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243 lines
9.6 KiB
Common Lisp
243 lines
9.6 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, 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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// Copyright (C) 2010-2012, Multicoreware, 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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// Xu Pang, pangxu010@163.com
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// Wenju He, wenju@multicorewareinc.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 GpuMaterials 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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short2 do_mean_shift(int x0, int y0, __global uchar4* out,int out_step,
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__global uchar4* in, int in_step, int dst_off, int src_off,
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int cols, int rows, int sp, int sr, int maxIter, float eps)
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{
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int isr2 = sr*sr;
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in_step = in_step >> 2;
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out_step = out_step >> 2;
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src_off = src_off >> 2;
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dst_off = dst_off >> 2;
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int idx = src_off + y0 * in_step + x0;
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// uchar4 c = vload4(0, (__global uchar*)in+idx);
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uchar4 c = in[idx];
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int base = dst_off + get_global_id(1)*out_step + get_global_id(0) ;
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// iterate meanshift procedure
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for( int iter = 0; iter < maxIter; iter++ )
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{
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int count = 0;
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int4 s = (int4)0;
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int sx = 0, sy = 0;
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//mean shift: process pixels in window (p-sigmaSp)x(p+sigmaSp)
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//deal with the image boundary
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int minx = (x0-sp)>0 ? x0-sp : 0;
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int miny = (y0-sp)>0 ? y0-sp : 0;
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int maxx = (x0+sp)<cols ? x0+sp : cols-1;
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int maxy = (y0+sp)<rows ? y0+sp : rows-1;
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for( int y = miny; y <= maxy; y++)
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{
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int rowCount = 0;
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int x = minx;
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for( ; x+3 <= maxx; x+=4 )
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{
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int id = src_off + y*in_step + x;
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uchar16 t = (uchar16)(in[id],in[id+1],in[id+2],in[id+3]);
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int norm2_1 = (t.s0 - c.x) * (t.s0 - c.x) + (t.s1 - c.y) * (t.s1 - c.y) +
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(t.s2 - c.z) * (t.s2 - c.z);
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int norm2_2 = (t.s4 - c.x) * (t.s4 - c.x) + (t.s5 - c.y) * (t.s5 - c.y) +
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(t.s6 - c.z) * (t.s6 - c.z);
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int norm2_3 = (t.s8 - c.x) * (t.s8 - c.x) + (t.s9 - c.y) * (t.s9 - c.y) +
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(t.sa - c.z) * (t.sa - c.z);
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int norm2_4 = (t.sc - c.x) * (t.sc - c.x) + (t.sd - c.y) * (t.sd - c.y) +
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(t.se - c.z) * (t.se - c.z);
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if( norm2_1 <= isr2 )
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{
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s.x += t.s0; s.y += t.s1; s.z += t.s2;
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sx += x; rowCount++;
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}
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if( norm2_2 <= isr2 )
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{
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s.x += t.s4; s.y += t.s5; s.z += t.s6;
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sx += x+1; rowCount++;
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}
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if( norm2_3 <= isr2 )
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{
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s.x += t.s8; s.y += t.s9; s.z += t.sa;
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sx += x+2; rowCount++;
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}
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if( norm2_4 <= isr2 )
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{
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s.x += t.sc; s.y += t.sd; s.z += t.se;
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sx += x+3; rowCount++;
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}
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}
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if(x == maxx)
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{
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int id = src_off + y*in_step + x;
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uchar4 t = in[id];
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int norm2 = (t.s0 - c.x) * (t.s0 - c.x) + (t.s1 - c.y) * (t.s1 - c.y) +
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(t.s2 - c.z) * (t.s2 - c.z);
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if( norm2 <= isr2 )
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{
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s.x += t.s0; s.y += t.s1; s.z += t.s2;
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sx += x; rowCount++;
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}
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}
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if(x+1 == maxx)
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{
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int id = src_off + y*in_step + x;
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uchar8 t = (uchar8)(in[id],in[id+1]);
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int norm2_1 = (t.s0 - c.x) * (t.s0 - c.x) + (t.s1 - c.y) * (t.s1 - c.y) +
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(t.s2 - c.z) * (t.s2 - c.z);
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int norm2_2 = (t.s4 - c.x) * (t.s4 - c.x) + (t.s5 - c.y) * (t.s5 - c.y) +
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(t.s6 - c.z) * (t.s6 - c.z);
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if( norm2_1 <= isr2 )
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{
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s.x += t.s0; s.y += t.s1; s.z += t.s2;
