git.sesse.net Git - nageru/blob - flow.cpp

   1 #define NO_SDL_GLEXT 1
   2
   3 #include <epoxy/gl.h>
   4
   5 #include <SDL2/SDL.h>
   6 #include <SDL2/SDL_error.h>
   7 #include <SDL2/SDL_events.h>
   8 #include <SDL2/SDL_image.h>
   9 #include <SDL2/SDL_keyboard.h>
  10 #include <SDL2/SDL_mouse.h>
  11 #include <SDL2/SDL_video.h>
  12
  13 #include <assert.h>
  14 #include <getopt.h>
  15 #include <stdio.h>
  16 #include <unistd.h>
  17
  18 #include "util.h"
  19
  20 #include <algorithm>
  21 #include <deque>
  22 #include <memory>
  23 #include <map>
  24 #include <stack>
  25 #include <vector>
  26
  27 #define BUFFER_OFFSET(i) ((char *)nullptr + (i))
  28
  29 using namespace std;
  30
  31 // Operating point 3 (10 Hz on CPU, excluding preprocessing).
  32 constexpr float patch_overlap_ratio = 0.75f;
  33 constexpr unsigned coarsest_level = 5;
  34 constexpr unsigned finest_level = 1;
  35 constexpr unsigned patch_size_pixels = 12;
  36
  37 // Weighting constants for the different parts of the variational refinement.
  38 // These don't correspond 1:1 to the values given in the DIS paper,
  39 // since we have different normalizations and ranges in some cases.
  40 // These are found through a simple grid search on some MPI-Sintel data,
  41 // although the error (EPE) seems to be fairly insensitive to the precise values.
  42 // Only the relative values matter, so we fix alpha (the smoothness constant)
  43 // at unity and tweak the others.
  44 float vr_alpha = 1.0f, vr_delta = 0.25f, vr_gamma = 0.25f;
  45
  46 bool enable_timing = true;
  47 bool enable_variational_refinement = true;  // Just for debugging.
  48
  49 // Some global OpenGL objects.
  50 // TODO: These should really be part of DISComputeFlow.
  51 GLuint nearest_sampler, linear_sampler, zero_border_sampler;
  52 GLuint vertex_vbo;
  53
  54 // Structures for asynchronous readback. We assume everything is the same size (and GL_RG16F).
  55 struct ReadInProgress {
  56         GLuint pbo;
  57         string filename0, filename1;
  58         string flow_filename, ppm_filename;  // Either may be empty for no write.
  59 };
  60 stack<GLuint> spare_pbos;
  61 deque<ReadInProgress> reads_in_progress;
  62
  63 string read_file(const string &filename)
  64 {
  65         FILE *fp = fopen(filename.c_str(), "r");
  66         if (fp == nullptr) {
  67                 perror(filename.c_str());
  68                 exit(1);
  69         }
  70
  71         int ret = fseek(fp, 0, SEEK_END);
  72         if (ret == -1) {
  73                 perror("fseek(SEEK_END)");
  74                 exit(1);
  75         }
  76
  77         int size = ftell(fp);
  78
  79         ret = fseek(fp, 0, SEEK_SET);
  80         if (ret == -1) {
  81                 perror("fseek(SEEK_SET)");
  82                 exit(1);
  83         }
  84
  85         string str;
  86         str.resize(size);
  87         ret = fread(&str[0], size, 1, fp);
  88         if (ret == -1) {
  89                 perror("fread");
  90                 exit(1);
  91         }
  92         if (ret == 0) {
  93                 fprintf(stderr, "Short read when trying to read %d bytes from %s\n",
  94                                 size, filename.c_str());
  95                 exit(1);
  96         }
  97         fclose(fp);
  98
  99         return str;
 100 }
 101
 102
 103 GLuint compile_shader(const string &shader_src, GLenum type)
 104 {
 105         GLuint obj = glCreateShader(type);
 106         const GLchar* source[] = { shader_src.data() };
 107         const GLint length[] = { (GLint)shader_src.size() };
 108         glShaderSource(obj, 1, source, length);
 109         glCompileShader(obj);
 110
 111         GLchar info_log[4096];
 112         GLsizei log_length = sizeof(info_log) - 1;
 113         glGetShaderInfoLog(obj, log_length, &log_length, info_log);
 114         info_log[log_length] = 0;
 115         if (strlen(info_log) > 0) {
 116                 fprintf(stderr, "Shader compile log: %s\n", info_log);
 117         }
 118
 119         GLint status;
 120         glGetShaderiv(obj, GL_COMPILE_STATUS, &status);
 121         if (status == GL_FALSE) {
 122                 // Add some line numbers to easier identify compile errors.
 123                 string src_with_lines = "/*   1 */ ";
 124                 size_t lineno = 1;
 125                 for (char ch : shader_src) {
 126                         src_with_lines.push_back(ch);
 127                         if (ch == '\n') {
 128                                 char buf[32];
 129                                 snprintf(buf, sizeof(buf), "/* %3zu */ ", ++lineno);
 130                                 src_with_lines += buf;
 131                         }
 132                 }
 133
 134                 fprintf(stderr, "Failed to compile shader:\n%s\n", src_with_lines.c_str());
 135                 exit(1);
 136         }
 137
 138         return obj;
 139 }
 140
 141 GLuint load_texture(const char *filename, unsigned *width_ret, unsigned *height_ret)
 142 {
 143         SDL_Surface *surf = IMG_Load(filename);
 144         if (surf == nullptr) {
 145                 fprintf(stderr, "IMG_Load(%s): %s\n", filename, IMG_GetError());
 146                 exit(1);
 147         }
 148
 149         // For whatever reason, SDL doesn't support converting to YUV surfaces
 150         // nor grayscale, so we'll do it (slowly) ourselves.
 151         SDL_Surface *rgb_surf = SDL_ConvertSurfaceFormat(surf, SDL_PIXELFORMAT_RGBA8888, /*flags=*/0);
 152         if (rgb_surf == nullptr) {
 153                 fprintf(stderr, "SDL_ConvertSurfaceFormat(%s): %s\n", filename, SDL_GetError());
 154                 exit(1);
 155         }
 156
 157         SDL_FreeSurface(surf);
 158
 159         unsigned width = rgb_surf->w, height = rgb_surf->h;
 160         const uint8_t *sptr = (uint8_t *)rgb_surf->pixels;
 161         unique_ptr<uint8_t[]> pix(new uint8_t[width * height]);
 162
 163         // Extract the Y component, and convert to bottom-left origin.
 164         for (unsigned y = 0; y < height; ++y) {
 165                 unsigned y2 = height - 1 - y;
 166                 for (unsigned x = 0; x < width; ++x) {
 167                         uint8_t r = sptr[(y2 * width + x) * 4 + 3];
 168                         uint8_t g = sptr[(y2 * width + x) * 4 + 2];
 169                         uint8_t b = sptr[(y2 * width + x) * 4 + 1];
 170
 171                         // Rec. 709.
 172                         pix[y * width + x] = lrintf(r * 0.2126f + g * 0.7152f + b * 0.0722f);
 173                 }
 174         }
 175         SDL_FreeSurface(rgb_surf);
 176
 177         int levels = 1;
 178         for (int w = width, h = height; w > 1 || h > 1; ) {
 179                 w >>= 1;
 180                 h >>= 1;
 181                 ++levels;
 182         }
 183
 184         GLuint tex;
 185         glCreateTextures(GL_TEXTURE_2D, 1, &tex);
 186         glTextureStorage2D(tex, levels, GL_R8, width, height);
 187         glTextureSubImage2D(tex, 0, 0, 0, width, height, GL_RED, GL_UNSIGNED_BYTE, pix.get());
 188         glGenerateTextureMipmap(tex);
 189
 190         *width_ret = width;
 191         *height_ret = height;
 192
 193         return tex;
 194 }
 195
 196 GLuint link_program(GLuint vs_obj, GLuint fs_obj)
 197 {
 198         GLuint program = glCreateProgram();
 199         glAttachShader(program, vs_obj);
 200         glAttachShader(program, fs_obj);
 201         glLinkProgram(program);
 202         GLint success;
 203         glGetProgramiv(program, GL_LINK_STATUS, &success);
 204         if (success == GL_FALSE) {
 205                 GLchar error_log[1024] = {0};
 206                 glGetProgramInfoLog(program, 1024, nullptr, error_log);
 207                 fprintf(stderr, "Error linking program: %s\n", error_log);
 208                 exit(1);
 209         }
 210         return program;
 211 }
 212
 213 GLuint generate_vbo(GLint size, GLsizeiptr data_size, const GLvoid *data)
 214 {
 215         GLuint vbo;
 216         glCreateBuffers(1, &vbo);
 217         glBufferData(GL_ARRAY_BUFFER, data_size, data, GL_STATIC_DRAW);
 218         glNamedBufferData(vbo, data_size, data, GL_STATIC_DRAW);
 219         return vbo;
 220 }
 221
 222 GLuint fill_vertex_attribute(GLuint vao, GLuint glsl_program_num, const string &attribute_name, GLint size, GLenum type, GLsizeiptr data_size, const GLvoid *data)
 223 {
 224         int attrib = glGetAttribLocation(glsl_program_num, attribute_name.c_str());
 225         if (attrib == -1) {
 226                 return -1;
 227         }
 228
 229         GLuint vbo = generate_vbo(size, data_size, data);
 230
 231         glBindBuffer(GL_ARRAY_BUFFER, vbo);
 232         glEnableVertexArrayAttrib(vao, attrib);
 233         glVertexAttribPointer(attrib, size, type, GL_FALSE, 0, BUFFER_OFFSET(0));
 234         glBindBuffer(GL_ARRAY_BUFFER, 0);
 235
 236         return vbo;
 237 }
 238
 239 void bind_sampler(GLuint program, GLint location, GLuint texture_unit, GLuint tex, GLuint sampler)
 240 {
 241         if (location == -1) {
 242                 return;
 243         }
 244
 245         glBindTextureUnit(texture_unit, tex);
 246         glBindSampler(texture_unit, sampler);
 247         glProgramUniform1i(program, location, texture_unit);
 248 }
 249
 250 // A class that caches FBOs that render to a given set of textures.
