.keypoints(img)
m = mp.match(kp_first, kp)
sol = self.matchingCorrection(m)
correction_matrix = numpy.zeros((2, 2), dtype=numpy.float32)
correction_matrix[0] = sol[0:2, 0]
correction_matrix[1] = sol[3:5, 0]
matrix_for_gpu = correction_matrix.reshape(
4, 1) #for float4 struct
offset_value[0] = sol[2, 0]
offset_value[1] = sol[5, 0]
img, image_height, image_width = self.imageReshape(img)
gpu_image = pyopencl.array.to_device(self.queue, img)
gpu_output = pyopencl.array.empty(self.queue,
(image_height, image_width),
dtype=numpy.float32,
order="C")
gpu_matrix = pyopencl.array.to_device(self.queue,
matrix_for_gpu)
gpu_offset = pyopencl.array.to_device(self.queue, offset_value)
image_height, image_width = numpy.int32(
(image_height, image_width))
output_height, output_width = image_height, image_width
if i == 1: shape = calc_size((output_width, output_height), wg)
k1 = program.transform(self.queue, shape, wg, gpu_image.data,
gpu_output.data, gpu_matrix.data,
gpu_offset.data, image_width,
image_height, output_width,
output_height, fill_value, mode)
res = gpu_output.get()
# scipy.misc.imsave(self.aligned_folder + "/frame" + str(i) +".png", res)
i += 1
def test_interpolation(self):
"""
tests the keypoints interpolation kernel
Requires the following: "self.keypoints1", "self.actual_nb_keypoints", "self.gpu_dog_prev", self.gpu_dog", "self.gpu_dog_next", "self.s", "self.width", "self.height", "self.peakthresh"
"""
#interpolation_setup :
border_dist, peakthresh, EdgeThresh, EdgeThresh0, octsize, nb_keypoints, actual_nb_keypoints, width, height, DOGS, s, keypoints_prev, blur = interpolation_setup(
)
# actual_nb_keypoints is the number of keypoints returned by "local_maxmin".
#After the interpolation, it will be reduced, but we can still use it as a boundary.
shape = calc_size(keypoints_prev.shape, self.wg)
gpu_dogs = pyopencl.array.to_device(queue, DOGS)
gpu_keypoints1 = pyopencl.array.to_device(queue, keypoints_prev)
#actual_nb_keypoints = numpy.int32(len((keypoints_prev[:,0])[keypoints_prev[:,1] != -1]))
start_keypoints = numpy.int32(0)
actual_nb_keypoints = numpy.int32(actual_nb_keypoints)
InitSigma = numpy.float32(
1.6) #warning: it must be the same in my_keypoints_interpolation
t0 = time.time()
k1 = self.program.interp_keypoint(queue, shape, self.wg, gpu_dogs.data,
gpu_keypoints1.data, start_keypoints,
actual_nb_keypoints, peakthresh,
InitSigma, width, height)
res = gpu_keypoints1.get()
t1 = time.time()
ref = numpy.copy(keypoints_prev) #important here
for i, k in enumerate(ref[:nb_keypoints, :]):
ref[i] = my_interp_keypoint(DOGS, s, k[1], k[2], 5, peakthresh,
width, height)
t2 = time.time()
#we have to compare keypoints different from (-1,-1,-1,-1)
res2 = res[res[:, 1] != -1]
ref2 = ref[ref[:, 1] != -1]
if (PRINT_KEYPOINTS):
print("[s=%s]Keypoints before interpolation: %s" %
(s, actual_nb_keypoints))
#print keypoints_prev[0:10,:]
print("[s=%s]Keypoints after interpolation : %s" %
(s, res2.shape[0]))
print res[0:actual_nb_keypoints] #[0:10,:]
#print("Ref:")
#print ref[0:32,:]
delta = abs(ref2 - res2).max()
self.assert_(delta < 1e-4, "delta=%s" % (delta))
logger.info("delta=%s" % delta)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." %
(1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Keypoints interpolation took %.3fms" %
(1e-6 * (k1.profile.end - k1.profile.start)))
def test_gradient(self):
"""
tests the gradient kernel (norm and orientation)
"""
border_dist, peakthresh, EdgeThresh, EdgeThresh0, octsize, scale, nb_keypoints, width, height, DOGS, g = local_maxmin_setup(
)
self.mat = numpy.ascontiguousarray(g[1])
self.height, self.width = numpy.int32(self.mat.shape)
self.gpu_mat = pyopencl.array.to_device(queue, self.mat)
self.gpu_grad = pyopencl.array.empty(queue,
self.mat.shape,
dtype=numpy.float32,
order="C")
self.gpu_ori = pyopencl.array.empty(queue,
self.mat.shape,
dtype=numpy.float32,
order="C")
self.shape = calc_size((self.width, self.height), self.wg)
t0 = time.time()
k1 = self.program.compute_gradient_orientation(
queue, self.shape, self.wg, self.gpu_mat.data, self.gpu_grad.data,
self.gpu_ori.data, self.width, self.height)
res_norm = self.gpu_grad.get()
res_ori = self.gpu_ori.get()
t1 = time.time()
ref_norm, ref_ori = my_gradient(self.mat)
t2 = time.time()
delta_norm = abs(ref_norm - res_norm).max()
delta_ori = abs(ref_ori - res_ori).max()
if (PRINT_KEYPOINTS):
rmin, cmin = 0, 0
rmax, cmax = rmin + 6, cmin + 6
print res_norm[-rmax, cmin:cmax]
print ""
print ref_norm[-rmax, cmin:cmax]
fig = pylab.figure()
sp1 = fig.add_subplot(121)
sp1.imshow(res_norm, interpolation="nearest")
sp2 = fig.add_subplot(122)
sp2.imshow(ref_norm, interpolation="nearest")
fig.show()
raw_input("enter")
self.assert_(delta_norm < 1e-4, "delta_norm=%s" % (delta_norm))
self.assert_(delta_ori < 1e-4, "delta_ori=%s" % (delta_ori))
logger.info("delta_norm=%s" % delta_norm)
logger.info("delta_ori=%s" % delta_ori)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." %
(1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Gradient computation took %.3fms" %
(1e-6 * (k1.profile.end - k1.profile.start)))
def test_interpolation(self):
"""
tests the keypoints interpolation kernel
Requires the following: "self.keypoints1", "self.actual_nb_keypoints", "self.gpu_dog_prev", self.gpu_dog", "self.gpu_dog_next", "self.s", "self.width", "self.height", "self.peakthresh"
"""
#interpolation_setup :
border_dist, peakthresh, EdgeThresh, EdgeThresh0, octsize, nb_keypoints, actual_nb_keypoints, width, height, DOGS, s, keypoints_prev, blur = interpolation_setup()
