462 lines
19 KiB
Common Lisp
462 lines
19 KiB
Common Lisp
// 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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// 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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#define DATA_SIZE ((int)sizeof(type))
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#define ELEM_TYPE elem_type
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#define ELEM_SIZE ((int)sizeof(elem_type))
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#define SQSUMS_PTR(ox, oy) mad24(y + oy, src_sqsums_step, mad24(x + ox, cn, src_sqsums_offset))
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#define SUMS_PTR(ox, oy) mad24(y + oy, src_sums_step, mad24(x + ox, cn, src_sums_offset))
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inline float normAcc(float num, float denum)
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{
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if (fabs(num) < denum)
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return num / denum;
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if (fabs(num) < denum * 1.125f)
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return num > 0 ? 1 : -1;
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return 0;
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}
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inline float normAcc_SQDIFF(float num, float denum)
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{
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if (fabs(num) < denum)
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return num / denum;
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if (fabs(num) < denum * 1.125f)
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return num > 0 ? 1 : -1;
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return 1;
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}
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#define noconvert
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#if cn == 1
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#define convertToDT(value) (float)(value)
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#elif cn == 2
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#define convertToDT(value) (float)(value.x + value.y)
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#elif cn == 4
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#define convertToDT(value) (float)(value.x + value.y + value.z + value.w)
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#else
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#error "cn should be 1, 2 or 4"
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#endif
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#ifdef CALC_SUM
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__kernel void calcSum(__global const uchar * srcptr, int src_step, int src_offset,
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int cols, int total, __global float * dst)
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{
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int lid = get_local_id(0), id = get_global_id(0);
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__local WT localmem[WGS2_ALIGNED];
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WT accumulator = (WT)(0), tmp;
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for ( ; id < total; id += WGS)
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{
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int src_index = mad24(id / cols, src_step, mad24(id % cols, (int)sizeof(T), src_offset));
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__global const T * src = (__global const T *)(srcptr + src_index);
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tmp = convertToWT(src[0]);
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#if wdepth == 4
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accumulator = mad24(tmp, tmp, accumulator);
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#else
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accumulator = mad(tmp, tmp, accumulator);
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#endif
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}
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if (lid < WGS2_ALIGNED)
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localmem[lid] = accumulator;
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barrier(CLK_LOCAL_MEM_FENCE);
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if (lid >= WGS2_ALIGNED && total >= WGS2_ALIGNED)
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localmem[lid - WGS2_ALIGNED] += accumulator;
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barrier(CLK_LOCAL_MEM_FENCE);
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for (int lsize = WGS2_ALIGNED >> 1; lsize > 0; lsize >>= 1)
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{
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if (lid < lsize)
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{
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int lid2 = lsize + lid;
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localmem[lid] += localmem[lid2];
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}
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barrier(CLK_LOCAL_MEM_FENCE);
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}
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if (lid == 0)
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dst[0] = convertToDT(localmem[0]);
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}
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#elif defined CCORR
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__kernel void matchTemplate_Naive_CCORR(__global const uchar * srcptr, int src_step, int src_offset,
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__global const uchar * templateptr, int template_step, int template_offset, int template_rows, int template_cols,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if (x < dst_cols && y < dst_rows)
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{
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WT sum = (WT)(0);
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__global const T * src = (__global const T *)(srcptr + mad24(y, src_step, mad24(x, (int)sizeof(T), src_offset)));
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__global const T * template = (__global const T *)(templateptr + template_offset);
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for (int i = 0; i < template_rows; ++i)
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{
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for (int j = 0; j < template_cols; ++j)