 251 // It never frees anything, so it is only suitable for rendering to
 252 // the same (small) set of textures over and over again.
 253 template<size_t num_elements>
 254 class PersistentFBOSet {
 255 public:
 256         void render_to(const array<GLuint, num_elements> &textures);
 257
 258         // Convenience wrappers.
 259         void render_to(GLuint texture0, enable_if<num_elements == 1> * = nullptr) {
 260                 render_to({{texture0}});
 261         }
 262
 263         void render_to(GLuint texture0, GLuint texture1, enable_if<num_elements == 2> * = nullptr) {
 264                 render_to({{texture0, texture1}});
 265         }
 266
 267         void render_to(GLuint texture0, GLuint texture1, GLuint texture2, enable_if<num_elements == 3> * = nullptr) {
 268                 render_to({{texture0, texture1, texture2}});
 269         }
 270
 271         void render_to(GLuint texture0, GLuint texture1, GLuint texture2, GLuint texture3, enable_if<num_elements == 4> * = nullptr) {
 272                 render_to({{texture0, texture1, texture2, texture3}});
 273         }
 274
 275 private:
 276         // TODO: Delete these on destruction.
 277         map<array<GLuint, num_elements>, GLuint> fbos;
 278 };
 279
 280 template<size_t num_elements>
 281 void PersistentFBOSet<num_elements>::render_to(const array<GLuint, num_elements> &textures)
 282 {
 283         auto it = fbos.find(textures);
 284         if (it != fbos.end()) {
 285                 glBindFramebuffer(GL_FRAMEBUFFER, it->second);
 286                 return;
 287         }
 288
 289         GLuint fbo;
 290         glCreateFramebuffers(1, &fbo);
 291         GLenum bufs[num_elements];
 292         for (size_t i = 0; i < num_elements; ++i) {
 293                 glNamedFramebufferTexture(fbo, GL_COLOR_ATTACHMENT0 + i, textures[i], 0);
 294                 bufs[i] = GL_COLOR_ATTACHMENT0 + i;
 295         }
 296         glNamedFramebufferDrawBuffers(fbo, num_elements, bufs);
 297
 298         fbos[textures] = fbo;
 299         glBindFramebuffer(GL_FRAMEBUFFER, fbo);
 300 }
 301
 302 // Compute gradients in every point, used for the motion search.
 303 // The DIS paper doesn't actually mention how these are computed,
 304 // but seemingly, a 3x3 Sobel operator is used here (at least in
 305 // later versions of the code), while a [1 -8 0 8 -1] kernel is
 306 // used for all the derivatives in the variational refinement part
 307 // (which borrows code from DeepFlow). This is inconsistent,
 308 // but I guess we're better off with staying with the original
 309 // decisions until we actually know having different ones would be better.
 310 class Sobel {
 311 public:
 312         Sobel();
 313         void exec(GLint tex0_view, GLint grad0_tex, int level_width, int level_height);
 314
 315 private:
 316         PersistentFBOSet<1> fbos;
 317         GLuint sobel_vs_obj;
 318         GLuint sobel_fs_obj;
 319         GLuint sobel_program;
 320         GLuint sobel_vao;
 321
 322         GLuint uniform_tex, uniform_image_size;
 323 };
 324
 325 Sobel::Sobel()
 326 {
 327         sobel_vs_obj = compile_shader(read_file("vs.vert"), GL_VERTEX_SHADER);
 328         sobel_fs_obj = compile_shader(read_file("sobel.frag"), GL_FRAGMENT_SHADER);
 329         sobel_program = link_program(sobel_vs_obj, sobel_fs_obj);
 330
 331         // Set up the VAO containing all the required position/texcoord data.
 332         glCreateVertexArrays(1, &sobel_vao);
 333         glBindVertexArray(sobel_vao);
 334
 335         GLint position_attrib = glGetAttribLocation(sobel_program, "position");
 336         glEnableVertexArrayAttrib(sobel_vao, position_attrib);
 337         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 338
 339         uniform_tex = glGetUniformLocation(sobel_program, "tex");
 340 }
 341
 342 void Sobel::exec(GLint tex0_view, GLint grad0_tex, int level_width, int level_height)
 343 {
 344         glUseProgram(sobel_program);
 345         glBindTextureUnit(0, tex0_view);
 346         glBindSampler(0, nearest_sampler);
 347         glProgramUniform1i(sobel_program, uniform_tex, 0);
 348
 349         glViewport(0, 0, level_width, level_height);
 350         fbos.render_to(grad0_tex);
 351         glBindVertexArray(sobel_vao);
 352         glUseProgram(sobel_program);
 353         glDisable(GL_BLEND);
 354         glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 355 }
 356
 357 // Motion search to find the initial flow. See motion_search.frag for documentation.
 358 class MotionSearch {
 359 public:
 360         MotionSearch();
 361         void exec(GLuint tex0_view, GLuint tex1_view, GLuint grad0_tex, GLuint flow_tex, GLuint flow_out_tex, int level_width, int level_height, int prev_level_width, int prev_level_height, int width_patches, int height_patches);
 362
 363 private:
 364         PersistentFBOSet<1> fbos;
 365
 366         GLuint motion_vs_obj;
 367         GLuint motion_fs_obj;
 368         GLuint motion_search_program;
 369         GLuint motion_search_vao;
 370
 371         GLuint uniform_image_size, uniform_inv_image_size, uniform_inv_flow_size, uniform_inv_prev_level_size;
 372         GLuint uniform_image0_tex, uniform_image1_tex, uniform_grad0_tex, uniform_flow_tex;
 373 };
 374
 375 MotionSearch::MotionSearch()
 376 {
 377         motion_vs_obj = compile_shader(read_file("motion_search.vert"), GL_VERTEX_SHADER);
 378         motion_fs_obj = compile_shader(read_file("motion_search.frag"), GL_FRAGMENT_SHADER);
 379         motion_search_program = link_program(motion_vs_obj, motion_fs_obj);
 380
 381         // Set up the VAO containing all the required position/texcoord data.
 382         glCreateVertexArrays(1, &motion_search_vao);
 383         glBindVertexArray(motion_search_vao);
 384         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
 385
 386         GLint position_attrib = glGetAttribLocation(motion_search_program, "position");
 387         glEnableVertexArrayAttrib(motion_search_vao, position_attrib);
 388         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 389
 390         uniform_image_size = glGetUniformLocation(motion_search_program, "image_size");
 391         uniform_inv_image_size = glGetUniformLocation(motion_search_program, "inv_image_size");
 392         uniform_inv_flow_size = glGetUniformLocation(motion_search_program, "inv_flow_size");
 393         uniform_inv_prev_level_size = glGetUniformLocation(motion_search_program, "inv_prev_level_size");
 394         uniform_image0_tex = glGetUniformLocation(motion_search_program, "image0_tex");
 395         uniform_image1_tex = glGetUniformLocation(motion_search_program, "image1_tex");
 396         uniform_grad0_tex = glGetUniformLocation(motion_search_program, "grad0_tex");
 397         uniform_flow_tex = glGetUniformLocation(motion_search_program, "flow_tex");
 398 }
 399
 400 void MotionSearch::exec(GLuint tex0_view, GLuint tex1_view, GLuint grad0_tex, GLuint flow_tex, GLuint flow_out_tex, int level_width, int level_height, int prev_level_width, int prev_level_height, int width_patches, int height_patches)
 401 {
 402         glUseProgram(motion_search_program);
 403
 404         bind_sampler(motion_search_program, uniform_image0_tex, 0, tex0_view, nearest_sampler);
 405         bind_sampler(motion_search_program, uniform_image1_tex, 1, tex1_view, linear_sampler);
 406         bind_sampler(motion_search_program, uniform_grad0_tex, 2, grad0_tex, zero_border_sampler);
 407         bind_sampler(motion_search_program, uniform_flow_tex, 3, flow_tex, linear_sampler);
 408
 409         glProgramUniform2f(motion_search_program, uniform_image_size, level_width, level_height);
 410         glProgramUniform2f(motion_search_program, uniform_inv_image_size, 1.0f / level_width, 1.0f / level_height);
 411         glProgramUniform2f(motion_search_program, uniform_inv_flow_size, 1.0f / width_patches, 1.0f / height_patches);
 412         glProgramUniform2f(motion_search_program, uniform_inv_prev_level_size, 1.0f / prev_level_width, 1.0f / prev_level_height);
 413
 414         glViewport(0, 0, width_patches, height_patches);
 415         fbos.render_to(flow_out_tex);
 416         glBindVertexArray(motion_search_vao);
 417         glUseProgram(motion_search_program);
 418         glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 419 }
 420
 421 // Do “densification”, ie., upsampling of the flow patches to the flow field
 422 // (the same size as the image at this level). We draw one quad per patch
 423 // over its entire covered area (using instancing in the vertex shader),
 424 // and then weight the contributions in the pixel shader by post-warp difference.
