/*M///////////////////////////////////////////////////////////////////////////////////////
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//
//  By downloading, copying, installing or using the software you agree to this license.
//  If you do not agree to this license, do not download, install,
//  copy or use the software.
//
//
//                           License Agreement
//                For Open Source Computer Vision Library
//
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// Third party copyrights are property of their respective owners.
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// Redistribution and use in source and binary forms, with or without modification,
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#include "precomp.hpp"
#include "mcwutil.hpp"
using namespace std;
using namespace cv;
using namespace cv::ocl;

#if !defined (HAVE_OPENCL)

void cv::ocl::PyrLKOpticalFlow::sparse(const oclMat&, const oclMat&, const oclMat&, oclMat&, oclMat&, oclMat*) {  }
void cv::ocl::PyrLKOpticalFlow::dense(const oclMat&, const oclMat&, oclMat&, oclMat&, oclMat*) {  }

#else /* !defined (HAVE_OPENCL) */

namespace cv
{
    namespace ocl
    {
        ///////////////////////////OpenCL kernel strings///////////////////////////
        extern const char *pyrlk;
        extern const char *operator_setTo;
        extern const char *operator_convertTo;
        extern const char *arithm_mul;
        extern const char *pyr_down;
    }
}

struct dim3
{
    unsigned int x, y, z;
};

struct float2
{
    float x, y;
};

struct int2
{
    int x, y;
};

namespace
{
    void calcPatchSize(cv::Size winSize, int cn, dim3& block, dim3& patch, bool isDeviceArch11)
    {
        winSize.width *= cn;

        if (winSize.width > 32 && winSize.width > 2 * winSize.height)
        {
            block.x = isDeviceArch11 ? 16 : 32;
            block.y = 8;
        }
        else
        {
            block.x = 16;
            block.y = isDeviceArch11 ? 8 : 16;
        }

        patch.x = (winSize.width  + block.x - 1) / block.x;
        patch.y = (winSize.height + block.y - 1) / block.y;

        block.z = patch.z = 1;
    }
}

inline int divUp(int total, int grain)
{
    return (total + grain - 1) / grain;
}

///////////////////////////////////////////////////////////////////////////
//////////////////////////////// ConvertTo ////////////////////////////////
///////////////////////////////////////////////////////////////////////////
void convert_run_cus(const oclMat &src, oclMat &dst, double alpha, double beta)
{
    string kernelName = "convert_to_S";
    stringstream idxStr;
    idxStr << src.depth();
    kernelName += idxStr.str();
    float alpha_f = (float)alpha, beta_f = (float)beta;
    CV_DbgAssert(src.rows == dst.rows && src.cols == dst.cols);
    vector<pair<size_t , const void *> > args;
    size_t localThreads[3] = {16, 16, 1};
    size_t globalThreads[3];
    globalThreads[0] = (dst.cols + localThreads[0] - 1) / localThreads[0] * localThreads[0];
    globalThreads[1] = (dst.rows + localThreads[1] - 1) / localThreads[1] * localThreads[1];
    globalThreads[2] = 1;
    int dststep_in_pixel = dst.step / dst.elemSize(), dstoffset_in_pixel = dst.offset / dst.elemSize();
    int srcstep_in_pixel = src.step / src.elemSize(), srcoffset_in_pixel = src.offset / src.elemSize();
    if(dst.type() == CV_8UC1)
    {
        globalThreads[0] = ((dst.cols + 4) / 4 + localThreads[0]) / localThreads[0] * localThreads[0];
    }
    args.push_back( make_pair( sizeof(cl_mem) , (void *)&src.data ));
    args.push_back( make_pair( sizeof(cl_mem) , (void *)&dst.data ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&src.cols ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&src.rows ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&srcstep_in_pixel ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&srcoffset_in_pixel ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&dststep_in_pixel ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&dstoffset_in_pixel ));
    args.push_back( make_pair( sizeof(cl_float) , (void *)&alpha_f ));
    args.push_back( make_pair( sizeof(cl_float) , (void *)&beta_f ));
    openCLExecuteKernel2(dst.clCxt , &operator_convertTo, kernelName, globalThreads,
                        localThreads, args, dst.channels(), dst.depth(), CLFLUSH);
}
void convertTo( const oclMat &src, oclMat &m, int rtype, double alpha = 1, double beta = 0 );
void convertTo( const oclMat &src, oclMat &dst, int rtype, double alpha, double beta )
{
    //cout << "cv::ocl::oclMat::convertTo()" << endl;