# actual_nb_keypoints is the number of keypoints returned by "local_maxmin".
#After the interpolation, it will be reduced, but we can still use it as a boundary.
shape = calc_size(keypoints_prev.shape, self.wg)
gpu_dogs = pyopencl.array.to_device(queue, DOGS)
gpu_keypoints1 = pyopencl.array.to_device(queue, keypoints_prev)
#actual_nb_keypoints = numpy.int32(len((keypoints_prev[:,0])[keypoints_prev[:,1] != -1]))
start_keypoints = numpy.int32(0)
actual_nb_keypoints = numpy.int32(actual_nb_keypoints)
InitSigma = numpy.float32(1.6) #warning: it must be the same in my_keypoints_interpolation
t0 = time.time()
k1 = self.program.interp_keypoint(queue, shape, self.wg,
gpu_dogs.data, gpu_keypoints1.data, start_keypoints, actual_nb_keypoints,
peakthresh, InitSigma, width, height)
res = gpu_keypoints1.get()
t1 = time.time()
ref = numpy.copy(keypoints_prev) #important here
for i, k in enumerate(ref[:nb_keypoints, :]):
ref[i] = my_interp_keypoint(DOGS, s, k[1], k[2], 5, peakthresh, width, height)
t2 = time.time()
#we have to compare keypoints different from (-1,-1,-1,-1)
res2 = res[res[:, 1] != -1]
ref2 = ref[ref[:, 1] != -1]
if (PRINT_KEYPOINTS):
print("[s=%s]Keypoints before interpolation: %s" % (s, actual_nb_keypoints))
#print keypoints_prev[0:10,:]
print("[s=%s]Keypoints after interpolation : %s" % (s, res2.shape[0]))
print res[0:actual_nb_keypoints]#[0:10,:]
#print("Ref:")
#print ref[0:32,:]
delta = abs(ref2 - res2).max()
self.assert_(delta < 1e-4, "delta=%s" % (delta))
logger.info("delta=%s" % delta)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Keypoints interpolation took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
def test_bin(self):
"""
Test binning kernel
"""
lint = numpy.ascontiguousarray(self.input, numpy.float32)
out_shape = tuple(
int(math.ceil((float(i) / j)))
for i, j in zip(self.input.shape, self.binning))
t0 = time.time()
inp_gpu = pyopencl.array.to_device(queue, lint)
out_gpu = pyopencl.array.empty(queue,
out_shape,
dtype=numpy.float32,
order="C")
k1 = self.program.bin(queue,
calc_size((out_shape[1], out_shape[0]), self.wg),
self.wg, inp_gpu.data, out_gpu.data,
numpy.int32(self.binning[1]),
numpy.int32(self.binning[0]),
numpy.int32(lint.shape[1]),
numpy.int32(lint.shape[0]),
numpy.int32(out_shape[1]),
numpy.int32(out_shape[0]))
res = out_gpu.get()
t1 = time.time()
ref = binning(lint, self.binning) / self.binning[0] / self.binning[1]
t2 = time.time()
# print ref.shape, res.shape
delta = abs(ref - res).max()
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." %
(1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Binning took %.3fms" %
(1e-6 * (k1.profile.end - k1.profile.start)))
fig = pylab.figure()
fig.suptitle('Binning by %s,%s' % self.binning)
sp1 = fig.add_subplot(221)
sp1.imshow(lint, interpolation="nearest")
sp1.set_title("Input")
sp2 = fig.add_subplot(222)
sp2.imshow(ref, interpolation="nearest")
sp2.set_title("Reference")
sp3 = fig.add_subplot(223)
sp3.imshow(ref - res, interpolation="nearest")
sp3.set_title("Delta= %s" % delta)
sp4 = fig.add_subplot(224)
sp4.imshow(res, interpolation="nearest")
sp4.set_title("GPU")
fig.show()
raw_input("enter")
self.assert_(delta < 1e-6, "delta=%s" % delta)
def setUp(self):
self.input = scipy.misc.lena()
self.gpudata = pyopencl.array.empty(queue, self.input.shape, dtype=numpy.float32, order="C")
kernel_path = os.path.join(os.path.dirname(os.path.abspath(sift.__file__)), "preprocess.cl")
kernel_src = open(kernel_path).read()
self.program = pyopencl.Program(ctx, kernel_src).build()
self.IMAGE_W = numpy.int32(self.input.shape[-1])
self.IMAGE_H = numpy.int32(self.input.shape[0])
self.wg = (2, 256)
self.shape = calc_size(self.input.shape, self.wg)
self.binning = (4, 2) # Nota if wg < ouptup size weired results are expected !