 425 // This is equation (3) in the paper.
 426 //
 427 // We accumulate the flow vectors in the R/G channels (for u/v) and the total
 428 // weight in the B channel. Dividing R and G by B gives the normalized values.
 429 class Densify {
 430 public:
 431         Densify();
 432         void exec(GLuint tex0_view, GLuint tex1_view, GLuint flow_tex, GLuint dense_flow_tex, int level_width, int level_height, int width_patches, int height_patches);
 433
 434 private:
 435         PersistentFBOSet<1> fbos;
 436
 437         GLuint densify_vs_obj;
 438         GLuint densify_fs_obj;
 439         GLuint densify_program;
 440         GLuint densify_vao;
 441
 442         GLuint uniform_width_patches, uniform_patch_size, uniform_patch_spacing;
 443         GLuint uniform_image0_tex, uniform_image1_tex, uniform_flow_tex;
 444 };
 445
 446 Densify::Densify()
 447 {
 448         densify_vs_obj = compile_shader(read_file("densify.vert"), GL_VERTEX_SHADER);
 449         densify_fs_obj = compile_shader(read_file("densify.frag"), GL_FRAGMENT_SHADER);
 450         densify_program = link_program(densify_vs_obj, densify_fs_obj);
 451
 452         // Set up the VAO containing all the required position/texcoord data.
 453         glCreateVertexArrays(1, &densify_vao);
 454         glBindVertexArray(densify_vao);
 455         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
 456
 457         GLint position_attrib = glGetAttribLocation(densify_program, "position");
 458         glEnableVertexArrayAttrib(densify_vao, position_attrib);
 459         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 460
 461         uniform_width_patches = glGetUniformLocation(densify_program, "width_patches");
 462         uniform_patch_size = glGetUniformLocation(densify_program, "patch_size");
 463         uniform_patch_spacing = glGetUniformLocation(densify_program, "patch_spacing");
 464         uniform_image0_tex = glGetUniformLocation(densify_program, "image0_tex");
 465         uniform_image1_tex = glGetUniformLocation(densify_program, "image1_tex");
 466         uniform_flow_tex = glGetUniformLocation(densify_program, "flow_tex");
 467 }
 468
 469 void Densify::exec(GLuint tex0_view, GLuint tex1_view, GLuint flow_tex, GLuint dense_flow_tex, int level_width, int level_height, int width_patches, int height_patches)
 470 {
 471         glUseProgram(densify_program);
 472
 473         bind_sampler(densify_program, uniform_image0_tex, 0, tex0_view, nearest_sampler);
 474         bind_sampler(densify_program, uniform_image1_tex, 1, tex1_view, linear_sampler);
 475         bind_sampler(densify_program, uniform_flow_tex, 2, flow_tex, nearest_sampler);
 476
 477         glProgramUniform1i(densify_program, uniform_width_patches, width_patches);
 478         glProgramUniform2f(densify_program, uniform_patch_size,
 479                 float(patch_size_pixels) / level_width,
 480                 float(patch_size_pixels) / level_height);
 481
 482         float patch_spacing_x = float(level_width - patch_size_pixels) / (width_patches - 1);
 483         float patch_spacing_y = float(level_height - patch_size_pixels) / (height_patches - 1);
 484         if (width_patches == 1) patch_spacing_x = 0.0f;  // Avoid infinities.
 485         if (height_patches == 1) patch_spacing_y = 0.0f;
 486         glProgramUniform2f(densify_program, uniform_patch_spacing,
 487                 patch_spacing_x / level_width,
 488                 patch_spacing_y / level_height);
 489
 490         glViewport(0, 0, level_width, level_height);
 491         glEnable(GL_BLEND);
 492         glBlendFunc(GL_ONE, GL_ONE);
 493         glBindVertexArray(densify_vao);
 494         fbos.render_to(dense_flow_tex);
 495         glDrawArraysInstanced(GL_TRIANGLE_STRIP, 0, 4, width_patches * height_patches);
 496 }
 497
 498 // Warp I_1 to I_w, and then compute the mean (I) and difference (I_t) of
 499 // I_0 and I_w. The prewarping is what enables us to solve the variational
 500 // flow for du,dv instead of u,v.
 501 //
 502 // Also calculates the normalized flow, ie. divides by z (this is needed because
 503 // Densify works by additive blending) and multiplies by the image size.
 504 //
 505 // See variational_refinement.txt for more information.
 506 class Prewarp {
 507 public:
 508         Prewarp();
 509         void exec(GLuint tex0_view, GLuint tex1_view, GLuint flow_tex, GLuint normalized_flow_tex, GLuint I_tex, GLuint I_t_tex, int level_width, int level_height);
 510
 511 private:
 512         PersistentFBOSet<3> fbos;
 513
 514         GLuint prewarp_vs_obj;
 515         GLuint prewarp_fs_obj;
 516         GLuint prewarp_program;
 517         GLuint prewarp_vao;
 518
 519         GLuint uniform_image0_tex, uniform_image1_tex, uniform_flow_tex;
 520         GLuint uniform_image_size;
 521 };
 522
 523 Prewarp::Prewarp()
 524 {
 525         prewarp_vs_obj = compile_shader(read_file("vs.vert"), GL_VERTEX_SHADER);
 526         prewarp_fs_obj = compile_shader(read_file("prewarp.frag"), GL_FRAGMENT_SHADER);
 527         prewarp_program = link_program(prewarp_vs_obj, prewarp_fs_obj);
 528
 529         // Set up the VAO containing all the required position/texcoord data.
 530         glCreateVertexArrays(1, &prewarp_vao);
 531         glBindVertexArray(prewarp_vao);
 532         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
 533
 534         GLint position_attrib = glGetAttribLocation(prewarp_program, "position");
 535         glEnableVertexArrayAttrib(prewarp_vao, position_attrib);
 536         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 537
 538         uniform_image0_tex = glGetUniformLocation(prewarp_program, "image0_tex");
 539         uniform_image1_tex = glGetUniformLocation(prewarp_program, "image1_tex");
 540         uniform_flow_tex = glGetUniformLocation(prewarp_program, "flow_tex");
 541
 542         uniform_image_size = glGetUniformLocation(prewarp_program, "image_size");
 543 }
 544
 545 void Prewarp::exec(GLuint tex0_view, GLuint tex1_view, GLuint flow_tex, GLuint I_tex, GLuint I_t_tex, GLuint normalized_flow_tex, int level_width, int level_height)
 546 {
 547         glUseProgram(prewarp_program);
 548
 549         bind_sampler(prewarp_program, uniform_image0_tex, 0, tex0_view, nearest_sampler);
 550         bind_sampler(prewarp_program, uniform_image1_tex, 1, tex1_view, linear_sampler);
 551         bind_sampler(prewarp_program, uniform_flow_tex, 2, flow_tex, nearest_sampler);
 552
 553         glProgramUniform2f(prewarp_program, uniform_image_size, level_width, level_height);
 554
 555         glViewport(0, 0, level_width, level_height);
 556         glDisable(GL_BLEND);
 557         glBindVertexArray(prewarp_vao);
 558         fbos.render_to(I_tex, I_t_tex, normalized_flow_tex);
 559         glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 560 }
 561
 562 // From I, calculate the partial derivatives I_x and I_y. We use a four-tap
 563 // central difference filter, since apparently, that's tradition (I haven't
 564 // measured quality versus a more normal 0.5 (I[x+1] - I[x-1]).)