    bool noScale = fabs(alpha - 1) < std::numeric_limits<double>::epsilon()
                   && fabs(beta) < std::numeric_limits<double>::epsilon();

    if( rtype < 0 )
        rtype = src.type();
    else
        rtype = CV_MAKETYPE(CV_MAT_DEPTH(rtype), src.channels());

    int sdepth = src.depth(), ddepth = CV_MAT_DEPTH(rtype);
    if( sdepth == ddepth && noScale )
    {
        src.copyTo(dst);
        return;
    }

    oclMat temp;
    const oclMat *psrc = &src;
    if( sdepth != ddepth && psrc == &dst )
        psrc = &(temp = src);

    dst.create( src.size(), rtype );
    convert_run_cus(*psrc, dst, alpha, beta);
}

///////////////////////////////////////////////////////////////////////////
//////////////////////////////// setTo ////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
//oclMat &operator = (const Scalar &s)
//{
//    //cout << "cv::ocl::oclMat::=" << endl;
//    setTo(s);
//    return *this;
//}
void set_to_withoutmask_run_cus(const oclMat &dst, const Scalar &scalar, string kernelName)
{
    vector<pair<size_t , const void *> > args;

    size_t localThreads[3] = {16, 16, 1};
    size_t globalThreads[3];
    globalThreads[0] = (dst.cols + localThreads[0] - 1) / localThreads[0] * localThreads[0];
    globalThreads[1] = (dst.rows + localThreads[1] - 1) / localThreads[1] * localThreads[1];
    globalThreads[2] = 1;
    int step_in_pixel = dst.step / dst.elemSize(), offset_in_pixel = dst.offset / dst.elemSize();
    if(dst.type() == CV_8UC1)
    {
        globalThreads[0] = ((dst.cols + 4) / 4 + localThreads[0] - 1) / localThreads[0] * localThreads[0];
    }
	char compile_option[32];
	union sc
	{
		cl_uchar4 uval;
		cl_char4  cval;
		cl_ushort4 usval;
		cl_short4 shval;
		cl_int4 ival;
		cl_float4 fval;
		cl_double4 dval;
	}val;
    switch(dst.depth())
    {
    case 0:
		val.uval.s[0] = saturate_cast<uchar>(scalar.val[0]);
		val.uval.s[1] = saturate_cast<uchar>(scalar.val[1]);
		val.uval.s[2] = saturate_cast<uchar>(scalar.val[2]);
		val.uval.s[3] = saturate_cast<uchar>(scalar.val[3]);
		switch(dst.channels())
		{
		case 1:
			sprintf(compile_option, "-D GENTYPE=uchar");
			args.push_back( make_pair( sizeof(cl_uchar) , (void *)&val.uval.s[0] ));
			break;
		case 4:
			sprintf(compile_option, "-D GENTYPE=uchar4");
			args.push_back( make_pair( sizeof(cl_uchar4) , (void *)&val.uval ));
			break;
		default:
			CV_Error(CV_StsUnsupportedFormat,"unsupported channels");
		}
        break;
    case 1:
		val.cval.s[0] = saturate_cast<char>(scalar.val[0]);
		val.cval.s[1] = saturate_cast<char>(scalar.val[1]);
		val.cval.s[2] = saturate_cast<char>(scalar.val[2]);
		val.cval.s[3] = saturate_cast<char>(scalar.val[3]);
		switch(dst.channels())
		{
		case 1:
			sprintf(compile_option, "-D GENTYPE=char");
			args.push_back( make_pair( sizeof(cl_char) , (void *)&val.cval.s[0] ));
			break;
		case 4:
			sprintf(compile_option, "-D GENTYPE=char4");
			args.push_back( make_pair( sizeof(cl_char4) , (void *)&val.cval ));
			break;
		default:
			CV_Error(CV_StsUnsupportedFormat,"unsupported channels");
		}
        break;
    case 2:
		val.usval.s[0] = saturate_cast<ushort>(scalar.val[0]);
		val.usval.s[1] = saturate_cast<ushort>(scalar.val[1]);
		val.usval.s[2] = saturate_cast<ushort>(scalar.val[2]);
		val.usval.s[3] = saturate_cast<ushort>(scalar.val[3]);
		switch(dst.channels())
		{
		case 1:
			sprintf(compile_option, "-D GENTYPE=ushort");
			args.push_back( make_pair( sizeof(cl_ushort) , (void *)&val.usval.s[0] ));
			break;
		case 4:
			sprintf(compile_option, "-D GENTYPE=ushort4");
			args.push_back( make_pair( sizeof(cl_ushort4) , (void *)&val.usval ));
			break;
		default:
			CV_Error(CV_StsUnsupportedFormat,"unsupported channels");
		}
        break;
    case 3:
		val.shval.s[0] = saturate_cast<short>(scalar.val[0]);