self.binning = (2, 2)
self.twofivefive = pyopencl.array.to_device(queue, numpy.array([255], numpy.float32))
def siftAlign(self):
'''
Call SIFT to align images
Assume that all the images have the same dimensions !
'''
mp = sift.MatchPlan(devicetype=self.devicetype)
#TODO: place the following in a separate routine (in SIFT module ?)
kernel_path = "openCL/transform.cl"
kernel_src = open(kernel_path).read()
program = pyopencl.Program(self.ctx, kernel_src).build() #.build('-D WORKGROUP_SIZE=%s' % wg_size)
wg = 8, 8 #FIXME: hard-coded
i = 0
for img in os.listdir(self.save_folder):
if i == 0: #compute SIFT keypoints on the first image
i = 1
plan = sift.SiftPlan(template=img, devicetype=self.devicetype)
kp_first = plan.keypoints(img)
else:
kp = plan.keypoints(img)
m = mp.match(kp_first, kp)
sol = self.matchingCorrection(m)
correction_matrix = numpy.zeros((2, 2), dtype=numpy.float32)
correction_matrix[0] = sol[0:2, 0]
correction_matrix[1] = sol[3:5, 0]
matrix_for_gpu = correction_matrix.reshape(4, 1) #for float4 struct
offset_value[0] = sol[2, 0]
offset_value[1] = sol[5, 0]
img, image_height, image_width = self.imageReshape(img)
gpu_image = pyopencl.array.to_device(self.queue, img)
gpu_output = pyopencl.array.empty(self.queue, (image_height, image_width), dtype=numpy.float32, order="C")
gpu_matrix = pyopencl.array.to_device(self.queue, matrix_for_gpu)
gpu_offset = pyopencl.array.to_device(self.queue, offset_value)
image_height, image_width = numpy.int32((image_height, image_width))
output_height, output_width = image_height, image_width
if i == 1: shape = calc_size((output_width, output_height), wg)
k1 = program.transform(self.queue, shape, wg,
gpu_image.data, gpu_output.data, gpu_matrix.data, gpu_offset.data,
image_width, image_height, output_width, output_height, fill_value, mode)
res = gpu_output.get()
# scipy.misc.imsave(self.aligned_folder + "/frame" + str(i) +".png", res)
i += 1
def test_compact(self):
"""
tests the "compact" kernel
"""
nbkeypoints = 10000 #constant value
keypoints = numpy.random.rand(nbkeypoints, 4).astype(numpy.float32)
nb_ones = 0
for i in range(0, nbkeypoints):
if ((numpy.random.rand(1))[0] < 0.25):
keypoints[i] = (-1, -1, i, -1)
nb_ones += 1
else: keypoints[i,2] = i
gpu_keypoints = pyopencl.array.to_device(queue, keypoints)
output = pyopencl.array.empty(queue, (nbkeypoints, 4), dtype=numpy.float32, order="C")
output.fill(-1.0, queue)
counter = pyopencl.array.zeros(queue, (1,), dtype=numpy.int32, order="C")
wg = max(self.wg),
shape = calc_size((keypoints.shape[0],), wg)
nbkeypoints = numpy.int32(nbkeypoints)
startkeypoints = numpy.int32(0)
t0 = time.time()
k1 = self.program.compact(queue, shape, wg,
gpu_keypoints.data, output.data, counter.data, startkeypoints, nbkeypoints)
res = output.get()
if (PRINT_KEYPOINTS):
print res
count = counter.get()[0]
t1 = time.time()
ref, count_ref = my_compact(keypoints, nbkeypoints)
t2 = time.time()
print("Kernel counter : %s / Python counter : %s / True value : %s" % (count, count_ref, nbkeypoints - nb_ones))
res_sort_arg = res[:, 2].argsort(axis=0)
res_sort = res[res_sort_arg]
ref_sort_arg = ref[:, 2].argsort(axis=0)
ref_sort = ref[ref_sort_arg]
if (PRINT_KEYPOINTS):
print "Delta matrix :"
print (abs(res_sort - ref_sort) > 1e-5).sum()
delta = abs((res_sort - ref_sort)).max()
self.assert_(delta < 1e-5, "delta=%s" % (delta))
self.assertEqual(count, count_ref, "counters are the same")
logger.info("delta=%s" % delta)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Compact operation took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
def setUp(self):
self.input = scipy.misc.lena().astype(numpy.float32)
self.gpu_in = pyopencl.array.to_device(queue, self.input)
self.gpu_tmp = pyopencl.array.empty(queue, self.input.shape, dtype=numpy.float32, order="C")
self.gpu_out = pyopencl.array.empty(queue, self.input.shape, dtype=numpy.float32, order="C")
kernel_path = os.path.join(os.path.dirname(os.path.abspath(sift.__file__)), "convolution.cl")