 565 // The coefficients come from
 566 //
 567 //   https://en.wikipedia.org/wiki/Finite_difference_coefficient
 568 //
 569 // Also computes β_0, since it depends only on I_x and I_y.
 570 class Derivatives {
 571 public:
 572         Derivatives();
 573         void exec(GLuint input_tex, GLuint I_x_y_tex, GLuint beta_0_tex, int level_width, int level_height);
 574
 575 private:
 576         PersistentFBOSet<2> fbos;
 577
 578         GLuint derivatives_vs_obj;
 579         GLuint derivatives_fs_obj;
 580         GLuint derivatives_program;
 581         GLuint derivatives_vao;
 582
 583         GLuint uniform_tex;
 584 };
 585
 586 Derivatives::Derivatives()
 587 {
 588         derivatives_vs_obj = compile_shader(read_file("vs.vert"), GL_VERTEX_SHADER);
 589         derivatives_fs_obj = compile_shader(read_file("derivatives.frag"), GL_FRAGMENT_SHADER);
 590         derivatives_program = link_program(derivatives_vs_obj, derivatives_fs_obj);
 591
 592         // Set up the VAO containing all the required position/texcoord data.
 593         glCreateVertexArrays(1, &derivatives_vao);
 594         glBindVertexArray(derivatives_vao);
 595         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
 596
 597         GLint position_attrib = glGetAttribLocation(derivatives_program, "position");
 598         glEnableVertexArrayAttrib(derivatives_vao, position_attrib);
 599         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 600
 601         uniform_tex = glGetUniformLocation(derivatives_program, "tex");
 602 }
 603
 604 void Derivatives::exec(GLuint input_tex, GLuint I_x_y_tex, GLuint beta_0_tex, int level_width, int level_height)
 605 {
 606         glUseProgram(derivatives_program);
 607
 608         bind_sampler(derivatives_program, uniform_tex, 0, input_tex, nearest_sampler);
 609
 610         glViewport(0, 0, level_width, level_height);
 611         glDisable(GL_BLEND);
 612         glBindVertexArray(derivatives_vao);
 613         fbos.render_to(I_x_y_tex, beta_0_tex);
 614         glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 615 }
 616
 617 // Calculate the smoothness constraints between neighboring pixels;
 618 // s_x(x,y) stores smoothness between pixel (x,y) and (x+1,y),
 619 // and s_y(x,y) stores between (x,y) and (x,y+1). We'll sample with
 620 // border color (0,0) later, so that there's zero diffusion out of
 621 // the border.
 622 //
 623 // See variational_refinement.txt for more information.
 624 class ComputeSmoothness {
 625 public:
 626         ComputeSmoothness();
 627         void exec(GLuint flow_tex, GLuint diff_flow_tex, GLuint smoothness_x_tex, GLuint smoothness_y_tex, int level_width, int level_height);
 628
 629 private:
 630         PersistentFBOSet<2> fbos;
 631
 632         GLuint smoothness_vs_obj;
 633         GLuint smoothness_fs_obj;
 634         GLuint smoothness_program;
 635         GLuint smoothness_vao;
 636
 637         GLuint uniform_flow_tex, uniform_diff_flow_tex;
 638         GLuint uniform_alpha;
 639 };
 640
 641 ComputeSmoothness::ComputeSmoothness()
 642 {
 643         smoothness_vs_obj = compile_shader(read_file("vs.vert"), GL_VERTEX_SHADER);
 644         smoothness_fs_obj = compile_shader(read_file("smoothness.frag"), GL_FRAGMENT_SHADER);
 645         smoothness_program = link_program(smoothness_vs_obj, smoothness_fs_obj);
 646
 647         // Set up the VAO containing all the required position/texcoord data.
 648         glCreateVertexArrays(1, &smoothness_vao);
 649         glBindVertexArray(smoothness_vao);
 650         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
 651
 652         GLint position_attrib = glGetAttribLocation(smoothness_program, "position");
 653         glEnableVertexArrayAttrib(smoothness_vao, position_attrib);
 654         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 655
 656         uniform_flow_tex = glGetUniformLocation(smoothness_program, "flow_tex");
 657         uniform_diff_flow_tex = glGetUniformLocation(smoothness_program, "diff_flow_tex");
 658         uniform_alpha = glGetUniformLocation(smoothness_program, "alpha");
 659 }
 660
 661 void ComputeSmoothness::exec(GLuint flow_tex, GLuint diff_flow_tex, GLuint smoothness_x_tex, GLuint smoothness_y_tex, int level_width, int level_height)
 662 {
 663         glUseProgram(smoothness_program);
 664
 665         bind_sampler(smoothness_program, uniform_flow_tex, 0, flow_tex, nearest_sampler);
 666         bind_sampler(smoothness_program, uniform_diff_flow_tex, 1, diff_flow_tex, nearest_sampler);
 667         glProgramUniform1f(smoothness_program, uniform_alpha, vr_alpha);
 668
 669         glViewport(0, 0, level_width, level_height);
 670
 671         glDisable(GL_BLEND);
 672         glBindVertexArray(smoothness_vao);
 673         fbos.render_to(smoothness_x_tex, smoothness_y_tex);
 674         glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 675
 676         // Make sure the smoothness on the right and upper borders is zero.
 677         // We could have done this by making (W-1)xH and Wx(H-1) textures instead
 678         // (we're sampling smoothness with all-zero border color), but we'd
 679         // have to adjust the sampling coordinates, which is annoying.
 680         glClearTexSubImage(smoothness_x_tex, 0,  level_width - 1, 0, 0,   1, level_height, 1,  GL_RED, GL_FLOAT, nullptr);
 681         glClearTexSubImage(smoothness_y_tex, 0,  0, level_height - 1, 0,  level_width, 1, 1,   GL_RED, GL_FLOAT, nullptr);
 682 }
 683
 684 // Set up the equations set (two equations in two unknowns, per pixel).
 685 // We store five floats; the three non-redundant elements of the 2x2 matrix (A)
 686 // as 32-bit floats, and the two elements on the right-hand side (b) as 16-bit
 687 // floats. (Actually, we store the inverse of the diagonal elements, because
 688 // we only ever need to divide by them.) This fits into four u32 values;
 689 // R, G, B for the matrix (the last element is symmetric) and A for the two b values.
 690 // All the values of the energy term (E_I, E_G, E_S), except the smoothness
 691 // terms that depend on other pixels, are calculated in one pass.
 692 //
 693 // See variational_refinement.txt for more information.
 694 class SetupEquations {
 695 public:
 696         SetupEquations();
 697         void exec(GLuint I_x_y_tex, GLuint I_t_tex, GLuint diff_flow_tex, GLuint flow_tex, GLuint beta_0_tex, GLuint smoothness_x_tex, GLuint smoothness_y_tex, GLuint equation_tex, int level_width, int level_height);
 698
 699 private:
 700         PersistentFBOSet<1> fbos;
 701
 702         GLuint equations_vs_obj;
 703         GLuint equations_fs_obj;
 704         GLuint equations_program;
 705         GLuint equations_vao;
 706
 707         GLuint uniform_I_x_y_tex, uniform_I_t_tex;
 708         GLuint uniform_diff_flow_tex, uniform_base_flow_tex;
 709         GLuint uniform_beta_0_tex;
 710         GLuint uniform_smoothness_x_tex, uniform_smoothness_y_tex;
 711         GLuint uniform_gamma, uniform_delta;
 712 };
 713
 714 SetupEquations::SetupEquations()
 715 {
 716         equations_vs_obj = compile_shader(read_file("vs.vert"), GL_VERTEX_SHADER);
 717         equations_fs_obj = compile_shader(read_file("equations.frag"), GL_FRAGMENT_SHADER);
 718         equations_program = link_program(equations_vs_obj, equations_fs_obj);
 719
 720         // Set up the VAO containing all the required position/texcoord data.