		val.shval.s[1] = saturate_cast<short>(scalar.val[1]);
		val.shval.s[2] = saturate_cast<short>(scalar.val[2]);
		val.shval.s[3] = saturate_cast<short>(scalar.val[3]);
		switch(dst.channels())
		{
		case 1:
			sprintf(compile_option, "-D GENTYPE=short");
			args.push_back( make_pair( sizeof(cl_short) , (void *)&val.shval.s[0] ));
			break;
		case 4:
			sprintf(compile_option, "-D GENTYPE=short4");
			args.push_back( make_pair( sizeof(cl_short4) , (void *)&val.shval ));
			break;
		default:
			CV_Error(CV_StsUnsupportedFormat,"unsupported channels");
		}
        break;
    case 4:
		val.ival.s[0] = saturate_cast<int>(scalar.val[0]);
		val.ival.s[1] = saturate_cast<int>(scalar.val[1]);
		val.ival.s[2] = saturate_cast<int>(scalar.val[2]);
		val.ival.s[3] = saturate_cast<int>(scalar.val[3]);
		switch(dst.channels())
		{
		case 1:
			sprintf(compile_option, "-D GENTYPE=int");
			args.push_back( make_pair( sizeof(cl_int) , (void *)&val.ival.s[0] ));
			break;
		case 2:
			sprintf(compile_option, "-D GENTYPE=int2");
			cl_int2 i2val;
			i2val.s[0] = val.ival.s[0];
			i2val.s[1] = val.ival.s[1];
			args.push_back( make_pair( sizeof(cl_int2) , (void *)&i2val ));
			break;
		case 4:
			sprintf(compile_option, "-D GENTYPE=int4");
			args.push_back( make_pair( sizeof(cl_int4) , (void *)&val.ival ));
			break;
		default:
			CV_Error(CV_StsUnsupportedFormat,"unsupported channels");
		}
        break;
    case 5:
		val.fval.s[0] = (float)scalar.val[0];
		val.fval.s[1] = (float)scalar.val[1];
		val.fval.s[2] = (float)scalar.val[2];
		val.fval.s[3] = (float)scalar.val[3];		
		switch(dst.channels())
		{
		case 1:
			sprintf(compile_option, "-D GENTYPE=float");
			args.push_back( make_pair( sizeof(cl_float) , (void *)&val.fval.s[0] ));
			break;
		case 4:
			sprintf(compile_option, "-D GENTYPE=float4");
			args.push_back( make_pair( sizeof(cl_float4) , (void *)&val.fval ));
			break;
		default:
			CV_Error(CV_StsUnsupportedFormat,"unsupported channels");
		}
        break;
    case 6:
		val.dval.s[0] = scalar.val[0];
		val.dval.s[1] = scalar.val[1];
		val.dval.s[2] = scalar.val[2];
		val.dval.s[3] = scalar.val[3];
		switch(dst.channels())
		{
		case 1:
			sprintf(compile_option, "-D GENTYPE=double");
			args.push_back( make_pair( sizeof(cl_double) , (void *)&val.dval.s[0] ));
			break;
		case 4:
			sprintf(compile_option, "-D GENTYPE=double4");
			args.push_back( make_pair( sizeof(cl_double4) , (void *)&val.dval ));
			break;
		default:
			CV_Error(CV_StsUnsupportedFormat,"unsupported channels");
		}
        break;
	default:
		CV_Error(CV_StsUnsupportedFormat,"unknown depth");
    }
#if CL_VERSION_1_2
	if(dst.offset==0 && dst.cols==dst.wholecols)
	{
		clEnqueueFillBuffer(dst.clCxt->impl->clCmdQueue,(cl_mem)dst.data,args[0].second,args[0].first,0,dst.step*dst.rows,0,NULL,NULL);
	}
	else
	{
		args.push_back( make_pair( sizeof(cl_mem) , (void *)&dst.data ));
		args.push_back( make_pair( sizeof(cl_int) , (void *)&dst.cols ));
		args.push_back( make_pair( sizeof(cl_int) , (void *)&dst.rows ));
		args.push_back( make_pair( sizeof(cl_int) , (void *)&step_in_pixel ));
		args.push_back( make_pair( sizeof(cl_int) , (void *)&offset_in_pixel));
        openCLExecuteKernel2(dst.clCxt , &operator_setTo, kernelName, globalThreads,
							localThreads, args, -1, -1,compile_option, CLFLUSH);
	}
#else
    args.push_back( make_pair( sizeof(cl_mem) , (void *)&dst.data ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&dst.cols ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&dst.rows ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&step_in_pixel ));
    args.push_back( make_pair( sizeof(cl_int) , (void *)&offset_in_pixel));
    openCLExecuteKernel2(dst.clCxt , &operator_setTo, kernelName, globalThreads,
                        localThreads, args, -1, -1,compile_option, CLFLUSH);
#endif
}