kernel_src = open(kernel_path).read()
# compile_options = "-D NIMAGE=%i" % self.input.size
# logger.info("Compiling file %s with options %s" % (kernel_path, compile_options))
# self.program = pyopencl.Program(ctx, kernel_src).build(options=compile_options)
self.program = pyopencl.Program(ctx, kernel_src).build()
self.IMAGE_W = numpy.int32(self.input.shape[-1])
self.IMAGE_H = numpy.int32(self.input.shape[0])
self.wg = (2, 256)
self.shape = calc_size(self.input.shape, self.wg)
def setUp(self):
self.input = scipy.misc.lena().astype(numpy.float32)
self.input = numpy.ascontiguousarray(self.input[0:507,0:209])
self.gpu_in = pyopencl.array.to_device(queue, self.input)
self.gpu_tmp = pyopencl.array.empty(queue, self.input.shape, dtype=numpy.float32, order="C")
self.gpu_out = pyopencl.array.empty(queue, self.input.shape, dtype=numpy.float32, order="C")
kernel_path = os.path.join(os.path.dirname(os.path.abspath(sift.__file__)), "convolution.cl")
kernel_src = open(kernel_path).read()
# compile_options = "-D NIMAGE=%i" % self.input.size
# logger.info("Compiling file %s with options %s" % (kernel_path, compile_options))
# self.program = pyopencl.Program(ctx, kernel_src).build(options=compile_options)
self.program = pyopencl.Program(ctx, kernel_src).build()
self.IMAGE_W = numpy.int32(self.input.shape[-1])
self.IMAGE_H = numpy.int32(self.input.shape[0])
self.wg = (256, 2)
self.shape = calc_size((self.input.shape[1], self.input.shape[0]), self.wg)
def test_gradient(self):
"""
tests the gradient kernel (norm and orientation)
"""
border_dist, peakthresh, EdgeThresh, EdgeThresh0, octsize, scale, nb_keypoints, width, height, DOGS, g = local_maxmin_setup()
self.mat = numpy.ascontiguousarray(g[1])
self.height, self.width = numpy.int32(self.mat.shape)
self.gpu_mat = pyopencl.array.to_device(queue, self.mat)
self.gpu_grad = pyopencl.array.empty(queue, self.mat.shape, dtype=numpy.float32, order="C")
self.gpu_ori = pyopencl.array.empty(queue, self.mat.shape, dtype=numpy.float32, order="C")
self.shape = calc_size((self.width, self.height), self.wg)
t0 = time.time()
k1 = self.program.compute_gradient_orientation(queue, self.shape, self.wg, self.gpu_mat.data, self.gpu_grad.data, self.gpu_ori.data, self.width, self.height)
res_norm = self.gpu_grad.get()
res_ori = self.gpu_ori.get()
t1 = time.time()
ref_norm, ref_ori = my_gradient(self.mat)
t2 = time.time()
delta_norm = abs(ref_norm - res_norm).max()
delta_ori = abs(ref_ori - res_ori).max()
if (PRINT_KEYPOINTS):
rmin, cmin = 0, 0
rmax, cmax = rmin+6, cmin+6
print res_norm[-rmax,cmin:cmax]
print ""
print ref_norm[-rmax,cmin:cmax]
fig = pylab.figure()
sp1 = fig.add_subplot(121)
sp1.imshow(res_norm, interpolation="nearest")
sp2 = fig.add_subplot(122)
sp2.imshow(ref_norm, interpolation="nearest")
fig.show()
raw_input("enter")
self.assert_(delta_norm < 1e-4, "delta_norm=%s" % (delta_norm))
self.assert_(delta_ori < 1e-4, "delta_ori=%s" % (delta_ori))
logger.info("delta_norm=%s" % delta_norm)
logger.info("delta_ori=%s" % delta_ori)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Gradient computation took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
def setUp(self):
self.input = numpy.ascontiguousarray(scipy.misc.lena()[:510, :511])
self.gpudata = pyopencl.array.empty(queue, self.input.shape, dtype=numpy.float32, order="C")
kernel_path = os.path.join(os.path.dirname(os.path.abspath(sift.__file__)), "preprocess.cl")
reduct_path = os.path.join(os.path.dirname(os.path.abspath(sift.__file__)), "reductions.cl")
kernel_src = open(kernel_path).read()
reduct_src = open(reduct_path).read()
self.program = pyopencl.Program(ctx, kernel_src).build()
self.reduction = pyopencl.Program(ctx, reduct_src).build()
self.IMAGE_W = numpy.int32(self.input.shape[-1])
self.IMAGE_H = numpy.int32(self.input.shape[0])
self.wg = (32, 16)#(256, 2) #(32, 16) # (2, 256)
self.shape = calc_size((self.IMAGE_W, self.IMAGE_H), self.wg)
# print self.shape
self.binning = (4, 2) # Nota if wg < ouptup size weired results are expected !