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#if wdepth == 4
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sum = mad24(convertToWT(src[j]), convertToWT(template[j]), sum);
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#else
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sum = mad(convertToWT(src[j]), convertToWT(template[j]), sum);
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#endif
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src = (__global const T *)((__global const uchar *)src + src_step);
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template = (__global const T *)((__global const uchar *)template + template_step);
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}
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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*(__global float *)(dst + dst_idx) = convertToDT(sum);
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}
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}
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#elif defined CCORR_NORMED
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__kernel void matchTemplate_CCORR_NORMED(__global const uchar * src_sqsums, int src_sqsums_step, int src_sqsums_offset,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols,
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int template_rows, int template_cols, __global const float * template_sqsum)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if (x < dst_cols && y < dst_rows)
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{
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__global const float * sqsum = (__global const float *)(src_sqsums);
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src_sqsums_step /= sizeof(float);
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src_sqsums_offset /= sizeof(float);
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float image_sqsum_ = (float)(sqsum[SQSUMS_PTR(template_cols, template_rows)] - sqsum[SQSUMS_PTR(template_cols, 0)] -
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sqsum[SQSUMS_PTR(0, template_rows)] + sqsum[SQSUMS_PTR(0, 0)]);
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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__global float * dstult = (__global float *)(dst + dst_idx);
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*dstult = normAcc(*dstult, sqrt(image_sqsum_ * template_sqsum[0]));
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}
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}
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#elif defined SQDIFF
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__kernel void matchTemplate_Naive_SQDIFF(__global const uchar * srcptr, int src_step, int src_offset,
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__global const uchar * templateptr, int template_step, int template_offset, int template_rows, int template_cols,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if (x < dst_cols && y < dst_rows)
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{
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__global const T * src = (__global const T *)(srcptr + mad24(y, src_step, mad24(x, (int)sizeof(T), src_offset)));
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__global const T * template = (__global const T *)(templateptr + template_offset);
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WT sum = (WT)(0), value;
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for (int i = 0; i < template_rows; ++i)
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{
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for (int j = 0; j < template_cols; ++j)
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{
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value = convertToWT(src[j]) - convertToWT(template[j]);
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#if wdepth == 4
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sum = mad24(value, value, sum);
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#else
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sum = mad(value, value, sum);
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#endif
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}
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src = (__global const T *)((__global const uchar *)src + src_step);
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template = (__global const T *)((__global const uchar *)template + template_step);
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}
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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*(__global float *)(dst + dst_idx) = convertToDT(sum);
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}
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}
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#elif defined SQDIFF_NORMED
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__kernel void matchTemplate_SQDIFF_NORMED(__global const uchar * src_sqsums, int src_sqsums_step, int src_sqsums_offset,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols,
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int template_rows, int template_cols, __global const float * template_sqsum)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if (x < dst_cols && y < dst_rows)
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{
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src_sqsums_step /= sizeof(float);
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src_sqsums_offset /= sizeof(float);
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__global const float * sqsum = (__global const float *)(src_sqsums);
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float image_sqsum_ = (float)(
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(sqsum[SQSUMS_PTR(template_cols, template_rows)] - sqsum[SQSUMS_PTR(template_cols, 0)]) -
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(sqsum[SQSUMS_PTR(0, template_rows)] - sqsum[SQSUMS_PTR(0, 0)]));
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float template_sqsum_value = template_sqsum[0];
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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__global float * dstult = (__global float *)(dst + dst_idx);
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*dstult = normAcc_SQDIFF(image_sqsum_ - 2.0f * dstult[0] + template_sqsum_value, sqrt(image_sqsum_ * template_sqsum_value));
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}
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}
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#elif defined CCOEFF
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#if cn == 1