oclMat &setTo(oclMat &src, const Scalar &scalar)
{
    CV_Assert( src.depth() >= 0 && src.depth() <= 6 );
    CV_DbgAssert( !src.empty());

	if(src.type()==CV_8UC1)
	{
		set_to_withoutmask_run_cus(src, scalar, "set_to_without_mask_C1_D0");
	}
	else
	{
		set_to_withoutmask_run_cus(src, scalar, "set_to_without_mask");
	}

    return src;
}

void arithmetic_run(const oclMat &src1, oclMat &dst, string kernelName, const char **kernelString, void *_scalar)
{
    if(src1.clCxt -> impl -> double_support ==0 && src1.type() == CV_64F)
    {
        CV_Error(CV_GpuNotSupported,"Selected device don't support double\r\n");
        return;
    }

    //dst.create(src1.size(), src1.type());
    //CV_Assert(src1.cols == src2.cols && src2.cols == dst.cols &&
    //          src1.rows == src2.rows && src2.rows == dst.rows);
    CV_Assert(src1.cols == dst.cols && 
              src1.rows == dst.rows);

    CV_Assert(src1.type() == dst.type());
    CV_Assert(src1.depth() != CV_8S);

    Context  *clCxt = src1.clCxt;
    //int channels = dst.channels();
    //int depth = dst.depth();

    //int vector_lengths[4][7] = {{4, 0, 4, 4, 1, 1, 1},
    //    {4, 0, 4, 4, 1, 1, 1},
    //    {4, 0, 4, 4, 1, 1, 1},
    //    {4, 0, 4, 4, 1, 1, 1}
    //};

    //size_t vector_length = vector_lengths[channels-1][depth];
    //int offset_cols = (dst.offset / dst.elemSize1()) & (vector_length - 1);
    //int cols = divUp(dst.cols * channels + offset_cols, vector_length);

    size_t localThreads[3]  = { 16, 16, 1 };
	//size_t globalThreads[3] = { divUp(cols, localThreads[0]) * localThreads[0],
 //                               divUp(dst.rows, localThreads[1]) * localThreads[1],
 //                               1
 //                             };
	size_t globalThreads[3] = { src1.cols,
                                src1.rows,
                                1
                              };

    int dst_step1 = dst.cols * dst.elemSize();
    vector<pair<size_t , const void *> > args;
    args.push_back( make_pair( sizeof(cl_mem), (void *)&src1.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&src1.step ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&src1.offset ));
    //args.push_back( make_pair( sizeof(cl_mem), (void *)&src2.data ));
    //args.push_back( make_pair( sizeof(cl_int), (void *)&src2.step ));
    //args.push_back( make_pair( sizeof(cl_int), (void *)&src2.offset ));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dst.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dst.step ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dst.offset ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&src1.rows ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&src1.cols ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dst_step1 ));