 721         glCreateVertexArrays(1, &equations_vao);
 722         glBindVertexArray(equations_vao);
 723         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
 724
 725         GLint position_attrib = glGetAttribLocation(equations_program, "position");
 726         glEnableVertexArrayAttrib(equations_vao, position_attrib);
 727         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 728
 729         uniform_I_x_y_tex = glGetUniformLocation(equations_program, "I_x_y_tex");
 730         uniform_I_t_tex = glGetUniformLocation(equations_program, "I_t_tex");
 731         uniform_diff_flow_tex = glGetUniformLocation(equations_program, "diff_flow_tex");
 732         uniform_base_flow_tex = glGetUniformLocation(equations_program, "base_flow_tex");
 733         uniform_beta_0_tex = glGetUniformLocation(equations_program, "beta_0_tex");
 734         uniform_smoothness_x_tex = glGetUniformLocation(equations_program, "smoothness_x_tex");
 735         uniform_smoothness_y_tex = glGetUniformLocation(equations_program, "smoothness_y_tex");
 736         uniform_gamma = glGetUniformLocation(equations_program, "gamma");
 737         uniform_delta = glGetUniformLocation(equations_program, "delta");
 738 }
 739
 740 void SetupEquations::exec(GLuint I_x_y_tex, GLuint I_t_tex, GLuint diff_flow_tex, GLuint base_flow_tex, GLuint beta_0_tex, GLuint smoothness_x_tex, GLuint smoothness_y_tex, GLuint equation_tex, int level_width, int level_height)
 741 {
 742         glUseProgram(equations_program);
 743
 744         bind_sampler(equations_program, uniform_I_x_y_tex, 0, I_x_y_tex, nearest_sampler);
 745         bind_sampler(equations_program, uniform_I_t_tex, 1, I_t_tex, nearest_sampler);
 746         bind_sampler(equations_program, uniform_diff_flow_tex, 2, diff_flow_tex, nearest_sampler);
 747         bind_sampler(equations_program, uniform_base_flow_tex, 3, base_flow_tex, nearest_sampler);
 748         bind_sampler(equations_program, uniform_beta_0_tex, 4, beta_0_tex, nearest_sampler);
 749         bind_sampler(equations_program, uniform_smoothness_x_tex, 5, smoothness_x_tex, zero_border_sampler);
 750         bind_sampler(equations_program, uniform_smoothness_y_tex, 6, smoothness_y_tex, zero_border_sampler);
 751         glProgramUniform1f(equations_program, uniform_delta, vr_delta);
 752         glProgramUniform1f(equations_program, uniform_gamma, vr_gamma);
 753
 754         glViewport(0, 0, level_width, level_height);
 755         glDisable(GL_BLEND);
 756         glBindVertexArray(equations_vao);
 757         fbos.render_to(equation_tex);
 758         glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 759 }
 760
 761 // Actually solve the equation sets made by SetupEquations, by means of
 762 // successive over-relaxation (SOR).
 763 //
 764 // See variational_refinement.txt for more information.
 765 class SOR {
 766 public:
 767         SOR();
 768         void exec(GLuint diff_flow_tex, GLuint equation_tex, GLuint smoothness_x_tex, GLuint smoothness_y_tex, int level_width, int level_height, int num_iterations);
 769
 770 private:
 771         PersistentFBOSet<1> fbos;
 772
 773         GLuint sor_vs_obj;
 774         GLuint sor_fs_obj;
 775         GLuint sor_program;
 776         GLuint sor_vao;
 777
 778         GLuint uniform_diff_flow_tex;
 779         GLuint uniform_equation_tex;
 780         GLuint uniform_smoothness_x_tex, uniform_smoothness_y_tex;
 781 };
 782
 783 SOR::SOR()
 784 {
 785         sor_vs_obj = compile_shader(read_file("vs.vert"), GL_VERTEX_SHADER);
 786         sor_fs_obj = compile_shader(read_file("sor.frag"), GL_FRAGMENT_SHADER);
 787         sor_program = link_program(sor_vs_obj, sor_fs_obj);
 788
 789         // Set up the VAO containing all the required position/texcoord data.
 790         glCreateVertexArrays(1, &sor_vao);
 791         glBindVertexArray(sor_vao);
 792         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
 793
 794         GLint position_attrib = glGetAttribLocation(sor_program, "position");
 795         glEnableVertexArrayAttrib(sor_vao, position_attrib);
 796         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 797
 798         uniform_diff_flow_tex = glGetUniformLocation(sor_program, "diff_flow_tex");
 799         uniform_equation_tex = glGetUniformLocation(sor_program, "equation_tex");
 800         uniform_smoothness_x_tex = glGetUniformLocation(sor_program, "smoothness_x_tex");
 801         uniform_smoothness_y_tex = glGetUniformLocation(sor_program, "smoothness_y_tex");
 802 }
 803
 804 void SOR::exec(GLuint diff_flow_tex, GLuint equation_tex, GLuint smoothness_x_tex, GLuint smoothness_y_tex, int level_width, int level_height, int num_iterations)
 805 {
 806         glUseProgram(sor_program);
 807
 808         bind_sampler(sor_program, uniform_diff_flow_tex, 0, diff_flow_tex, nearest_sampler);
 809         bind_sampler(sor_program, uniform_smoothness_x_tex, 1, smoothness_x_tex, zero_border_sampler);
 810         bind_sampler(sor_program, uniform_smoothness_y_tex, 2, smoothness_y_tex, zero_border_sampler);
 811         bind_sampler(sor_program, uniform_equation_tex, 3, equation_tex, nearest_sampler);
 812
 813         glViewport(0, 0, level_width, level_height);
 814         glDisable(GL_BLEND);
 815         glBindVertexArray(sor_vao);
 816         fbos.render_to(diff_flow_tex);  // NOTE: Bind to same as we render from!
 817
 818         for (int i = 0; i < num_iterations; ++i) {
 819                 glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 820                 if (i != num_iterations - 1) {
 821                         glTextureBarrier();
 822                 }
 823         }
 824 }
 825
 826 // Simply add the differential flow found by the variational refinement to the base flow.
 827 // The output is in base_flow_tex; we don't need to make a new texture.
 828 class AddBaseFlow {
 829 public:
 830         AddBaseFlow();
 831         void exec(GLuint base_flow_tex, GLuint diff_flow_tex, int level_width, int level_height);
 832
 833 private:
 834         PersistentFBOSet<1> fbos;
 835
 836         GLuint add_flow_vs_obj;
 837         GLuint add_flow_fs_obj;
 838         GLuint add_flow_program;
 839         GLuint add_flow_vao;
 840
 841         GLuint uniform_diff_flow_tex;
 842 };
 843
 844 AddBaseFlow::AddBaseFlow()
 845 {
 846         add_flow_vs_obj = compile_shader(read_file("vs.vert"), GL_VERTEX_SHADER);
 847         add_flow_fs_obj = compile_shader(read_file("add_base_flow.frag"), GL_FRAGMENT_SHADER);
 848         add_flow_program = link_program(add_flow_vs_obj, add_flow_fs_obj);
 849
 850         // Set up the VAO containing all the required position/texcoord data.
 851         glCreateVertexArrays(1, &add_flow_vao);
 852         glBindVertexArray(add_flow_vao);
 853         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
 854
 855         GLint position_attrib = glGetAttribLocation(add_flow_program, "position");
 856         glEnableVertexArrayAttrib(add_flow_vao, position_attrib);
 857         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 858
 859         uniform_diff_flow_tex = glGetUniformLocation(add_flow_program, "diff_flow_tex");
 860 }
 861
 862 void AddBaseFlow::exec(GLuint base_flow_tex, GLuint diff_flow_tex, int level_width, int level_height)
 863 {
 864         glUseProgram(add_flow_program);
 865
 866         bind_sampler(add_flow_program, uniform_diff_flow_tex, 0, diff_flow_tex, nearest_sampler);
 867
 868         glViewport(0, 0, level_width, level_height);
 869         glEnable(GL_BLEND);
 870         glBlendFunc(GL_ONE, GL_ONE);
 871         glBindVertexArray(add_flow_vao);
 872         fbos.render_to(base_flow_tex);
 873
 874         glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 875 }
 876
 877 // Take a copy of the flow, bilinearly interpolated and scaled up.
 878 class ResizeFlow {
 879 public:
 880         ResizeFlow();
 881         void exec(GLuint in_tex, GLuint out_tex, int input_width, int input_height, int output_width, int output_height);
 882
 883 private:
 884         PersistentFBOSet<1> fbos;
 885
 886         GLuint resize_flow_vs_obj;
 887         GLuint resize_flow_fs_obj;
 888         GLuint resize_flow_program;
 889         GLuint resize_flow_vao;
 890
 891         GLuint uniform_flow_tex;
 892         GLuint uniform_scale_factor;
 893 };
 894
 895 ResizeFlow::ResizeFlow()
 896 {
 897         resize_flow_vs_obj = compile_shader(read_file("vs.vert"), GL_VERTEX_SHADER);
 898         resize_flow_fs_obj = compile_shader(read_file("resize_flow.frag"), GL_FRAGMENT_SHADER);
 899         resize_flow_program = link_program(resize_flow_vs_obj, resize_flow_fs_obj);
 900
 901         // Set up the VAO containing all the required position/texcoord data.
