mirror of https://github.com/opencv/opencv.git
Ilya Lavrenov
11 years ago
parent
e5130cf83f
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3177a683e9
4 changed files with 312 additions and 26 deletions
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/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved. |
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// @Authors |
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// Shengen Yan,yanshengen@gmail.com |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors as is and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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/////////////////////////////////Macro for border type//////////////////////////////////////////// |
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///////////////////////////////////////////////////////////////////////////////////////////////// |
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#ifdef BORDER_CONSTANT |
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#elif defined BORDER_REPLICATE |
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#define EXTRAPOLATE(x, maxV) \ |
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{ \ |
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x = max(min(x, maxV - 1), 0); \ |
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} |
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#elif defined BORDER_WRAP |
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#define EXTRAPOLATE(x, maxV) \ |
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{ \ |
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if (x < 0) \ |
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x -= ((x - maxV + 1) / maxV) * maxV; \ |
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if (x >= maxV) \ |
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x %= maxV; \ |
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} |
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#elif defined(BORDER_REFLECT) || defined(BORDER_REFLECT101) |
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#define EXTRAPOLATE_(x, maxV, delta) \ |
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{ \ |
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if (maxV == 1) \ |
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x = 0; \ |
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else \ |
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do \ |
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{ \ |
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if ( x < 0 ) \ |
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x = -x - 1 + delta; \ |
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else \ |
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x = maxV - 1 - (x - maxV) - delta; \ |
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} \ |
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while (x >= maxV || x < 0); \ |
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} |
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#ifdef BORDER_REFLECT |
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#define EXTRAPOLATE(x, maxV) EXTRAPOLATE_(x, maxV, 0) |
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#else |
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#define EXTRAPOLATE(x, maxV) EXTRAPOLATE_(x, maxV, 1) |
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#endif |
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#else |
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#error No extrapolation method |
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#endif |
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#define THREADS 256 |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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/////////////////////////////////////calcHarris//////////////////////////////////////////////////// |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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__kernel void corner(__global const float * Dx, int dx_step, int dx_offset, int dx_whole_rows, int dx_whole_cols, |
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__global const float * Dy, int dy_step, int dy_offset, int dy_whole_rows, int dy_whole_cols, |
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols, float k) |
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{ |
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int col = get_local_id(0); |
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int gX = get_group_id(0); |
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int gY = get_group_id(1); |
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int gly = get_global_id(1); |
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int dx_x_off = (dx_offset % dx_step) >> 2; |
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int dx_y_off = dx_offset / dx_step; |
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int dy_x_off = (dy_offset % dy_step) >> 2; |
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int dy_y_off = dy_offset / dy_step; |
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int dst_x_off = (dst_offset % dst_step) >> 2; |
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int dst_y_off = dst_offset / dst_step; |
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int dx_startX = gX * (THREADS-ksX+1) - anX + dx_x_off; |
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int dx_startY = (gY << 1) - anY + dx_y_off; |
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int dy_startX = gX * (THREADS-ksX+1) - anX + dy_x_off; |
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int dy_startY = (gY << 1) - anY + dy_y_off; |
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int dst_startX = gX * (THREADS-ksX+1) + dst_x_off; |
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int dst_startY = (gY << 1) + dst_y_off; |
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float dx_data[ksY+1],dy_data[ksY+1], data[3][ksY+1]; |
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__local float temp[6][THREADS]; |
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#ifdef BORDER_CONSTANT |
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for (int i=0; i < ksY+1; i++) |
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{ |
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bool dx_con = dx_startX+col >= 0 && dx_startX+col < dx_whole_cols && dx_startY+i >= 0 && dx_startY+i < dx_whole_rows; |
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int indexDx = (dx_startY+i)*(dx_step>>2)+(dx_startX+col); |
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float dx_s = dx_con ? Dx[indexDx] : 0.0f; |
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dx_data[i] = dx_s; |
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bool dy_con = dy_startX+col >= 0 && dy_startX+col < dy_whole_cols && dy_startY+i >= 0 && dy_startY+i < dy_whole_rows; |
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int indexDy = (dy_startY+i)*(dy_step>>2)+(dy_startX+col); |
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float dy_s = dy_con ? Dy[indexDy] : 0.0f; |
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dy_data[i] = dy_s; |
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data[0][i] = dx_data[i] * dx_data[i]; |
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data[1][i] = dx_data[i] * dy_data[i]; |
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data[2][i] = dy_data[i] * dy_data[i]; |
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} |