    //if(_scalar != NULL)
    //{
        float scalar1 = *((float *)_scalar);
        args.push_back( make_pair( sizeof(float), (float *)&scalar1 ));
    //}

    openCLExecuteKernel2(clCxt, kernelString, kernelName, globalThreads, localThreads, args, -1, src1.depth(), CLFLUSH);
}

void multiply_cus(const oclMat &src1, oclMat &dst, float scalar)
{
    arithmetic_run(src1, dst, "arithm_muls", &pyrlk, (void *)(&scalar));
}

void pyrdown_run_cus(const oclMat &src, const oclMat &dst)
{

    CV_Assert(src.type() == dst.type());
    CV_Assert(src.depth() != CV_8S);

    Context  *clCxt = src.clCxt;

    string kernelName = "pyrDown";

    size_t localThreads[3]  = { 256, 1, 1 };
    size_t globalThreads[3] = { src.cols, dst.rows, 1};

    vector<pair<size_t , const void *> > args;
    args.push_back( make_pair( sizeof(cl_mem), (void *)&src.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&src.step ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&src.rows));
    args.push_back( make_pair( sizeof(cl_int), (void *)&src.cols));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dst.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dst.step ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dst.cols));

    openCLExecuteKernel2(clCxt, &pyr_down, kernelName, globalThreads, localThreads, args, src.channels(), src.depth(), CLFLUSH);
}

void pyrDown_cus(const oclMat& src, oclMat& dst)
{
    CV_Assert(src.depth() <= CV_32F && src.channels() <= 4);

    dst.create((src.rows + 1) / 2, (src.cols + 1) / 2, src.type());

    pyrdown_run_cus(src, dst);
}


//struct MultiplyScalar
//{
//    MultiplyScalar(double val_, double scale_) : val(val_), scale(scale_) {}
//    double operator ()(double a) const
//    {
//        return (scale * a * val);
//    }
//    const double val;
//    const double scale;
//};
//
//void callF(const oclMat& src, oclMat& dst, MultiplyScalar op, int mask)
//{
//	Mat srcTemp;
//	Mat dstTemp;
//	src.download(srcTemp);
//	dst.download(dstTemp);
//
//	int i;
//	int j;
//	int k;
//	for(i = 0; i < srcTemp.rows; i++)
//	{
//		for(j = 0; j < srcTemp.cols; j++)
//		{
//			for(k = 0; k < srcTemp.channels(); k++)
//			{
//				((float*)dstTemp.data)[srcTemp.channels() * (i * srcTemp.rows + j) + k] = (float)op(((float*)srcTemp.data)[srcTemp.channels() * (i * srcTemp.rows + j) + k]);
//			}
//		}
//	}
//
//	dst = dstTemp;
//}
//
//static inline bool isAligned(const unsigned char* ptr, size_t size)
//{
//    return reinterpret_cast<size_t>(ptr) % size == 0;
//}
//
//static inline bool isAligned(size_t step, size_t size)
//{
//    return step % size == 0;
//}
//
//void callT(const oclMat& src, oclMat& dst, MultiplyScalar op, int mask)
//{
//    if (!isAligned(src.data, 4 * sizeof(double)) || !isAligned(src.step, 4 * sizeof(double)) || 
//        !isAligned(dst.data, 4 * sizeof(double)) || !isAligned(dst.step, 4 * sizeof(double)))
//    {
//        callF(src, dst, op, mask);
//        return;
//    }
//
//	Mat srcTemp;
//	Mat dstTemp;
//	src.download(srcTemp);
//	dst.download(dstTemp);
//
//	int x_shifted;
//
//	int i;
//	int j;
//	for(i = 0; i < srcTemp.rows; i++)
//	{
//		const double* srcRow = (const double*)srcTemp.data + i * srcTemp.rows;
//        double* dstRow = (double*)dstTemp.data + i * dstTemp.rows;;
//
//		for(j = 0; j < srcTemp.cols; j++)
//		{
//			x_shifted = j * 4;
//
//			if(x_shifted + 4 - 1 < srcTemp.cols)
//			{
//				dstRow[x_shifted    ] = op(srcRow[x_shifted    ]);
//				dstRow[x_shifted + 1] = op(srcRow[x_shifted + 1]);
//				dstRow[x_shifted + 2] = op(srcRow[x_shifted + 2]);
//				dstRow[x_shifted + 3] = op(srcRow[x_shifted + 3]);
//			}
//			else
//			{
//				for (int real_x = x_shifted; real_x < srcTemp.cols; ++real_x)
//				{
//					((float*)dstTemp.data)[i * srcTemp.rows + real_x] = op(((float*)srcTemp.data)[i * srcTemp.rows + real_x]);
//				}
//			}
//		}
//	}
//}
//
//void multiply(const oclMat& src1, double val, oclMat& dst, double scale = 1.0f);
//void multiply(const oclMat& src1, double val, oclMat& dst, double scale)
//{
//    MultiplyScalar op(val, scale);
//	//if(src1.channels() == 1 && dst.channels() == 1)
//	//{
//	//    callT(src1, dst, op, 0);
//	//}
//	//else
//	//{
//	    callF(src1, dst, op, 0);
//	//}
//}