 902         glCreateVertexArrays(1, &resize_flow_vao);
 903         glBindVertexArray(resize_flow_vao);
 904         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
 905
 906         GLint position_attrib = glGetAttribLocation(resize_flow_program, "position");
 907         glEnableVertexArrayAttrib(resize_flow_vao, position_attrib);
 908         glVertexAttribPointer(position_attrib, 2, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
 909
 910         uniform_flow_tex = glGetUniformLocation(resize_flow_program, "flow_tex");
 911         uniform_scale_factor = glGetUniformLocation(resize_flow_program, "scale_factor");
 912 }
 913
 914 void ResizeFlow::exec(GLuint flow_tex, GLuint out_tex, int input_width, int input_height, int output_width, int output_height)
 915 {
 916         glUseProgram(resize_flow_program);
 917
 918         bind_sampler(resize_flow_program, uniform_flow_tex, 0, flow_tex, nearest_sampler);
 919
 920         glProgramUniform2f(resize_flow_program, uniform_scale_factor, float(output_width) / input_width, float(output_height) / input_height);
 921
 922         glViewport(0, 0, output_width, output_height);
 923         glDisable(GL_BLEND);
 924         glBindVertexArray(resize_flow_vao);
 925         fbos.render_to(out_tex);
 926
 927         glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 928 }
 929
 930 class GPUTimers {
 931 public:
 932         void print();
 933         pair<GLuint, GLuint> begin_timer(const string &name, int level);
 934
 935 private:
 936         struct Timer {
 937                 string name;
 938                 int level;
 939                 pair<GLuint, GLuint> query;
 940         };
 941         vector<Timer> timers;
 942 };
 943
 944 pair<GLuint, GLuint> GPUTimers::begin_timer(const string &name, int level)
 945 {
 946         if (!enable_timing) {
 947                 return make_pair(0, 0);
 948         }
 949
 950         GLuint queries[2];
 951         glGenQueries(2, queries);
 952         glQueryCounter(queries[0], GL_TIMESTAMP);
 953
 954         Timer timer;
 955         timer.name = name;
 956         timer.level = level;
 957         timer.query.first = queries[0];
 958         timer.query.second = queries[1];
 959         timers.push_back(timer);
 960         return timer.query;
 961 }
 962
 963 void GPUTimers::print()
 964 {
 965         for (const Timer &timer : timers) {
 966                 // NOTE: This makes the CPU wait for the GPU.
 967                 GLuint64 time_start, time_end;
 968                 glGetQueryObjectui64v(timer.query.first, GL_QUERY_RESULT, &time_start);
 969                 glGetQueryObjectui64v(timer.query.second, GL_QUERY_RESULT, &time_end);
 970                 //fprintf(stderr, "GPU time used = %.1f ms\n", time_elapsed / 1e6);
 971                 for (int i = 0; i < timer.level * 2; ++i) {
 972                         fprintf(stderr, " ");
 973                 }
 974                 fprintf(stderr, "%-30s %4.1f ms\n", timer.name.c_str(), GLint64(time_end - time_start) / 1e6);
 975         }
 976 }
 977
 978 // A simple RAII class for timing until the end of the scope.
 979 class ScopedTimer {
 980 public:
 981         ScopedTimer(const string &name, GPUTimers *timers)
 982                 : timers(timers), level(0)
 983         {
 984                 query = timers->begin_timer(name, level);
 985         }
 986
 987         ScopedTimer(const string &name, ScopedTimer *parent_timer)
 988                 : timers(parent_timer->timers),
 989                   level(parent_timer->level + 1)
 990         {
 991                 query = timers->begin_timer(name, level);
 992         }
 993
 994         ~ScopedTimer()
 995         {
 996                 end();
 997         }
 998
 999         void end()
1000         {
1001                 if (enable_timing && !ended) {
1002                         glQueryCounter(query.second, GL_TIMESTAMP);
1003                         ended = true;
1004                 }
1005         }
1006
1007 private:
1008         GPUTimers *timers;
1009         int level;
1010         pair<GLuint, GLuint> query;
1011         bool ended = false;
1012 };
1013
1014 class DISComputeFlow {
1015 public:
1016         DISComputeFlow(int width, int height);
1017
1018         // Returns a texture that must be released with release_texture()
1019         // after use.
1020         GLuint exec(GLuint tex0, GLuint tex1);
1021         void release_texture(GLuint tex);
1022
1023 private:
1024         int width, height;
1025         GLuint initial_flow_tex;
1026
1027         // The various passes.
1028         Sobel sobel;
1029         MotionSearch motion_search;
1030         Densify densify;
1031         Prewarp prewarp;
1032         Derivatives derivatives;
1033         ComputeSmoothness compute_smoothness;
1034         SetupEquations setup_equations;
1035         SOR sor;
1036         AddBaseFlow add_base_flow;
1037         ResizeFlow resize_flow;
1038
1039         struct Texture {
1040                 GLuint tex_num;
1041                 GLenum format;
1042                 GLuint width, height;
1043                 bool in_use = false;
1044         };
1045         vector<Texture> textures;
1046
1047         GLuint get_texture(GLenum format, GLuint width, GLuint height);
1048 };
1049
1050 DISComputeFlow::DISComputeFlow(int width, int height)
1051         : width(width), height(height)
1052 {
1053         // Make some samplers.
1054         glCreateSamplers(1, &nearest_sampler);
1055         glSamplerParameteri(nearest_sampler, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
1056         glSamplerParameteri(nearest_sampler, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
1057         glSamplerParameteri(nearest_sampler, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
1058         glSamplerParameteri(nearest_sampler, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
1059
1060         glCreateSamplers(1, &linear_sampler);
1061         glSamplerParameteri(linear_sampler, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
1062         glSamplerParameteri(linear_sampler, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
1063         glSamplerParameteri(linear_sampler, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
1064         glSamplerParameteri(linear_sampler, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
1065
1066         // The smoothness is sampled so that once we get to a smoothness involving
1067         // a value outside the border, the diffusivity between the two becomes zero.
1068         // Similarly, gradients are zero outside the border, since the edge is taken
1069         // to be constant.
1070         glCreateSamplers(1, &zero_border_sampler);
1071         glSamplerParameteri(zero_border_sampler, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
1072         glSamplerParameteri(zero_border_sampler, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
1073         glSamplerParameteri(zero_border_sampler, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER);
1074         glSamplerParameteri(zero_border_sampler, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER);
1075         float zero[] = { 0.0f, 0.0f, 0.0f, 0.0f };
1076         glSamplerParameterfv(zero_border_sampler, GL_TEXTURE_BORDER_COLOR, zero);
1077
1078         // Initial flow is zero, 1x1.
1079         glCreateTextures(GL_TEXTURE_2D, 1, &initial_flow_tex);
1080         glTextureStorage2D(initial_flow_tex, 1, GL_RG16F, 1, 1);
1081         glClearTexImage(initial_flow_tex, 0, GL_RG, GL_FLOAT, nullptr);
1082 }
1083
1084 GLuint DISComputeFlow::exec(GLuint tex0, GLuint tex1)
1085 {
1086         for (const Texture &tex : textures) {
1087                 assert(!tex.in_use);
1088         }
1089
1090         int prev_level_width = 1, prev_level_height = 1;
1091         GLuint prev_level_flow_tex = initial_flow_tex;
1092
1093         GPUTimers timers;
1094
1095         ScopedTimer total_timer("Total", &timers);
1096         for (int level = coarsest_level; level >= int(finest_level); --level) {
1097                 char timer_name[256];
1098                 snprintf(timer_name, sizeof(timer_name), "Level %d", level);
1099                 ScopedTimer level_timer(timer_name, &total_timer);
1100
1101                 int level_width = width >> level;
1102                 int level_height = height >> level;
1103                 float patch_spacing_pixels = patch_size_pixels * (1.0f - patch_overlap_ratio);
1104                 int width_patches = 1 + lrintf((level_width - patch_size_pixels) / patch_spacing_pixels);
1105                 int height_patches = 1 + lrintf((level_height - patch_size_pixels) / patch_spacing_pixels);
1106
1107                 // Make sure we always read from the correct level; the chosen
1108                 // mipmapping could otherwise be rather unpredictable, especially
1109                 // during motion search.
1110                 // TODO: create these beforehand, and stop leaking them.
1111                 GLuint tex0_view, tex1_view;
1112                 glGenTextures(1, &tex0_view);
1113                 glTextureView(tex0_view, GL_TEXTURE_2D, tex0, GL_R8, level, 1, 0, 1);
1114                 glGenTextures(1, &tex1_view);
1115                 glTextureView(tex1_view, GL_TEXTURE_2D, tex1, GL_R8, level, 1, 0, 1);
1116
1117                 // Create a new texture; we could be fancy and render use a multi-level
1118                 // texture, but meh.
1119                 GLuint grad0_tex = get_texture(GL_RG16F, level_width, level_height);
1120
1121                 // Find the derivative.
1122                 {
1123                         ScopedTimer timer("Sobel", &level_timer);
1124                         sobel.exec(tex0_view, grad0_tex, level_width, level_height);
1125                 }
1126
1127                 // Motion search to find the initial flow. We use the flow from the previous
1128                 // level (sampled bilinearly; no fancy tricks) as a guide, then search from there.
1129
1130                 // Create an output flow texture.
1131                 GLuint flow_out_tex = get_texture(GL_RGB16F, width_patches, height_patches);
1132
1133                 // And draw.
