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現在、画像トラッキングに取り組んでいます。カメラのおかげで、Androidシステムとやりとりする指先を追跡しています。 OpenCLを使ってGPUで画像処理が行われます。カメラの出力を白黒のフレームに変換して、白い部分を取得します。この方法で処理時間は65msです。 私の目的はプログラムを円滑にすることなので、私はOpenCVメソッドを使ってCPU上で同じ操作を実行しました。これは115msの処理時間を与えます。問題は、OpenCVメソッドの方が反応が早く、プログラムが速く感じられることです。この場合、処理時間が長くなることは理解できません。これは私にとっては矛盾しているようです。測定には は、私は次のように進みます。ここGPUとCPUプログラミング：処理時間の不一致
start= clock();
finish = clock();
double time =((double)finish -start)/CLOCKS_PER_SEC;
std::cout<<"process time : "<< time<<std::endl;
は私のコードです：
static cv::Mat original_Right,binary_Right;
static cv::Mat original_Left, binary_Left;
int width, height;
clock_t start,finish;
double time = 0.0;
width = (int) this->camera_Right.getCapture().get(cv::CAP_PROP_FRAME_WIDTH);
height = (int) this->camera_Right.getCapture().get(cv::CAP_PROP_FRAME_HEIGHT);
original_Right.create(height, width, CV_8UC3);
//--------------------------- Camera 2 ---------------------------------
int width_2 = (int) this->camera_Left.getCapture().get(cv::CAP_PROP_FRAME_WIDTH);
int height_2 = (int) this->camera_Left.getCapture().get(cv::CAP_PROP_FRAME_HEIGHT);
original_Left.create(height_2, width_2, CV_8UC3);
binary_Right.create(height, width, CV_32F); // FOR GPU
binary_Left.create(height_2, width_2, CV_32F); // FOR GPU
//binary_Right.create(height, width, CV_8UC1); // FOR CPU
//binary_Left.create(height_2, width_2, CV_8UC1); // FOR CPU
Core::running_ = true;
//------------------------------------ SET UP THE GPU -----------------------------------------
cl_context context;
cl_context_properties properties [3];
cl_kernel kernel;
cl_command_queue command_queue;
cl_program program;
cl_int err;
cl_uint num_of_platforms=0;
cl_platform_id platform_id;
cl_device_id device_id;
cl_uint num_of_devices=0;
cl_mem input, output;
size_t global;
int data_size =height*width*3;
//load opencl source
FILE *fp;
char fileName[] = "./helloTedKrissV2.cl";
char *source_str;
//Load the source code containing the kernel
fp = fopen(fileName, "r");
if (!fp) {
fprintf(stderr, "Failed to load kernel.\n");
exit(1);
}
source_str = (char*)malloc(MAX_SOURCE_SIZE);
global = fread(source_str, 1, MAX_SOURCE_SIZE, fp);
fclose(fp);
//retreives a list of platforms available
if(clGetPlatformIDs(1,&platform_id, &num_of_platforms)!=CL_SUCCESS){
std::cout<<"unable to get a platform_id"<<std::endl;
};
// to get a supported GPU device
if(clGetDeviceIDs(platform_id,CL_DEVICE_TYPE_GPU,1,&device_id, &num_of_devices)!= CL_SUCCESS){
std::cout<<"unable to get a device_id"<<std::endl;
};
//context properties list - must be terminated with 0
properties[0]=CL_CONTEXT_PLATFORM;
properties[1]=(cl_context_properties) platform_id;
properties[2]=0;
// create a context with the gpu device
context = clCreateContext(properties,1,&device_id,NULL,NULL,&err);
//create command queue using the context and device
command_queue = clCreateCommandQueue(context,device_id,0,&err);
//create a program from the kernel source code
program= clCreateProgramWithSource(context,1,(const char **) &source_str, NULL,&err);
// compile the program
if(clBuildProgram(program,0,NULL,NULL,NULL,NULL)!=CL_SUCCESS){
size_t length;
std::cout<<"Error building program"<<std::endl;
char buffer[4096];
clGetProgramBuildInfo(program,device_id,CL_PROGRAM_BUILD_LOG, sizeof(buffer),buffer,&length);
std::cout<< buffer <<std::endl;
}
//specify which kernel from the program to execute
kernel = clCreateKernel(program,"imageProcessing",&err);
while (this->isRunning() == true) {
start= clock(); //--------------------- START----------------------
//----------------------FRAME---------------------
this->camera_Right.readFrame(original_Right);
if (original_Right.empty() == true) {
std::cerr << "[Core/Error] Original frame is empty." << std::endl;
break;
}
this->camera_Left.readFrame(original_Left);
if (original_Left.empty() == true) {
std::cerr << "[Core/Error] Original 2 frame is empty." << std::endl;
break;
}
//----------------------FRAME---------------------