cl_mem bindTexture(const oclMat& mat, int depth, int channels)
{
	cl_mem texture;
    cl_image_format format;
    int err;
	if(depth == 0)
	{
	    format.image_channel_data_type = CL_UNSIGNED_INT8;
	}
	else if(depth == 5)
	{
	    format.image_channel_data_type = CL_FLOAT;
	}
	if(channels == 1)
	{
	    format.image_channel_order     = CL_R;
	}
	else if(channels == 3)
	{
	    format.image_channel_order     = CL_RGB;
	}
	else if(channels == 4)
	{
	    format.image_channel_order     = CL_RGBA;
	}
#if CL_VERSION_1_2
    cl_image_desc desc;
    desc.image_type       = CL_MEM_OBJECT_IMAGE2D;
	desc.image_width      = mat.step / mat.elemSize();
    desc.image_height     = mat.rows;
    desc.image_depth      = NULL;
    desc.image_array_size = 1;
    desc.image_row_pitch  = 0;
    desc.image_slice_pitch= 0;
    desc.buffer           = NULL;
    desc.num_mip_levels   = 0;
    desc.num_samples      = 0;
	texture = clCreateImage(mat.clCxt->impl->clContext, CL_MEM_READ_WRITE, &format, &desc, NULL, &err); 
#else
    texture = clCreateImage2D(
        mat.clCxt->impl->clContext, 
        CL_MEM_READ_WRITE, 
        &format, 
		mat.step / mat.elemSize(), 
        mat.rows, 
        0, 
        NULL, 
        &err);
#endif
    size_t origin[] = { 0, 0, 0 }; 
    size_t region[] = { mat.step / mat.elemSize(), mat.rows, 1 }; 
	clEnqueueCopyBufferToImage(mat.clCxt->impl->clCmdQueue, (cl_mem)mat.data, texture, 0, origin, region, 0, NULL, 0);
    openCLSafeCall(err);

	return texture;
}

void releaseTexture(cl_mem texture)
{
	openCLFree(texture);
}

void lkSparse_run(oclMat& I, oclMat& J,
    const oclMat& prevPts, oclMat& nextPts, oclMat& status, oclMat* err, bool GET_MIN_EIGENVALS, int ptcount, 
    int level, /*dim3 block, */dim3 patch, Size winSize, int iters)
{
    Context  *clCxt = I.clCxt;

    string kernelName = "lkSparse";

	size_t localThreads[3]  = { 8, 32, 1 };
    size_t globalThreads[3] = { 8 * ptcount, 32, 1};

	int cn = I.channels();

	bool calcErr;
    if (err)
    {
		calcErr = true;
    }
    else
    {
		calcErr = false;
    }
	calcErr = true;

	cl_mem ITex = bindTexture(I, I.depth(), cn);
	cl_mem JTex = bindTexture(J, J.depth(), cn);

    vector<pair<size_t , const void *> > args;

    args.push_back( make_pair( sizeof(cl_mem), (void *)&ITex ));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&JTex ));

