opencv/modules/imgproc/src/opencl/corner.cl

/*M///////////////////////////////////////////////////////////////////////////////////////
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//    Shengen Yan,yanshengen@gmail.com
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///////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////Macro for border type////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////

#ifdef BORDER_CONSTANT
#elif defined BORDER_REPLICATE
#define EXTRAPOLATE(x, maxV) \
    { \
        x = max(min(x, maxV - 1), 0); \
    }
#elif defined BORDER_WRAP
#define EXTRAPOLATE(x, maxV) \
    { \
        if (x < 0) \
            x -= ((x - maxV + 1) / maxV) * maxV; \
        if (x >= maxV) \
            x %= maxV; \
    }
#elif defined(BORDER_REFLECT) || defined(BORDER_REFLECT101)
#define EXTRAPOLATE_(x, maxV, delta) \
    { \
        if (maxV == 1) \
            x = 0; \
        else \
            do \
            { \
                if ( x < 0 ) \
                    x = -x - 1 + delta; \
                else \
                    x = maxV - 1 - (x - maxV) - delta; \
            } \
            while (x >= maxV || x < 0); \
    }
#ifdef BORDER_REFLECT
#define EXTRAPOLATE(x, maxV) EXTRAPOLATE_(x, maxV, 0)
#else
#define EXTRAPOLATE(x, maxV) EXTRAPOLATE_(x, maxV, 1)
#endif
#else
#error No extrapolation method
#endif

#define THREADS 256

///////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////calcHarris////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////

__kernel void corner(__global const float * Dx, int dx_step, int dx_offset, int dx_whole_rows, int dx_whole_cols,
                     __global const float * Dy, int dy_step, int dy_offset, int dy_whole_rows, int dy_whole_cols,
                     __global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols, float k)
{
    int col = get_local_id(0);
    int gX = get_group_id(0);
    int gY = get_group_id(1);
    int gly = get_global_id(1);

    int dx_x_off = (dx_offset % dx_step) >> 2;
    int dx_y_off = dx_offset / dx_step;
    int dy_x_off = (dy_offset % dy_step) >> 2;
    int dy_y_off = dy_offset / dy_step;
    int dst_x_off = (dst_offset % dst_step) >> 2;
    int dst_y_off = dst_offset / dst_step;

    int dx_startX = gX * (THREADS-ksX+1) - anX + dx_x_off;
    int dx_startY = (gY << 1) - anY + dx_y_off;
    int dy_startX = gX * (THREADS-ksX+1) - anX + dy_x_off;
    int dy_startY = (gY << 1) - anY + dy_y_off;
    int dst_startX = gX * (THREADS-ksX+1) + dst_x_off;
    int dst_startY = (gY << 1) + dst_y_off;

    float data[3][ksY+1];
    __local float temp[6][THREADS];

#ifdef BORDER_CONSTANT
    for (int i=0; i < ksY+1; i++)
    {
        bool dx_con = dx_startX+col >= 0 && dx_startX+col < dx_whole_cols && dx_startY+i >= 0 && dx_startY+i < dx_whole_rows;
        int indexDx = mad24(dx_startY+i, dx_step>>2, dx_startX+col);
        float dx_s = dx_con ? Dx[indexDx] : 0.0f;

        bool dy_con = dy_startX+col >= 0 && dy_startX+col < dy_whole_cols && dy_startY+i >= 0 && dy_startY+i < dy_whole_rows;
        int indexDy = mad24(dy_startY+i, dy_step>>2, dy_startX+col);
        float dy_s = dy_con ? Dy[indexDy] : 0.0f;

        data[0][i] = dx_s * dx_s;
        data[1][i] = dx_s * dy_s;
        data[2][i] = dy_s * dy_s;
    }
#else
    int clamped_col = min(2*dst_cols, col);
    for (int i=0; i < ksY+1; i++)
    {
        int dx_selected_row = dx_startY+i, dx_selected_col = dx_startX+clamped_col;
        EXTRAPOLATE(dx_selected_row, dx_whole_rows)
        EXTRAPOLATE(dx_selected_col, dx_whole_cols)
        float dx_s = Dx[mad24(dx_selected_row, dx_step>>2, dx_selected_col)];

        int dy_selected_row = dy_startY+i, dy_selected_col = dy_startX+clamped_col;
        EXTRAPOLATE(dy_selected_row, dy_whole_rows)
        EXTRAPOLATE(dy_selected_col, dy_whole_cols)
        float dy_s = Dy[mad24(dy_selected_row, dy_step>>2, dy_selected_col)];

        data[0][i] = dx_s * dx_s;
        data[1][i] = dx_s * dy_s;
        data[2][i] = dy_s * dy_s;
    }
#endif
    float sum0 = 0.0f, sum1 = 0.0f, sum2 = 0.0f;
    for (int i=1; i < ksY; i++)
    {
        sum0 += data[0][i];
        sum1 += data[1][i];
        sum2 += data[2][i];
    }

    float sum01 = sum0 + data[0][0];
    float sum02 = sum0 + data[0][ksY];
    temp[0][col] = sum01;
    temp[1][col] = sum02;
    float sum11 = sum1 + data[1][0];
    float sum12 = sum1 + data[1][ksY];
    temp[2][col] = sum11;
    temp[3][col] = sum12;
    float sum21 = sum2 + data[2][0];
    float sum22 = sum2 + data[2][ksY];
    temp[4][col] = sum21;
    temp[5][col] = sum22;
    barrier(CLK_LOCAL_MEM_FENCE);

    if (col < (THREADS - (ksX - 1)))
    {
        col += anX;
        int posX = dst_startX - dst_x_off + col - anX;
        int posY = (gly << 1);
        int till = (ksX + 1) & 1;
        float tmp_sum[6] = { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
        for (int k=0; k<6; k++)
        {
            float temp_sum = 0;
            for (int i=-anX; i<=anX - till; i++)
                temp_sum += temp[k][col+i];
            tmp_sum[k] = temp_sum;
        }

#ifdef CORNER_HARRIS
        if (posX < dst_cols && (posY) < dst_rows)
        {
            int dst_index = mad24(dst_step, dst_startY, (int)sizeof(float) * (dst_startX + col - anX));
            *(__global float *)(dst + dst_index) =
                    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]);
        }
        if (posX < dst_cols && (posY + 1) < dst_rows)
        {
            int dst_index = mad24(dst_step, dst_startY + 1, (int)sizeof(float) * (dst_startX + col - anX));
            *(__global float *)(dst + dst_index) =
                    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]);
        }
#elif defined CORNER_MINEIGENVAL
        if (posX < dst_cols && (posY) < dst_rows)
        {
            int dst_index = mad24(dst_step, dst_startY, (int)sizeof(float) * (dst_startX + col - anX));
            float a = tmp_sum[0] * 0.5f;
            float b = tmp_sum[2];
            float c = tmp_sum[4] * 0.5f;
            *(__global float *)(dst + dst_index) = (float)((a+c) - native_sqrt((a-c)*(a-c) + b*b));
        }
        if (posX < dst_cols && (posY + 1) < dst_rows)
        {
            int dst_index = mad24(dst_step, dst_startY + 1, (int)sizeof(float) * (dst_startX + col - anX));
            float a = tmp_sum[1] * 0.5f;
            float b = tmp_sum[3];
            float c = tmp_sum[5] * 0.5f;
            *(__global float *)(dst + dst_index) = (float)((a+c) - native_sqrt((a-c)*(a-c) + b*b));
        }
#else
#error "No such corners type"
#endif
    }
}