# self.binning = (2, 2)
self.red_size = 128 #reduction size
self.twofivefive = pyopencl.array.to_device(queue, numpy.array([255], numpy.float32))
self.buffers_max_min = pyopencl.array.empty(queue, (self.red_size, 2), dtype=numpy.float32) # temporary buffer for max/min reduction
self.buffers_min = pyopencl.array.empty(queue, (1), dtype=numpy.float32)
self.buffers_max = pyopencl.array.empty(queue, (1), dtype=numpy.float32)
def test_bin(self):
"""
Test binning kernel
"""
lint = numpy.ascontiguousarray(self.input, numpy.float32)
out_shape = tuple(int(math.ceil((float(i) / j))) for i, j in zip(self.input.shape, self.binning))
t0 = time.time()
inp_gpu = pyopencl.array.to_device(queue, lint)
out_gpu = pyopencl.array.empty(queue, out_shape, dtype=numpy.float32, order="C")
k1 = self.program.bin(queue, calc_size((out_shape[1], out_shape[0]), self.wg), self.wg, inp_gpu.data, out_gpu.data,
numpy.int32(self.binning[1]), numpy.int32(self.binning[0]),
numpy.int32(lint.shape[1]), numpy.int32(lint.shape[0]),
numpy.int32(out_shape[1]), numpy.int32(out_shape[0]))
res = out_gpu.get()
t1 = time.time()
ref = binning(lint, self.binning) / self.binning[0] / self.binning[1]
t2 = time.time()
# print ref.shape, res.shape
delta = abs(ref - res).max()
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Binning took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
fig = pylab.figure()
fig.suptitle('Binning by %s,%s' % self.binning)
sp1 = fig.add_subplot(221)
sp1.imshow(lint, interpolation="nearest")
sp1.set_title("Input")
sp2 = fig.add_subplot(222)
sp2.imshow(ref, interpolation="nearest")
sp2.set_title("Reference")
sp3 = fig.add_subplot(223)
sp3.imshow(ref - res, interpolation="nearest")
sp3.set_title("Delta= %s" % delta)
sp4 = fig.add_subplot(224)
sp4.imshow(res, interpolation="nearest")
sp4.set_title("GPU")
fig.show()
raw_input("enter")
self.assert_(delta < 1e-6, "delta=%s" % delta)
def test_compact(self):
"""
tests the "compact" kernel
"""
nbkeypoints = 1000 #constant value
keypoints = numpy.random.rand(nbkeypoints,4).astype(numpy.float32)
for i in range(0,nbkeypoints):
if ((numpy.random.rand(1))[0] < 0.75):
keypoints[i]=(-1,-1,-1,-1)
self.gpu_keypoints = pyopencl.array.to_device(queue, keypoints)
self.output = pyopencl.array.empty(queue, (nbkeypoints,4), dtype=numpy.float32, order="C")
self.output.fill(-1.0,queue)
self.counter = pyopencl.array.zeros(queue, (1,), dtype=numpy.int32, order="C")
wg = max(self.wg),
shape = calc_size((keypoints.shape[0],), wg)
nbkeypoints = numpy.int32(nbkeypoints)
t0 = time.time()
k1 = self.program.compact(queue, shape, wg,
self.gpu_keypoints.data, self.output.data, self.counter.data, nbkeypoints)
res = self.output.get()
count = self.counter.get()[0]
t1 = time.time()
ref, count_ref = my_compact(keypoints,nbkeypoints)
t2 = time.time()
res_sort_arg = res[:,0].argsort(axis=0)
res_sort = res[res_sort_arg]
ref_sort_arg = ref[:,0].argsort(axis=0)
ref_sort = ref[ref_sort_arg]
delta = abs((res_sort - ref_sort)).max()
self.assert_(delta < 1e-5, "delta=%s" % (delta))
logger.info("delta=%s" % delta)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Compact operation took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
def normalize(self, raw, flat1, flat2):
'''
Normalizes the image with OpenCL
NOTA: images are passed as numpy.array, so the read (edf/hdf5) is done before calling this function
'''
output_height, output_width = raw.shape
shape = calc_size((output_width, output_height), self.wg)
gpu_raw = pyopencl.array.to_device(self.queue, raw)
gpu_dark3 = pyopencl.array.to_device(self.queue, self.dark_data)
gpu_dark6 = pyopencl.array.to_device(self.queue, self.dark_ref)
gpu_flat1 = pyopencl.array.to_device(self.queue, flat1)
gpu_flat2 = pyopencl.array.to_device(self.queue, flat2)
gpu_output = pyopencl.array.empty(self.queue, (output_height, output_width), dtype=numpy.float32, order="C")
output_height, output_width = numpy.int32((output_height, output_width))
k1 = self.program.correction(self.queue, shape, self.wg,
gpu_raw.data, gpu_dark3.data, gpu_dark6.data, gpu_flat1.data, gpu_flat2.data, gpu_output.data,
output_width, output_height)
res = gpu_output.get()
return res
def test_descriptor(self):
'''
#tests keypoints descriptors creation kernel
'''
#descriptor_setup :
keypoints_o, nb_keypoints, actual_nb_keypoints, grad, ori = descriptor_setup()
#keypoints should be a compacted vector of keypoints
keypoints_start, keypoints_end = 0, 80 #actual_nb_keypoints