    args.push_back( make_pair( sizeof(cl_mem), (void *)&prevPts.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&prevPts.step ));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&nextPts.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&nextPts.step ));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&status.data ));
    //args.push_back( make_pair( sizeof(cl_mem), (void *)&(err->data) ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&level ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&I.rows ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&I.cols ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&patch.x ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&patch.y ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&cn ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&winSize.width ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&winSize.height ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&iters ));
    args.push_back( make_pair( sizeof(cl_char), (void *)&calcErr ));
    args.push_back( make_pair( sizeof(cl_char), (void *)&GET_MIN_EIGENVALS ));

	openCLExecuteKernel2(clCxt, &pyrlk, kernelName, globalThreads, localThreads, args, I.channels(), I.depth(), CLFLUSH);
	
	releaseTexture(ITex);
	releaseTexture(JTex);
}

void cv::ocl::PyrLKOpticalFlow::sparse(const oclMat& prevImg, const oclMat& nextImg, const oclMat& prevPts, oclMat& nextPts, oclMat& status, oclMat* err)
{
    if (prevPts.empty())
    {
        nextPts.release();
        status.release();
        if (err) err->release();
        return;
    }

    derivLambda = std::min(std::max(derivLambda, 0.0), 1.0);

    iters = std::min(std::max(iters, 0), 100);

    const int cn = prevImg.channels();

    dim3 block, patch;
    calcPatchSize(winSize, cn, block, patch, isDeviceArch11_);  

    CV_Assert(derivLambda >= 0);
    CV_Assert(maxLevel >= 0 && winSize.width > 2 && winSize.height > 2);
    CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type());
    CV_Assert(patch.x > 0 && patch.x < 6 && patch.y > 0 && patch.y < 6);
    CV_Assert(prevPts.rows == 1 && prevPts.type() == CV_32FC2);

    if (useInitialFlow)
        CV_Assert(nextPts.size() == prevPts.size() && nextPts.type() == CV_32FC2);
    else
        ensureSizeIsEnough(1, prevPts.cols, prevPts.type(), nextPts);

    oclMat temp1 = (useInitialFlow ? nextPts : prevPts).reshape(1);
    oclMat temp2 = nextPts.reshape(1);
	//oclMat scalar(temp1.rows, temp1.cols, temp1.type(), Scalar(1.0f / (1 << maxLevel) / 2.0f));
	multiply_cus(temp1, temp2, 1.0f / (1 << maxLevel) / 2.0f);
	//::multiply(temp1, 1.0f / (1 << maxLevel) / 2.0f, temp2);

    ensureSizeIsEnough(1, prevPts.cols, CV_8UC1, status);
    //status.setTo(Scalar::all(1));
    setTo(status, Scalar::all(1));

    //if (err)
    //    ensureSizeIsEnough(1, prevPts.cols, CV_32FC1, *err);

    // build the image pyramids.

    prevPyr_.resize(maxLevel + 1);
    nextPyr_.resize(maxLevel + 1);

    if (cn == 1 || cn == 4)
    {
        //prevImg.convertTo(prevPyr_[0], CV_32F);
        //nextImg.convertTo(nextPyr_[0], CV_32F);
        convertTo(prevImg, prevPyr_[0], CV_32F);
        convertTo(nextImg, nextPyr_[0], CV_32F);
    }
    else
    {
		//oclMat buf_;
  //      cvtColor(prevImg, buf_, COLOR_BGR2BGRA);
  //      buf_.convertTo(prevPyr_[0], CV_32F);

  //      cvtColor(nextImg, buf_, COLOR_BGR2BGRA);
  //      buf_.convertTo(nextPyr_[0], CV_32F);
    }

    for (int level = 1; level <= maxLevel; ++level)
    {
        pyrDown_cus(prevPyr_[level - 1], prevPyr_[level]);
        pyrDown_cus(nextPyr_[level - 1], nextPyr_[level]);
    }

