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Use BufferArea in more places

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This commit is contained in:
Maksim Shabunin
2020-02-13 14:25:47 +03:00
parent f9bd025722
commit bf96d8239d
6 changed files with 570 additions and 519 deletions
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modules/calib3d/src/rho.cpp
+25 -98
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@@ -55,7 +55,7 @@
#include <math.h>
#include <vector>
#include "rho.h"
#include "opencv2/core/utils/buffer_area.private.hpp"
@@ -65,7 +65,6 @@ namespace cv{/* For C support, replace with extern "C" { */
/* Constants */
const int MEM_ALIGN = 32;
const size_t HSIZE = (3*3*sizeof(float));
const double MIN_DELTA_CHNG = 0.1;
// const double CHI_STAT = 2.706;
@@ -312,16 +311,14 @@ struct RHO_HEST_REFC : RHO_HEST{
/* Levenberg-Marquardt Refinement */
struct{
float (* JtJ)[8]; /* JtJ matrix */
float (* tmp1)[8]; /* Temporary 1 */
float* JtJ; /* JtJ matrix */
float* tmp1; /* Temporary 1 */
float* Jte; /* Jte vector */
} lm;
/* Memory Management */
struct{
cv::Mat perObj;
cv::Mat perRun;
} mem;
utils::BufferArea runArea;
utils::BufferArea objArea;
/* Initialized? */
int initialized;
@@ -659,16 +656,9 @@ inline int RHO_HEST_REFC::initialize(void){
fastSeed((uint64_t)~0);
initialized = 1;
int areAllAllocsSuccessful = !mem.perObj.empty();
if(!areAllAllocsSuccessful){
finalize();
}else{
initialized = 1;
}
return areAllAllocsSuccessful;
return true;
}
/**
@@ -835,45 +825,14 @@ unsigned RHO_HEST_REFC::rhoHest(const float* src, /* Source points */
*/
inline void RHO_HEST_REFC::allocatePerObj(void){
/* We have known sizes */
size_t ctrl_smpl_sz = SMPL_SIZE*sizeof(*ctrl.smpl);
size_t curr_pkdPts_sz = SMPL_SIZE*2*2*sizeof(*curr.pkdPts);
size_t curr_H_sz = HSIZE;
size_t best_H_sz = HSIZE;
size_t lm_JtJ_sz = 8*8*sizeof(float);
size_t lm_tmp1_sz = 8*8*sizeof(float);
size_t lm_Jte_sz = 1*8*sizeof(float);
/* We compute offsets */
size_t total = 0;
#define MK_OFFSET(v) \
size_t v ## _of = total; \
total = alignSize(v ## _of + v ## _sz, MEM_ALIGN)
MK_OFFSET(ctrl_smpl);
MK_OFFSET(curr_pkdPts);
MK_OFFSET(curr_H);
MK_OFFSET(best_H);
MK_OFFSET(lm_JtJ);
MK_OFFSET(lm_tmp1);
MK_OFFSET(lm_Jte);
#undef MK_OFFSET
/* Allocate dynamic memory managed by cv::Mat */
mem.perObj.create(1, (int)(total + MEM_ALIGN), CV_8UC1);
/* Extract aligned pointer */
unsigned char* ptr = alignPtr(mem.perObj.data, MEM_ALIGN);
/* Assign pointers */
ctrl.smpl = (unsigned*) (ptr + ctrl_smpl_of);
curr.pkdPts = (float*) (ptr + curr_pkdPts_of);
curr.H = (float*) (ptr + curr_H_of);
best.H = (float*) (ptr + best_H_of);
lm.JtJ = (float(*)[8])(ptr + lm_JtJ_of);