#keypoints_start, keypoints_end = 20, 30
keypoints = keypoints_o[keypoints_start:keypoints_end]
print("Working on keypoints : [%s,%s]"%(keypoints_start,keypoints_end))
wg = max(self.wg),
shape = calc_size((keypoints_o.shape[0],), wg)
gpu_keypoints = pyopencl.array.to_device(queue,keypoints_o)
gpu_descriptors = pyopencl.array.empty(queue, (keypoints_end-keypoints_start+1,128), dtype=numpy.uint8, order="C")
gpu_grad = pyopencl.array.to_device(queue, grad)
gpu_ori = pyopencl.array.to_device(queue, ori)
local_size = (keypoints_end-keypoints_start+1)*128*4
local_mem = pyopencl.LocalMemory(local_size)
keypoints_start, keypoints_end = numpy.int32(keypoints_start), numpy.int32(keypoints_end)
grad_height, grad_width = numpy.int32(grad.shape)
t0 = time.time()
k1 = self.program.descriptor(queue, shape, wg,
gpu_keypoints.data, gpu_descriptors.data, local_mem, gpu_grad.data, gpu_ori.data,
keypoints_start, keypoints_end, grad_width, grad_height)
res = gpu_descriptors.get()
t1 = time.time()
ref = my_descriptor(keypoints_o, grad, ori, keypoints_start, keypoints_end)
#print res[0:30,0:15]
print ""
#print ref[0:30,0:15]
print res[0:keypoints_end-keypoints_start,0:15]-ref[0:keypoints_end-keypoints_start,0:15]
t2 = time.time()
#print keypoints_before_orientation[0:33]
#if (PRINT_KEYPOINTS):
# TODO
# #sort to compare added keypoints
# d1,d2,d3,d4 = keypoints_compare(ref,res)
# self.assert_(d1 < 1e-4, "delta_cols=%s" % (d1))
# self.assert_(d2 < 1e-4, "delta_rows=%s" % (d2))
# self.assert_(d3 < 1e-4, "delta_sigma=%s" % (d3))
# self.assert_(d4 < 1e-4, "delta_angle=%s" % (d4))
# logger.info("delta_cols=%s" % d1)
# logger.info("delta_rows=%s" % d2)
# logger.info("delta_sigma=%s" % d3)
# logger.info("delta_angle=%s" % d4)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Descriptors computation took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))
def test_local_maxmin(self):
"""
tests the local maximum/minimum detection kernel
"""
#local_maxmin_setup :
border_dist, peakthresh, EdgeThresh, EdgeThresh0, octsize, s, nb_keypoints, width, height, DOGS, g = local_maxmin_setup(
)
self.s = numpy.int32(s) #1, 2, 3 ... not 4 nor 0.
self.gpu_dogs = pyopencl.array.to_device(queue, DOGS)
self.output = pyopencl.array.empty(queue, (nb_keypoints, 4),
dtype=numpy.float32,
order="C")
self.output.fill(-1.0, queue) #memset for invalid keypoints
self.counter = pyopencl.array.zeros(queue, (1, ),
dtype=numpy.int32,
order="C")
nb_keypoints = numpy.int32(nb_keypoints)
self.shape = calc_size((DOGS.shape[1], DOGS.shape[0] * DOGS.shape[2]),
self.wg) #it's a 3D vector !!
t0 = time.time()
k1 = self.program.local_maxmin(queue, self.shape, self.wg,
self.gpu_dogs.data, self.output.data,
border_dist, peakthresh, octsize,
EdgeThresh0, EdgeThresh,
self.counter.data, nb_keypoints, self.s,
width, height)
res = self.output.get()
self.keypoints1 = self.output #for further use
self.actual_nb_keypoints = self.counter.get()[0] #for further use
t1 = time.time()
ref, actual_nb_keypoints2 = my_local_maxmin(DOGS, peakthresh,
border_dist, octsize,
EdgeThresh0, EdgeThresh,
nb_keypoints, self.s,
width, height)
t2 = time.time()
#we have to sort the arrays, for peaks orders is unknown for GPU
res_peaks = res[(res[:, 0].argsort(axis=0)), 0]
ref_peaks = ref[(ref[:, 0].argsort(axis=0)), 0]
res_r = res[(res[:, 1].argsort(axis=0)), 1]
ref_r = ref[(ref[:, 1].argsort(axis=0)), 1]
res_c = res[(res[:, 2].argsort(axis=0)), 2]
ref_c = ref[(ref[:, 2].argsort(axis=0)), 2]
#res_s = res[(res[:,3].argsort(axis=0)),3]
#ref_s = ref[(ref[:,3].argsort(axis=0)),3]
delta_peaks = abs(ref_peaks - res_peaks).max()
delta_r = abs(ref_r - res_r).max()
delta_c = abs(ref_c - res_c).max()
if (PRINT_KEYPOINTS):
print(
"keypoints after 2 steps of refinement: (s= %s, octsize=%s) %s"
% (self.s, octsize, self.actual_nb_keypoints))
#print("For ref: %s" %(ref_peaks[ref_peaks!=-1].shape))
print res[0:self.actual_nb_keypoints] #[0:74]
#print ref[0:32]
self.assert_(delta_peaks < 1e-4, "delta_peaks=%s" % (delta_peaks))
self.assert_(delta_r < 1e-4, "delta_r=%s" % (delta_r))
self.assert_(delta_c < 1e-4, "delta_c=%s" % (delta_c))
logger.info("delta_peaks=%s" % delta_peaks)
logger.info("delta_r=%s" % delta_r)
logger.info("delta_c=%s" % delta_c)
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." %
(1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Local extrema search took %.3fms" %
(1e-6 * (k1.profile.end - k1.profile.start)))
def test_transform(self):
'''
