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276 lines
8.2 KiB
Common Lisp
276 lines
8.2 KiB
Common Lisp
/*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, Multicoreware, Inc., 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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// Peng Xiao, pengxiao@outlook.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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#ifndef WITH_MASK
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#define WITH_MASK 0
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#endif
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__constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_NEAREST;
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inline float ELEM_INT2(image2d_t _eig, int _x, int _y)
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{
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return read_imagef(_eig, sampler, (int2)(_x, _y)).x;
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}
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inline float ELEM_FLT2(image2d_t _eig, float2 pt)
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{
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return read_imagef(_eig, sampler, pt).x;
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}
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__kernel
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void findCorners
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(
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image2d_t eig,
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__global const char * mask,
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__global float2 * corners,
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const int mask_strip,// in pixels
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const float threshold,
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const int rows,
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const int cols,
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const int max_count,
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__global int * g_counter
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)
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{
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const int j = get_global_id(0);
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const int i = get_global_id(1);
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if (i > 0 && i < rows - 1 && j > 0 && j < cols - 1
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#if WITH_MASK
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&& mask[i * mask_strip + j] != 0
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#endif
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)
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{
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const float val = ELEM_INT2(eig, j, i);
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if (val > threshold)
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{
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float maxVal = val;
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maxVal = fmax(ELEM_INT2(eig, j - 1, i - 1), maxVal);
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maxVal = fmax(ELEM_INT2(eig, j , i - 1), maxVal);
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maxVal = fmax(ELEM_INT2(eig, j + 1, i - 1), maxVal);
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maxVal = fmax(ELEM_INT2(eig, j - 1, i), maxVal);
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maxVal = fmax(ELEM_INT2(eig, j + 1, i), maxVal);
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maxVal = fmax(ELEM_INT2(eig, j - 1, i + 1), maxVal);
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maxVal = fmax(ELEM_INT2(eig, j , i + 1), maxVal);
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maxVal = fmax(ELEM_INT2(eig, j + 1, i + 1), maxVal);
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if (val == maxVal)
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{
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const int ind = atomic_inc(g_counter);
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if (ind < max_count)
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corners[ind] = (float2)(j, i);
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}
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}
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}
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}
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//bitonic sort
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__kernel
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void sortCorners_bitonicSort
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(
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image2d_t eig,
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__global float2 * corners,
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const int count,
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const int stage,
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const int passOfStage
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)
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{
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const int threadId = get_global_id(0);
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if(threadId >= count / 2)
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{
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return;
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}
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const int sortOrder = (((threadId/(1 << stage)) % 2)) == 1 ? 1 : 0; // 0 is descent
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const int pairDistance = 1 << (stage - passOfStage);
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const int blockWidth = 2 * pairDistance;
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const int leftId = min( (threadId % pairDistance)
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+ (threadId / pairDistance) * blockWidth, count );
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const int rightId = min( leftId + pairDistance, count );
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const float2 leftPt = corners[leftId];
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const float2 rightPt = corners[rightId];
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const float leftVal = ELEM_FLT2(eig, leftPt);
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const float rightVal = ELEM_FLT2(eig, rightPt);
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const bool compareResult = leftVal > rightVal;
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float2 greater = compareResult ? leftPt:rightPt;
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float2 lesser = compareResult ? rightPt:leftPt;
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corners[leftId] = sortOrder ? lesser : greater;
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corners[rightId] = sortOrder ? greater : lesser;
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}
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//selection sort for gfft
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//kernel is ported from Bolt library:
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//https://github.com/HSA-Libraries/Bolt/blob/master/include/bolt/cl/sort_kernels.cl
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// Local sort will firstly sort elements of each workgroup using selection sort
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// its performance is O(n)
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__kernel
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void sortCorners_selectionSortLocal
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(
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image2d_t eig,
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__global float2 * corners,
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const int count,
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__local float2 * scratch
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)
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{
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int i = get_local_id(0); // index in workgroup
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int numOfGroups = get_num_groups(0); // index in workgroup
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int groupID = get_group_id(0);
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int wg = get_local_size(0); // workgroup size = block size
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int n; // number of elements to be processed for this work group
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int offset = groupID * wg;
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int same = 0;
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corners += offset;
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n = (groupID == (numOfGroups-1))? (count - wg*(numOfGroups-1)) : wg;
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float2 pt1, pt2;
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pt1 = corners[min(i, n)];
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scratch[i] = pt1;
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barrier(CLK_LOCAL_MEM_FENCE);
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if(i >= n)
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{
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return;
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}
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float val1 = ELEM_FLT2(eig, pt1);
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float val2;
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int pos = 0;
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for (int j=0;j<n;++j)
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{
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pt2 = scratch[j];
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val2 = ELEM_FLT2(eig, pt2);
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if(val2 > val1)
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pos++;//calculate the rank of this element in this work group
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else
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{
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if(val1 > val2)
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continue;
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else
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{
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// val1 and val2 are same
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same++;
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}
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}
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}
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for (int j=0; j< same; j++)
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corners[pos + j] = pt1;
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}
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__kernel
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void sortCorners_selectionSortFinal
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(
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image2d_t eig,
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__global float2 * corners,
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const int count
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)
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{
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const int i = get_local_id(0); // index in workgroup
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const int numOfGroups = get_num_groups(0); // index in workgroup
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const int groupID = get_group_id(0);
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const int wg = get_local_size(0); // workgroup size = block size
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int pos = 0, same = 0;
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const int offset = get_group_id(0) * wg;
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const int remainder = count - wg*(numOfGroups-1);
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if((offset + i ) >= count)
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return;
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float2 pt1, pt2;
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pt1 = corners[groupID*wg + i];
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float val1 = ELEM_FLT2(eig, pt1);
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float val2;
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for(int j=0; j<numOfGroups-1; j++ )
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{
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for(int k=0; k<wg; k++)
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{
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pt2 = corners[j*wg + k];
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val2 = ELEM_FLT2(eig, pt2);
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if(val1 > val2)
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break;
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else
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{
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//Increment only if the value is not the same.
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if( val2 > val1 )
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pos++;
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else
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same++;
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}
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}
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}
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for(int k=0; k<remainder; k++)
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{
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pt2 = corners[(numOfGroups-1)*wg + k];
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val2 = ELEM_FLT2(eig, pt2);
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if(val1 > val2)
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break;
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else
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{
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//Don't increment if the value is the same.
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//Two elements are same if (*userComp)(jData, iData) and (*userComp)(iData, jData) are both false
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if(val2 > val1)
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pos++;
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else
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same++;
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}
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}
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for (int j=0; j< same; j++)
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corners[pos + j] = pt1;
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}
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