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sx += x; rowCount++;
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}
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if( norm2_2 <= isr2 )
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{
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s.x += t.s4; s.y += t.s5; s.z += t.s6;
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sx += x+1; rowCount++;
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}
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}
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if(x+2 == maxx)
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{
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int id = src_off + y*in_step + x;
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uchar16 t = (uchar16)(in[id],in[id+1],in[id+2],in[id+3]);
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int norm2_1 = (t.s0 - c.x) * (t.s0 - c.x) + (t.s1 - c.y) * (t.s1 - c.y) +
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(t.s2 - c.z) * (t.s2 - c.z);
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int norm2_2 = (t.s4 - c.x) * (t.s4 - c.x) + (t.s5 - c.y) * (t.s5 - c.y) +
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(t.s6 - c.z) * (t.s6 - c.z);
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int norm2_3 = (t.s8 - c.x) * (t.s8 - c.x) + (t.s9 - c.y) * (t.s9 - c.y) +
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(t.sa - c.z) * (t.sa - c.z);
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if( norm2_1 <= isr2 )
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{
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s.x += t.s0; s.y += t.s1; s.z += t.s2;
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sx += x; rowCount++;
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}
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if( norm2_2 <= isr2 )
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{
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s.x += t.s4; s.y += t.s5; s.z += t.s6;
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sx += x+1; rowCount++;
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}
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if( norm2_3 <= isr2 )
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{
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s.x += t.s8; s.y += t.s9; s.z += t.sa;
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sx += x+2; rowCount++;
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}
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}
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if(rowCount == 0)
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continue;
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count += rowCount;
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if(y == 0)
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continue;
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sy += y*rowCount;
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}
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if( count == 0 )
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break;
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int x1 = sx/count;
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int y1 = sy/count;
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s.x = s.x/count;
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s.y = s.y/count;
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s.z = s.z/count;
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int4 tmp = s - convert_int4(c);
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int norm2 = tmp.x * tmp.x + tmp.y * tmp.y +
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tmp.z * tmp.z;
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bool stopFlag = (x1 == x0 && y1 == y0) || (abs(x1-x0) + abs(y1-y0) + norm2 <= eps);
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x0 = x1;
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y0 = y1;
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c.x = s.x;
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c.y = s.y;
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c.z = s.z;
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if( stopFlag )
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break;
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}
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out[base] = c;
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return (short2)((short)x0, (short)y0);
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}
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__kernel void meanshift_kernel(__global uchar4* out, int out_step,
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__global uchar4* in, int in_step,
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int dst_off, int src_off, int cols, int rows,
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int sp, int sr, int maxIter, float eps)
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{
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int x0 = get_global_id(0);
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int y0 = get_global_id(1);
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if( x0 < cols && y0 < rows )
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do_mean_shift(x0, y0, out, out_step, in, in_step, dst_off, src_off,
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cols, rows, sp, sr, maxIter, eps);
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}
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__kernel void meanshiftproc_kernel( __global uchar4* in, __global uchar4* outr,
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__global short2* outsp, int instep, int outrstep,
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int outspstep, int in_off, int outr_off, int outsp_off,
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int cols, int rows, int sp, int sr, int maxIter, float eps )
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{
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int x0 = get_global_id(0);
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int y0 = get_global_id(1);
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if( x0 < cols && y0 < rows )
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{
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//int basesp = (blockIdx.y * blockDim.y + threadIdx.y) * outspstep + (blockIdx.x * blockDim.x + threadIdx.x) * 2 * sizeof(short);
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//*(short2*)(outsp + basesp) = do_mean_shift(x0, y0, outr, outrstep, cols, rows, sp, sr, maxIter, eps);
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// we have ensured before that ((outspstep & 0x11)==0).
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outsp_off >>= 2;
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outspstep >>= 2;
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int basesp = outsp_off + y0 * outspstep + x0;
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outsp[basesp] = do_mean_shift(x0, y0, outr, outrstep, in, instep, outr_off, in_off, cols, rows, sp, sr, maxIter, eps);
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// outsp[basesp] =(short2)((short)x0,(short)y0);
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}
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}
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