lm.tmp1 = (float(*)[8])(ptr + lm_tmp1_of);
lm.Jte = (float*) (ptr + lm_Jte_of);
objArea.allocate(ctrl.smpl, SMPL_SIZE);
objArea.allocate(curr.pkdPts, SMPL_SIZE*2*2);
objArea.allocate(curr.H, HSIZE);
objArea.allocate(best.H, HSIZE);
objArea.allocate(lm.JtJ, 8*8);
objArea.allocate(lm.tmp1, 8*8);
objArea.allocate(lm.Jte, 1*8);
objArea.commit();
}
@@ -885,30 +844,9 @@ inline void RHO_HEST_REFC::allocatePerObj(void){
*/
inline void RHO_HEST_REFC::allocatePerRun(void){
/* We have known sizes */
size_t best_inl_sz = arg.N;
size_t curr_inl_sz = arg.N;
/* We compute offsets */
size_t total = 0;
#define MK_OFFSET(v) \
size_t v ## _of = total; \
total = alignSize(v ## _of + v ## _sz, MEM_ALIGN)
MK_OFFSET(best_inl);
MK_OFFSET(curr_inl);
#undef MK_OFFSET
/* Allocate dynamic memory managed by cv::Mat */
mem.perRun.create(1, (int)(total + MEM_ALIGN), CV_8UC1);
/* Extract aligned pointer */
unsigned char* ptr = alignPtr(mem.perRun.data, MEM_ALIGN);
/* Assign pointers */
best.inl = (char*)(ptr + best_inl_of);
curr.inl = (char*)(ptr + curr_inl_of);
runArea.allocate(best.inl, arg.N);
runArea.allocate(curr.inl, arg.N);
runArea.commit();
}
@@ -919,10 +857,7 @@ inline void RHO_HEST_REFC::allocatePerRun(void){
*/
inline void RHO_HEST_REFC::deallocatePerRun(void){
best.inl = NULL;
curr.inl = NULL;
mem.perRun.release();
runArea.release();
}
@@ -933,15 +868,7 @@ inline void RHO_HEST_REFC::deallocatePerRun(void){
*/
inline void RHO_HEST_REFC::deallocatePerObj(void){
ctrl.smpl = NULL;
curr.pkdPts = NULL;
curr.H = NULL;
best.H = NULL;
lm.JtJ = NULL;
lm.tmp1 = NULL;
lm.Jte = NULL;
mem.perObj.release();
objArea.release();
}
@@ -2144,7 +2071,7 @@ inline void RHO_HEST_REFC::refine(void){
*/
/* Find initial conditions */
sacCalcJacobianErrors(best.H, arg.src, arg.dst, best.inl, arg.N,
lm.JtJ, lm.Jte, &S);
(float(*)[8])lm.JtJ, lm.Jte, &S);
/*Levenberg-Marquardt Loop.*/
for(i=0;i<MAXLEVMARQITERS;i++){
@@ -2169,11 +2096,11 @@ inline void RHO_HEST_REFC::refine(void){
* transpose) then multiply Jte in order to find dH.
*/
while(!sacChol8x8Damped(lm.JtJ, L, lm.tmp1)){
while(!sacChol8x8Damped((float(*)[8])lm.JtJ, L, (float(*)[8])lm.tmp1)){
L *= 2.0f;
}
sacTRInv8x8 (lm.tmp1, lm.tmp1);
sacTRISolve8x8(lm.tmp1, lm.Jte, dH);
sacTRInv8x8 ((float(*)[8])lm.tmp1, (float(*)[8])lm.tmp1);
sacTRISolve8x8((float(*)[8])lm.tmp1, lm.Jte, dH);
sacSub8x1 (newH, best.H, dH);
sacCalcJacobianErrors(newH, arg.src, arg.dst, best.inl, arg.N,
NULL, NULL, &newS);
@@ -2204,7 +2131,7 @@ inline void RHO_HEST_REFC::refine(void){
S = newS;
memcpy(best.H, newH, sizeof(newH));
sacCalcJacobianErrors(best.H, arg.src, arg.dst, best.inl, arg.N,
lm.JtJ, lm.Jte, &S);
(float(*)[8])lm.JtJ, lm.Jte, &S);
}
}
}