tests transform kernel
'''
if (USE_LENA):
#original image
image = scipy.misc.lena().astype(numpy.float32)
image = numpy.ascontiguousarray(image[0:512, 0:512])
image_height, image_width = image.shape
#transformation
angle = 1.9 #numpy.pi/5.0
# matrix = numpy.array([[numpy.cos(angle),-numpy.sin(angle)],[numpy.sin(angle),numpy.cos(angle)]],dtype=numpy.float32)
# offset_value = numpy.array([1000.0, 100.0],dtype=numpy.float32)
# matrix = numpy.array([[0.9,0.2],[-0.4,0.9]],dtype=numpy.float32)
# offset_value = numpy.array([-20.0,256.0],dtype=numpy.float32)
matrix = numpy.array([[1.0, -0.75], [0.7, 0.5]],
dtype=numpy.float32)
offset_value = numpy.array([250.0, -150.0], dtype=numpy.float32)
image2 = scipy.ndimage.interpolation.affine_transform(
image, matrix, offset=offset_value, order=1, mode="constant")
else: #use images of a stack
image = scipy.misc.imread("/home/paleo/Titanium/test/frame0.png")
image2 = scipy.misc.imread("/home/paleo/Titanium/test/frame1.png")
offset_value = numpy.array([0.0, 0.0], dtype=numpy.float32)
image_height, image_width = image.shape
image2_height, image2_width = image2.shape
fill_value = numpy.float32(0.0)
mode = numpy.int32(1)
if IMAGE_RESHAPE: #turns out that image should always be reshaped
output_height, output_width = int(3000), int(3000)
image, image_height, image_width = self.image_reshape(
image, output_height, output_width, image_height, image_width)
image2, image2_height, image2_width = self.image_reshape(
image2, output_height, output_width, image2_height,
image2_width)
else:
output_height, output_width = int(
image_height * numpy.sqrt(2)), int(image_width * numpy.sqrt(2))
print "Image : (%s, %s) -- Output: (%s, %s)" % (
image_height, image_width, output_height, output_width)
#perform correction by least square
sol, MSE = self.matching_correction(image, image2)
print sol
correction_matrix = numpy.zeros((2, 2), dtype=numpy.float32)
correction_matrix[0] = sol[0:2, 0]
correction_matrix[1] = sol[3:5, 0]
matrix_for_gpu = correction_matrix.reshape(4, 1) #for float4 struct
offset_value[0] = sol[2, 0]
offset_value[1] = sol[5, 0]
wg = 8, 8
shape = calc_size((output_width, output_height), wg)
gpu_image = pyopencl.array.to_device(queue, image2)
gpu_output = pyopencl.array.empty(queue, (output_height, output_width),
dtype=numpy.float32,
order="C")
gpu_matrix = pyopencl.array.to_device(queue, matrix_for_gpu)
gpu_offset = pyopencl.array.to_device(queue, offset_value)
image_height, image_width = numpy.int32((image_height, image_width))
output_height, output_width = numpy.int32(
(output_height, output_width))
t0 = time.time()
k1 = self.program.transform(queue, shape, wg, gpu_image.data,
gpu_output.data, gpu_matrix.data,
gpu_offset.data, image_width, image_height,
output_width, output_height, fill_value,
mode)
res = gpu_output.get()
t1 = time.time()
# print res[0,0]
ref = scipy.ndimage.interpolation.affine_transform(
image2,
correction_matrix,
offset=offset_value,
output_shape=(output_height, output_width),
order=1,
mode="constant",
cval=fill_value)
t2 = time.time()
delta = abs(res - image)
delta_arg = delta.argmax()
delta_max = delta.max()
# delta_mse_res = ((res-image)**2).sum()/image.size
# delta_mse_ref = ((ref-image)**2).sum()/image.size
at_0, at_1 = delta_arg / output_width, delta_arg % output_width
print("Max error: %f at (%d, %d)" % (delta_max, at_0, at_1))
# print("Mean Squared Error Res/Original : %f" %(delta_mse_res))
# print("Mean Squared Error Ref/Original: %f" %(delta_mse_ref))
print("minimal MSE according to least squares : %f" % MSE)
# print res[at_0,at_1]
# print ref[at_0,at_1]
SHOW_FIGURES = True
if SHOW_FIGURES:
fig = pylab.figure()
sp1 = fig.add_subplot(221, title="Input image")
sp1.imshow(image, interpolation="nearest")
sp2 = fig.add_subplot(222, title="Image after deformation")
sp2.imshow(image2, interpolation="nearest")
sp2 = fig.add_subplot(223, title="Corrected image (OpenCL)")
sp2.imshow(res, interpolation="nearest")
sp2 = fig.add_subplot(224, title="Corrected image (Scipy)")
sp2.imshow(ref, interpolation="nearest")
# sp2.imshow(ref, interpolation="nearest")
# sp3 = fig.add_subplot(223,title="delta (max = %f)" %delta_max)
# sh3 = sp3.imshow(delta[:,:], interpolation="nearest")
# cbar = fig.colorbar(sh3)
fig.show()
raw_input("enter")
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." %
(1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Transformation took %.3fms" %
(1e-6 * (k1.profile.end - k1.profile.start)))