//------------------------------------------------IMP GPU ------------------------------------------------------
input = clCreateBuffer(context, CL_MEM_READ_WRITE | CL_MEM_ALLOC_HOST_PTR , sizeof(unsigned char)*data_size,NULL,NULL);
output =clCreateBuffer(context,CL_MEM_READ_WRITE | CL_MEM_ALLOC_HOST_PTR, sizeof(float)*data_size/3,NULL,NULL);
if(clEnqueueWriteBuffer(command_queue,input,CL_TRUE,0,sizeof(unsigned char)*data_size, original_Right.data ,0,NULL,NULL)!= CL_SUCCESS){};
//set the argument list for the kernel command
clSetKernelArg(kernel,0,sizeof(cl_mem), &input);
clSetKernelArg(kernel,1,sizeof(cl_mem), &output);
global = data_size ;
//enqueue the kernel command for execution
clEnqueueNDRangeKernel(command_queue, kernel, 1, NULL, &global, NULL,0,NULL,NULL);
clFinish(command_queue);
//copy the results from out of the output buffer
if(clEnqueueReadBuffer(command_queue,output,CL_TRUE ,0,sizeof(float)*data_size/3,binary_Right.data,0,NULL,NULL)!= CL_SUCCESS){};
clReleaseMemObject(input);
clReleaseMemObject(output);
//------------------------------------------------IMP GPU ------------------------------------------------------
input = clCreateBuffer(context, CL_MEM_READ_WRITE | CL_MEM_ALLOC_HOST_PTR , sizeof(unsigned char)*data_size,NULL,NULL);
output =clCreateBuffer(context,CL_MEM_READ_WRITE | CL_MEM_ALLOC_HOST_PTR, sizeof(float)*data_size/3,NULL,NULL);
if(clEnqueueWriteBuffer(command_queue,input,CL_TRUE,0,sizeof(unsigned char)*data_size, original_Left.data ,0,NULL,NULL)!= CL_SUCCESS){};
//set the argument list for the kernel command
clSetKernelArg(kernel,0,sizeof(cl_mem), &input);
clSetKernelArg(kernel,1,sizeof(cl_mem), &output);
global = data_size ;
//enqueue the kernel command for execution
clEnqueueNDRangeKernel(command_queue, kernel, 1, NULL, &global, NULL,0,NULL,NULL);
clFinish(command_queue);
//copy the results from out of the output buffer
if(clEnqueueReadBuffer(command_queue,output,CL_TRUE ,0,sizeof(float)*data_size/3,binary_Left.data,0,NULL,NULL)!= CL_SUCCESS){};
clReleaseMemObject(input);
clReleaseMemObject(output);
//------------------------------------------------IMP GPU ------------------------------------------------------
// CPU METHOD
// adok::processing::doImageProcessing(original_Right, binary_Right);
// adok::processing::doImageProcessing(original_Left, binary_Left);
//-------------------------------------------------------------- TRACKING ------------------------------------------------------
adok::tracking::doFingerContoursTracking(binary_Right,binary_Left, this->fingerContours, this->perspective_Right,this->perspective_Left, this->distortion_Right,this->distortion_Left, this);
//------------------------------------------- TRACKING -----------------------------------------
//------------------------------SEND COORDINATES TO ANDROID BOARD--------------------
if (getSideRight() && !getSideLeft()) {
std::cout<<"RIGHT : "<<std::endl;
this->uart_.sendAll(this->fingerContours, this->perspective_Right.getPerspectiveMatrix(), RIGHT);
}else if (!getSideRight() && getSideLeft()){
std::cout<<"LEFT : "<<std::endl;
this->uart_.sendAll(this->fingerContours, this->perspective_Left.getPerspectiveMatrix(), LEFT);
}else if (getSideRight() && getSideLeft()){
std::cout<<"RIGHT & LEFT : "<<std::endl;
this->uart_.sendAll(this->fingerContours, this->perspective_Right.getPerspectiveMatrix(), this->perspective_Left.getPerspectiveMatrix());
}
this->setSideRight(0);
this->setSideLeft(0);
finish = clock();
time =(double)(finish - start)/CLOCKS_PER_SEC;
std::cout << "Time: " << time << std::endl; // ------------END-----------
}
clReleaseCommandQueue(command_queue);
clReleaseProgram(program);
clReleaseKernel(kernel);
clReleaseContext(context);
this->stop();
}
私はCPUにつかむための時間だときに奇妙な何かが、もありますフレームは5msですが、GPUでは15msなので、なぜそれが増えるのか分かりません。
私はアンドロイドxu4に取り組んでいます。
ので、私はCUDNNライブラリを使用することができないこととします。しかし、これはなぜ時間を測定するのかを説明するものではありません。 –
フレームの寸法は？ –
これを参照してくださいhttp://opencv-users.1802565.n2.nabble.com/Poor-OpenCL-performance-td7584466.html –