    // dI/dx ~ Ix, dI/dy ~ Iy

    for (int level = maxLevel; level >= 0; level--)
    {
		lkSparse_run(prevPyr_[level], nextPyr_[level], 
			prevPts, nextPts, status, level == 0 && err ? err : 0, getMinEigenVals, prevPts.cols,
			level, /*block, */patch, winSize, iters);
    }

	clFinish(prevImg.clCxt->impl->clCmdQueue);
}

void lkDense_run(oclMat& I, oclMat& J, oclMat& u, oclMat& v, 
    oclMat& prevU, oclMat& prevV, oclMat* err, Size winSize, int iters)
{
    Context  *clCxt = I.clCxt;

    string kernelName = "lkDense";

    size_t localThreads[3]  = { 16, 16, 1 };
    size_t globalThreads[3] = { I.cols, I.rows, 1};

	int cn = I.channels();

	bool calcErr;
    if (err)
    {
		calcErr = true;
    }
    else
    {
		calcErr = false;
    }

	cl_mem ITex = bindTexture(I, I.depth(), cn);
	cl_mem JTex = bindTexture(J, J.depth(), cn);

	//int2 halfWin = {(winSize.width - 1) / 2, (winSize.height - 1) / 2};
    //const int patchWidth  = 16 + 2 * halfWin.x;
    //const int patchHeight = 16 + 2 * halfWin.y;
    //size_t smem_size = 3 * patchWidth * patchHeight * sizeof(int);

    vector<pair<size_t , const void *> > args;

    args.push_back( make_pair( sizeof(cl_mem), (void *)&ITex ));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&JTex ));

    args.push_back( make_pair( sizeof(cl_mem), (void *)&u.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&u.step ));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&v.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&v.step ));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&prevU.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&prevU.step ));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&prevV.data ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&prevV.step ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&I.rows ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&I.cols ));
    //args.push_back( make_pair( sizeof(cl_mem), (void *)&(*err).data ));
    //args.push_back( make_pair( sizeof(cl_int), (void *)&(*err).step ));
	args.push_back( make_pair( sizeof(cl_int), (void *)&winSize.width ));
	args.push_back( make_pair( sizeof(cl_int), (void *)&winSize.height ));
    args.push_back( make_pair( sizeof(cl_int), (void *)&iters ));
    args.push_back( make_pair( sizeof(cl_char), (void *)&calcErr ));

    openCLExecuteKernel2(clCxt, &pyrlk, kernelName, globalThreads, localThreads, args, I.channels(), I.depth(), CLFLUSH);
	
	releaseTexture(ITex);
	releaseTexture(JTex);
}

void cv::ocl::PyrLKOpticalFlow::dense(const oclMat& prevImg, const oclMat& nextImg, oclMat& u, oclMat& v, oclMat* err)
{
    CV_Assert(prevImg.type() == CV_8UC1);
    CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type());
    CV_Assert(maxLevel >= 0);
    CV_Assert(winSize.width > 2 && winSize.height > 2);

    if (err)
        err->create(prevImg.size(), CV_32FC1);

    prevPyr_.resize(maxLevel + 1);
    nextPyr_.resize(maxLevel + 1);

    prevPyr_[0] = prevImg;
    nextImg.convertTo(nextPyr_[0], CV_32F);

    for (int level = 1; level <= maxLevel; ++level)
    {
        pyrDown(prevPyr_[level - 1], prevPyr_[level]);
        pyrDown(nextPyr_[level - 1], nextPyr_[level]);
    }

    ensureSizeIsEnough(prevImg.size(), CV_32FC1, uPyr_[0]);
    ensureSizeIsEnough(prevImg.size(), CV_32FC1, vPyr_[0]);
    ensureSizeIsEnough(prevImg.size(), CV_32FC1, uPyr_[1]);
    ensureSizeIsEnough(prevImg.size(), CV_32FC1, vPyr_[1]);
    uPyr_[1].setTo(Scalar::all(0));
    vPyr_[1].setTo(Scalar::all(0));

	Size winSize2i(winSize.width, winSize.height);

    int idx = 0;

    for (int level = maxLevel; level >= 0; level--)
    {
        int idx2 = (idx + 1) & 1;

        lkDense_run(prevPyr_[level], nextPyr_[level], uPyr_[idx], vPyr_[idx], uPyr_[idx2], vPyr_[idx2],
            level == 0 ? err : 0, winSize2i, iters);

        if (level > 0)
            idx = idx2;
    }

    uPyr_[idx].copyTo(u);
    vPyr_[idx].copyTo(v);
}

#endif /* !defined (HAVE_CUDA) */