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#else |
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int clamped_col = min(2*dst_cols, col); |
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for (int i=0; i < ksY+1; i++) |
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{ |
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int dx_selected_row = dx_startY+i, dx_selected_col = dx_startX+clamped_col; |
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EXTRAPOLATE(dx_selected_row, dx_whole_rows) |
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EXTRAPOLATE(dx_selected_col, dx_whole_cols) |
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dx_data[i] = Dx[dx_selected_row * (dx_step>>2) + dx_selected_col]; |
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int dy_selected_row = dy_startY+i, dy_selected_col = dy_startX+clamped_col; |
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EXTRAPOLATE(dy_selected_row, dy_whole_rows) |
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EXTRAPOLATE(dy_selected_col, dy_whole_cols) |
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dy_data[i] = Dy[dy_selected_row * (dy_step>>2) + dy_selected_col]; |
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data[0][i] = dx_data[i] * dx_data[i]; |
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data[1][i] = dx_data[i] * dy_data[i]; |
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data[2][i] = dy_data[i] * dy_data[i]; |
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} |
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#endif |
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float sum0 = 0.0f, sum1 = 0.0f, sum2 = 0.0f; |
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for (int i=1; i < ksY; i++) |
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{ |
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sum0 += data[0][i]; |
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sum1 += data[1][i]; |
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sum2 += data[2][i]; |
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} |
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float sum01 = sum0 + data[0][0]; |
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float sum02 = sum0 + data[0][ksY]; |
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temp[0][col] = sum01; |
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temp[1][col] = sum02; |
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float sum11 = sum1 + data[1][0]; |
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float sum12 = sum1 + data[1][ksY]; |
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temp[2][col] = sum11; |
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temp[3][col] = sum12; |
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float sum21 = sum2 + data[2][0]; |
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float sum22 = sum2 + data[2][ksY]; |
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temp[4][col] = sum21; |
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temp[5][col] = sum22; |
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barrier(CLK_LOCAL_MEM_FENCE); |
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if (col < (THREADS - (ksX - 1))) |
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{ |
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col += anX; |
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int posX = dst_startX - dst_x_off + col - anX; |
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int posY = (gly << 1); |
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int till = (ksX + 1)%2; |
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float tmp_sum[6] = { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }; |
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for (int k=0; k<6; k++) |
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{ |
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float temp_sum = 0; |
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for (int i=-anX; i<=anX - till; i++) |
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temp_sum += temp[k][col+i]; |
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tmp_sum[k] = temp_sum; |
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} |
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#ifdef CORNER_HARRIS |
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if (posX < dst_cols && (posY) < dst_rows) |
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{ |
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int dst_index = mad24(dst_step, dst_startY, (int)sizeof(float) * (dst_startX + col - anX)); |
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*(__global float *)(dst + dst_index) = |
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tmp_sum[0] * tmp_sum[4] - tmp_sum[2] * tmp_sum[2] - k * (tmp_sum[0] + tmp_sum[4]) * (tmp_sum[0] + tmp_sum[4]); |
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} |
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if (posX < dst_cols && (posY + 1) < dst_rows) |
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{ |
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int dst_index = mad24(dst_step, dst_startY + 1, (int)sizeof(float) * (dst_startX + col - anX)); |
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*(__global float *)(dst + dst_index) = |
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tmp_sum[1] * tmp_sum[5] - tmp_sum[3] * tmp_sum[3] - k * (tmp_sum[1] + tmp_sum[5]) * (tmp_sum[1] + tmp_sum[5]); |
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} |
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#elif defined CORNER_MINEIGENVAL |
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if (posX < dst_cols && (posY) < dst_rows) |
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{ |
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int dst_index = mad24(dst_step, dst_startY, (int)sizeof(float) * (dst_startX + col - anX)); |
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float a = tmp_sum[0] * 0.5f; |
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float b = tmp_sum[2]; |
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float c = tmp_sum[4] * 0.5f; |
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*(__global float *)(dst + dst_index) = (float)((a+c) - sqrt((a-c)*(a-c) + b*b)); |
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} |
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if (posX < dst_cols && (posY + 1) < dst_rows) |
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{ |
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int dst_index = mad24(dst_step, dst_startY + 1, (int)sizeof(float) * (dst_startX + col - anX)); |
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float a = tmp_sum[1] * 0.5f; |
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float b = tmp_sum[3]; |
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float c = tmp_sum[5] * 0.5f; |
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*(__global float *)(dst + dst_index) = (float)((a+c) - sqrt((a-c)*(a-c) + b*b)); |
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} |
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#else |
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#error "No such corners type" |
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#endif |
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} |
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} |
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