def test_transform(self):
'''
tests transform kernel
'''
if (USE_LENA):
#original image
image = scipy.misc.lena().astype(numpy.float32)
image = numpy.ascontiguousarray(image[0:512,0:512])
image_height, image_width = image.shape
#transformation
angle = 1.9 #numpy.pi/5.0
# matrix = numpy.array([[numpy.cos(angle),-numpy.sin(angle)],[numpy.sin(angle),numpy.cos(angle)]],dtype=numpy.float32)
# offset_value = numpy.array([1000.0, 100.0],dtype=numpy.float32)
# matrix = numpy.array([[0.9,0.2],[-0.4,0.9]],dtype=numpy.float32)
# offset_value = numpy.array([-20.0,256.0],dtype=numpy.float32)
matrix = numpy.array([[1.0,-0.75],[0.7,0.5]],dtype=numpy.float32)
offset_value = numpy.array([250.0, -150.0],dtype=numpy.float32)
image2 = scipy.ndimage.interpolation.affine_transform(image,matrix,offset=offset_value,order=1, mode="constant")
else: #use images of a stack
image = scipy.misc.imread("/home/paleo/Titanium/test/frame0.png")
image2 = scipy.misc.imread("/home/paleo/Titanium/test/frame1.png")
offset_value = numpy.array([0.0, 0.0],dtype=numpy.float32)
image_height, image_width = image.shape
image2_height, image2_width = image2.shape
fill_value = numpy.float32(0.0)
mode = numpy.int32(1)
if IMAGE_RESHAPE: #turns out that image should always be reshaped
output_height, output_width = int(3000), int(3000)
image, image_height, image_width = self.image_reshape(image,output_height,output_width,image_height,image_width)
image2, image2_height, image2_width = self.image_reshape(image2,output_height,output_width,image2_height,image2_width)
else: output_height, output_width = int(image_height*numpy.sqrt(2)),int(image_width*numpy.sqrt(2))
print "Image : (%s, %s) -- Output: (%s, %s)" %(image_height, image_width , output_height, output_width)
#perform correction by least square
sol, MSE = self.matching_correction(image,image2)
print sol
correction_matrix = numpy.zeros((2,2),dtype=numpy.float32)
correction_matrix[0] = sol[0:2,0]
correction_matrix[1] = sol[3:5,0]
matrix_for_gpu = correction_matrix.reshape(4,1) #for float4 struct
offset_value[0] = sol[2,0]
offset_value[1] = sol[5,0]
wg = 8,8
shape = calc_size((output_width,output_height), wg)
gpu_image = pyopencl.array.to_device(queue, image2)
gpu_output = pyopencl.array.empty(queue, (output_height, output_width), dtype=numpy.float32, order="C")
gpu_matrix = pyopencl.array.to_device(queue,matrix_for_gpu)
gpu_offset = pyopencl.array.to_device(queue,offset_value)
image_height, image_width = numpy.int32((image_height, image_width))
output_height, output_width = numpy.int32((output_height, output_width))
t0 = time.time()
k1 = self.program.transform(queue, shape, wg,
gpu_image.data, gpu_output.data, gpu_matrix.data, gpu_offset.data,
image_width, image_height, output_width, output_height, fill_value, mode)
res = gpu_output.get()
t1 = time.time()
# print res[0,0]
ref = scipy.ndimage.interpolation.affine_transform(image2,correction_matrix,
offset=offset_value, output_shape=(output_height,output_width),order=1, mode="constant", cval=fill_value)
t2 = time.time()
delta = abs(res-image)
delta_arg = delta.argmax()
delta_max = delta.max()
# delta_mse_res = ((res-image)**2).sum()/image.size
# delta_mse_ref = ((ref-image)**2).sum()/image.size
at_0, at_1 = delta_arg/output_width, delta_arg%output_width
print("Max error: %f at (%d, %d)" %(delta_max, at_0, at_1))
# print("Mean Squared Error Res/Original : %f" %(delta_mse_res))
# print("Mean Squared Error Ref/Original: %f" %(delta_mse_ref))
print("minimal MSE according to least squares : %f" %MSE)
# print res[at_0,at_1]
# print ref[at_0,at_1]
SHOW_FIGURES = True
if SHOW_FIGURES:
fig = pylab.figure()
sp1 = fig.add_subplot(221,title="Input image")
sp1.imshow(image, interpolation="nearest")
sp2 = fig.add_subplot(222,title="Image after deformation")
sp2.imshow(image2, interpolation="nearest")
sp2 = fig.add_subplot(223,title="Corrected image (OpenCL)")
sp2.imshow(res, interpolation="nearest")
sp2 = fig.add_subplot(224,title="Corrected image (Scipy)")
sp2.imshow(ref, interpolation="nearest")
# sp2.imshow(ref, interpolation="nearest")
# sp3 = fig.add_subplot(223,title="delta (max = %f)" %delta_max)
# sh3 = sp3.imshow(delta[:,:], interpolation="nearest")
# cbar = fig.colorbar(sh3)
fig.show()
raw_input("enter")
if PROFILE:
logger.info("Global execution time: CPU %.3fms, GPU: %.3fms." % (1000.0 * (t2 - t1), 1000.0 * (t1 - t0)))
logger.info("Transformation took %.3fms" % (1e-6 * (k1.profile.end - k1.profile.start)))