1134                 {
1135                         ScopedTimer timer("Motion search", &level_timer);
1136                         motion_search.exec(tex0_view, tex1_view, grad0_tex, prev_level_flow_tex, flow_out_tex, level_width, level_height, prev_level_width, prev_level_height, width_patches, height_patches);
1137                 }
1138                 release_texture(grad0_tex);
1139
1140                 // Densification.
1141
1142                 // Set up an output texture (initially zero).
1143                 GLuint dense_flow_tex = get_texture(GL_RGB16F, level_width, level_height);
1144                 glClearTexImage(dense_flow_tex, 0, GL_RGB, GL_FLOAT, nullptr);
1145
1146                 // And draw.
1147                 {
1148                         ScopedTimer timer("Densification", &level_timer);
1149                         densify.exec(tex0_view, tex1_view, flow_out_tex, dense_flow_tex, level_width, level_height, width_patches, height_patches);
1150                 }
1151                 release_texture(flow_out_tex);
1152
1153                 // Everything below here in the loop belongs to variational refinement.
1154                 ScopedTimer varref_timer("Variational refinement", &level_timer);
1155
1156                 // Prewarping; create I and I_t, and a normalized base flow (so we don't
1157                 // have to normalize it over and over again, and also save some bandwidth).
1158                 //
1159                 // During the entire rest of the variational refinement, flow will be measured
1160                 // in pixels, not 0..1 normalized OpenGL texture coordinates.
1161                 // This is because variational refinement depends so heavily on derivatives,
1162                 // which are measured in intensity levels per pixel.
1163                 GLuint I_tex = get_texture(GL_R16F, level_width, level_height);
1164                 GLuint I_t_tex = get_texture(GL_R16F, level_width, level_height);
1165                 GLuint base_flow_tex = get_texture(GL_RG16F, level_width, level_height);
1166                 {
1167                         ScopedTimer timer("Prewarping", &varref_timer);
1168                         prewarp.exec(tex0_view, tex1_view, dense_flow_tex, I_tex, I_t_tex, base_flow_tex, level_width, level_height);
1169                 }
1170                 release_texture(dense_flow_tex);
1171
1172                 // Calculate I_x and I_y. We're only calculating first derivatives;
1173                 // the others will be taken on-the-fly in order to sample from fewer
1174                 // textures overall, since sampling from the L1 cache is cheap.
1175                 // (TODO: Verify that this is indeed faster than making separate
1176                 // double-derivative textures.)
1177                 GLuint I_x_y_tex = get_texture(GL_RG16F, level_width, level_height);
1178                 GLuint beta_0_tex = get_texture(GL_R16F, level_width, level_height);
1179                 {
1180                         ScopedTimer timer("First derivatives", &varref_timer);
1181                         derivatives.exec(I_tex, I_x_y_tex, beta_0_tex, level_width, level_height);
1182                 }
1183                 release_texture(I_tex);
1184
1185                 // We need somewhere to store du and dv (the flow increment, relative
1186                 // to the non-refined base flow u0 and v0). It starts at zero.
1187                 GLuint du_dv_tex = get_texture(GL_RG16F, level_width, level_height);
1188                 glClearTexImage(du_dv_tex, 0, GL_RG, GL_FLOAT, nullptr);
1189
1190                 // And for smoothness.
1191                 GLuint smoothness_x_tex = get_texture(GL_R16F, level_width, level_height);
1192                 GLuint smoothness_y_tex = get_texture(GL_R16F, level_width, level_height);
1193
1194                 // And finally for the equation set. See SetupEquations for
1195                 // the storage format.
1196                 GLuint equation_tex = get_texture(GL_RGBA32UI, level_width, level_height);
1197
1198                 for (int outer_idx = 0; outer_idx < level + 1; ++outer_idx) {
1199                         // Calculate the smoothness terms between the neighboring pixels,
1200                         // both in x and y direction.
1201                         {
1202                                 ScopedTimer timer("Compute smoothness", &varref_timer);
1203                                 compute_smoothness.exec(base_flow_tex, du_dv_tex, smoothness_x_tex, smoothness_y_tex, level_width, level_height);
1204                         }
1205
1206                         // Set up the 2x2 equation system for each pixel.
1207                         {
1208                                 ScopedTimer timer("Set up equations", &varref_timer);
1209                                 setup_equations.exec(I_x_y_tex, I_t_tex, du_dv_tex, base_flow_tex, beta_0_tex, smoothness_x_tex, smoothness_y_tex, equation_tex, level_width, level_height);
1210                         }
1211
1212                         // Run a few SOR (or quasi-SOR, since we're not really Jacobi) iterations.
1213                         // Note that these are to/from the same texture.
1214                         {
1215                                 ScopedTimer timer("SOR", &varref_timer);
1216                                 sor.exec(du_dv_tex, equation_tex, smoothness_x_tex, smoothness_y_tex, level_width, level_height, 5);
1217                         }
1218                 }
1219
1220                 release_texture(I_t_tex);
1221                 release_texture(I_x_y_tex);
1222                 release_texture(beta_0_tex);
1223                 release_texture(smoothness_x_tex);
1224                 release_texture(smoothness_y_tex);
1225                 release_texture(equation_tex);
1226
1227                 // Add the differential flow found by the variational refinement to the base flow,
1228                 // giving the final flow estimate for this level.
1229                 // The output is in diff_flow_tex; we don't need to make a new texture.
1230                 //
1231                 // Disabling this doesn't save any time (although we could easily make it so that
1232                 // it is more efficient), but it helps debug the motion search.
1233                 if (enable_variational_refinement) {
1234                         ScopedTimer timer("Add differential flow", &varref_timer);
1235                         add_base_flow.exec(base_flow_tex, du_dv_tex, level_width, level_height);
1236                 }
1237                 release_texture(du_dv_tex);
1238
1239                 if (prev_level_flow_tex != initial_flow_tex) {
1240                         release_texture(prev_level_flow_tex);
1241                 }
1242                 prev_level_flow_tex = base_flow_tex;
1243                 prev_level_width = level_width;
1244                 prev_level_height = level_height;
1245         }
1246         total_timer.end();
1247
1248         timers.print();
1249
1250         // Scale up the flow to the final size (if needed).
1251         if (finest_level == 0) {
1252                 return prev_level_flow_tex;
1253         } else {
1254                 GLuint final_tex = get_texture(GL_RG16F, width, height);
1255                 resize_flow.exec(prev_level_flow_tex, final_tex, prev_level_width, prev_level_height, width, height);
1256                 release_texture(prev_level_flow_tex);
1257                 return final_tex;
1258         }
1259 }
1260
1261 GLuint DISComputeFlow::get_texture(GLenum format, GLuint width, GLuint height)
1262 {
1263         for (Texture &tex : textures) {
1264                 if (!tex.in_use && tex.format == format &&
1265                     tex.width == width && tex.height == height) {
1266                         tex.in_use = true;
1267                         return tex.tex_num;
1268                 }
1269         }
1270
1271         Texture tex;
1272         glCreateTextures(GL_TEXTURE_2D, 1, &tex.tex_num);
1273         glTextureStorage2D(tex.tex_num, 1, format, width, height);
1274         tex.format = format;
1275         tex.width = width;
1276         tex.height = height;
1277         tex.in_use = true;
1278         textures.push_back(tex);
1279         return tex.tex_num;
1280 }
1281
1282 void DISComputeFlow::release_texture(GLuint tex_num)
1283 {
1284         for (Texture &tex : textures) {
1285                 if (tex.tex_num == tex_num) {
1286                         assert(tex.in_use);
1287                         tex.in_use = false;
1288                         return;
1289                 }
1290         }
1291         assert(false);
1292 }
1293
1294 // OpenGL uses a bottom-left coordinate system, .flo files use a top-left coordinate system.
1295 void flip_coordinate_system(float *dense_flow, unsigned width, unsigned height)
1296 {
1297         for (unsigned i = 0; i < width * height; ++i) {
1298                 dense_flow[i * 2 + 1] = -dense_flow[i * 2 + 1];
1299         }
1300 }
1301
1302 void write_flow(const char *filename, const float *dense_flow, unsigned width, unsigned height)
1303 {
1304         FILE *flowfp = fopen(filename, "wb");
1305         fprintf(flowfp, "FEIH");
1306         fwrite(&width, 4, 1, flowfp);
1307         fwrite(&height, 4, 1, flowfp);
1308         for (unsigned y = 0; y < height; ++y) {
1309                 int yy = height - y - 1;
1310                 fwrite(&dense_flow[yy * width * 2], width * 2 * sizeof(float), 1, flowfp);
1311         }
1312         fclose(flowfp);
1313 }
1314
1315 void write_ppm(const char *filename, const float *dense_flow, unsigned width, unsigned height)
1316 {
1317         FILE *fp = fopen(filename, "wb");
1318         fprintf(fp, "P6\n%d %d\n255\n", width, height);
1319         for (unsigned y = 0; y < unsigned(height); ++y) {
1320                 int yy = height - y - 1;
1321                 for (unsigned x = 0; x < unsigned(width); ++x) {
1322                         float du = dense_flow[(yy * width + x) * 2 + 0];
1323                         float dv = dense_flow[(yy * width + x) * 2 + 1];
1324
1325                         uint8_t r, g, b;
1326                         flow2rgb(du, dv, &r, &g, &b);
1327                         putc(r, fp);
1328                         putc(g, fp);
1329                         putc(b, fp);
1330                 }
1331         }
1332         fclose(fp);
1333 }
1334
1335 void finish_one_read(GLuint width, GLuint height)
1336 {
1337         assert(!reads_in_progress.empty());
1338         ReadInProgress read = reads_in_progress.front();
1339         reads_in_progress.pop_front();
1340
1341         unique_ptr<float[]> flow(new float[width * height * 2]);
1342         void *buf = glMapNamedBufferRange(read.pbo, 0, width * height * 2 * sizeof(float), GL_MAP_READ_BIT);  // Blocks if the read isn't done yet.
1343         memcpy(flow.get(), buf, width * height * 2 * sizeof(float));
1344         glUnmapNamedBuffer(read.pbo);
1345         spare_pbos.push(read.pbo);
1346
1347         flip_coordinate_system(flow.get(), width, height);
1348         if (!read.flow_filename.empty()) {
1349                 write_flow(read.flow_filename.c_str(), flow.get(), width, height);
1350                 fprintf(stderr, "%s %s -> %s\n", read.filename0.c_str(), read.filename1.c_str(), read.flow_filename.c_str());
1351         }
1352         if (!read.ppm_filename.empty()) {
1353                 write_ppm(read.ppm_filename.c_str(), flow.get(), width, height);
1354         }
1355 }
1356
1357 void schedule_read(GLuint tex, GLuint width, GLuint height, const char *filename0, const char *filename1, const char *flow_filename, const char *ppm_filename)
1358 {
1359         if (spare_pbos.empty()) {
1360                 finish_one_read(width, height);
1361         }
1362         assert(!spare_pbos.empty());
1363         reads_in_progress.emplace_back(ReadInProgress{ spare_pbos.top(), filename0, filename1, flow_filename, ppm_filename });
1364         glBindBuffer(GL_PIXEL_PACK_BUFFER, spare_pbos.top());
1365         spare_pbos.pop();
1366         glGetTextureImage(tex, 0, GL_RG, GL_FLOAT, width * height * 2 * sizeof(float), nullptr);
1367         glBindBuffer(GL_PIXEL_PACK_BUFFER, 0);
1368 }
1369
1370 int main(int argc, char **argv)
1371 {
1372         static const option long_options[] = {
1373                 { "smoothness-relative-weight", required_argument, 0, 's' },  // alpha.
1374                 { "intensity-relative-weight", required_argument, 0, 'i' },  // delta.
1375                 { "gradient-relative-weight", required_argument, 0, 'g' },  // gamma.
1376                 { "disable-timing", no_argument, 0, 1000 },
1377                 { "ignore-variational-refinement", no_argument, 0, 1001 }  // Still calculates it, just doesn't apply it.
1378         };
1379
1380         for ( ;; ) {
1381                 int option_index = 0;
1382                 int c = getopt_long(argc, argv, "s:i:g:", long_options, &option_index);
1383
1384                 if (c == -1) {
1385                         break;
1386                 }
1387                 switch (c) {
1388                 case 's':
1389                         vr_alpha = atof(optarg);
1390                         break;
1391                 case 'i':
1392                         vr_delta = atof(optarg);
1393                         break;
1394                 case 'g':
1395                         vr_gamma = atof(optarg);
1396                         break;
1397                 case 1000:
1398                         enable_timing = false;
1399                         break;
1400                 case 1001:
1401                         enable_variational_refinement = false;
1402                         break;
1403                 default:
1404                         fprintf(stderr, "Unknown option '%s'\n", argv[option_index]);
1405                         exit(1);
1406                 };
1407         }
1408
1409         if (SDL_Init(SDL_INIT_EVERYTHING) == -1) {
1410                 fprintf(stderr, "SDL_Init failed: %s\n", SDL_GetError());
1411                 exit(1);
1412         }
1413         SDL_GL_SetAttribute(SDL_GL_ALPHA_SIZE, 8);
1414         SDL_GL_SetAttribute(SDL_GL_DEPTH_SIZE, 0);
1415         SDL_GL_SetAttribute(SDL_GL_STENCIL_SIZE, 0);
1416         SDL_GL_SetAttribute(SDL_GL_DOUBLEBUFFER, 1);
1417
1418         SDL_GL_SetAttribute(SDL_GL_CONTEXT_PROFILE_MASK, SDL_GL_CONTEXT_PROFILE_CORE);
1419         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 4);
1420         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 5);
1421         // SDL_GL_SetAttribute(SDL_GL_CONTEXT_FLAGS, SDL_GL_CONTEXT_DEBUG_FLAG);
1422         SDL_Window *window = SDL_CreateWindow("OpenGL window",
1423                         SDL_WINDOWPOS_UNDEFINED,
1424                         SDL_WINDOWPOS_UNDEFINED,
1425                         64, 64,
1426                         SDL_WINDOW_OPENGL);
1427         SDL_GLContext context = SDL_GL_CreateContext(window);
1428         assert(context != nullptr);
1429
1430         const char *filename0 = argc >= (optind + 1) ? argv[optind] : "test1499.png";
1431         const char *filename1 = argc >= (optind + 2) ? argv[optind + 1] : "test1500.png";
1432         const char *flow_filename = argc >= (optind + 3) ? argv[optind + 2] : "flow.flo";
1433
1434         // Load pictures.
1435         unsigned width1, height1, width2, height2;
1436         GLuint tex0 = load_texture(filename0, &width1, &height1);
1437         GLuint tex1 = load_texture(filename1, &width2, &height2);
1438
1439         if (width1 != width2 || height1 != height2) {
1440                 fprintf(stderr, "Image dimensions don't match (%dx%d versus %dx%d)\n",
1441                         width1, height1, width2, height2);
1442                 exit(1);
1443         }
1444
1445         // Set up some PBOs to do asynchronous readback.
1446         GLuint pbos[5];
1447         glCreateBuffers(5, pbos);
1448         for (int i = 0; i < 5; ++i) {
1449                 glNamedBufferData(pbos[i], width1 * height1 * 2 * sizeof(float), nullptr, GL_STREAM_READ);
1450                 spare_pbos.push(pbos[i]);
1451         }
1452
1453         // FIXME: Should be part of DISComputeFlow (but needs to be initialized
1454         // before all the render passes).
1455         float vertices[] = {
1456                 0.0f, 1.0f,
1457                 0.0f, 0.0f,
1458                 1.0f, 1.0f,
1459                 1.0f, 0.0f,
1460         };
1461         glCreateBuffers(1, &vertex_vbo);
1462         glNamedBufferData(vertex_vbo, sizeof(vertices), vertices, GL_STATIC_DRAW);
1463         glBindBuffer(GL_ARRAY_BUFFER, vertex_vbo);
1464
1465         DISComputeFlow compute_flow(width1, height1);
1466         GLuint final_tex = compute_flow.exec(tex0, tex1);
1467
1468         schedule_read(final_tex, width1, height1, filename0, filename1, flow_filename, "flow.ppm");
1469         compute_flow.release_texture(final_tex);
1470
1471         // See if there are more flows on the command line (ie., more than three arguments),
1472         // and if so, process them.
1473         int num_flows = (argc - optind) / 3;
1474         for (int i = 1; i < num_flows; ++i) {
1475                 const char *filename0 = argv[optind + i * 3 + 0];
1476                 const char *filename1 = argv[optind + i * 3 + 1];
1477                 const char *flow_filename = argv[optind + i * 3 + 2];
1478                 GLuint width, height;
1479                 GLuint tex0 = load_texture(filename0, &width, &height);
1480                 if (width != width1 || height != height1) {
1481                         fprintf(stderr, "%s: Image dimensions don't match (%dx%d versus %dx%d)\n",
1482                                 filename0, width, height, width1, height1);
1483                         exit(1);
1484                 }
1485
1486                 GLuint tex1 = load_texture(filename1, &width, &height);
1487                 if (width != width1 || height != height1) {
1488                         fprintf(stderr, "%s: Image dimensions don't match (%dx%d versus %dx%d)\n",
1489                                 filename1, width, height, width1, height1);
1490                         exit(1);
1491                 }
1492
1493                 GLuint final_tex = compute_flow.exec(tex0, tex1);
1494                 schedule_read(final_tex, width1, height1, filename0, filename1, flow_filename, "");
1495                 compute_flow.release_texture(final_tex);
1496         }
1497
1498         while (!reads_in_progress.empty()) {
1499                 finish_one_read(width1, height1);
1500         }
1501 }