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__kernel void matchTemplate_Prepared_CCOEFF(__global const uchar * src_sums, int src_sums_step, int src_sums_offset,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols,
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int template_rows, int template_cols, float template_sum)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if (x < dst_cols && y < dst_rows)
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{
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__global ELEM_TYPE* sum = (__global ELEM_TYPE*)(src_sums);
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src_sums_step /= ELEM_SIZE;
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src_sums_offset /= ELEM_SIZE;
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float image_sum_ = (float)((sum[SUMS_PTR(template_cols, template_rows)] - sum[SUMS_PTR(template_cols, 0)])-
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(sum[SUMS_PTR(0, template_rows)] - sum[SUMS_PTR(0, 0)])) * template_sum;
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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__global float * dstult = (__global float *)(dst + dst_idx);
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*dstult -= image_sum_;
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}
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}
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#elif cn == 2
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__kernel void matchTemplate_Prepared_CCOEFF(__global const uchar * src_sums, int src_sums_step, int src_sums_offset,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols,
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int template_rows, int template_cols, float template_sum_0, float template_sum_1)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if (x < dst_cols && y < dst_rows)
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{
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src_sums_step /= ELEM_SIZE;
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src_sums_offset /= ELEM_SIZE;
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__global ELEM_TYPE* sum = (__global ELEM_TYPE*)(src_sums);
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float image_sum_ = template_sum_0 * (float)((sum[SUMS_PTR(template_cols, template_rows)] - sum[SUMS_PTR(template_cols, 0)]) -(sum[SUMS_PTR(0, template_rows)] - sum[SUMS_PTR(0, 0)]));
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image_sum_ += template_sum_1 * (float)((sum[SUMS_PTR(template_cols, template_rows)+1] - sum[SUMS_PTR(template_cols, 0)+1])-(sum[SUMS_PTR(0, template_rows)+1] - sum[SUMS_PTR(0, 0)+1]));
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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__global float * dstult = (__global float *)(dst+dst_idx);
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*dstult -= image_sum_;
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}
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}
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#elif cn == 4
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__kernel void matchTemplate_Prepared_CCOEFF(__global const uchar * src_sums, int src_sums_step, int src_sums_offset,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols,
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int template_rows, int template_cols, float template_sum_0, float template_sum_1, float template_sum_2, float template_sum_3)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if (x < dst_cols && y < dst_rows)
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{
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src_sums_step /= ELEM_SIZE;
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src_sums_offset /= ELEM_SIZE;
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__global ELEM_TYPE* sum = (__global ELEM_TYPE*)(src_sums);
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int c_r = SUMS_PTR(template_cols, template_rows);
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int c_o = SUMS_PTR(template_cols, 0);
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int o_r = SUMS_PTR(0,template_rows);
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int oo = SUMS_PTR(0, 0);
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float image_sum_ = template_sum_0 * (float)((sum[c_r] - sum[c_o]) -(sum[o_r] - sum[oo]));
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image_sum_ += template_sum_1 * (float)((sum[c_r+1] - sum[c_o+1])-(sum[o_r+1] - sum[oo+1]));
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image_sum_ += template_sum_2 * (float)((sum[c_r+2] - sum[c_o+2])-(sum[o_r+2] - sum[oo+2]));
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image_sum_ += template_sum_3 * (float)((sum[c_r+3] - sum[c_o+3])-(sum[o_r+3] - sum[oo+3]));
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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__global float * dstult = (__global float *)(dst+dst_idx);
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*dstult -= image_sum_;
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}
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}
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#else
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#error "cn should be 1, 2 or 4"
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#endif
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#elif defined CCOEFF_NORMED
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#if cn == 1
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__kernel void matchTemplate_CCOEFF_NORMED(__global const uchar * src_sums, int src_sums_step, int src_sums_offset,
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__global const uchar * src_sqsums, int src_sqsums_step, int src_sqsums_offset,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols,
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int t_rows, int t_cols, float weight, float template_sum, float template_sqsum)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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if (x < dst_cols && y < dst_rows)
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{
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src_sums_offset /= ELEM_SIZE;
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src_sums_step /= ELEM_SIZE;
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src_sqsums_step /= sizeof(float);
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src_sqsums_offset /= sizeof(float);
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__global ELEM_TYPE* sum = (__global ELEM_TYPE*)(src_sums);
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__global float * sqsum = (__global float*)(src_sqsums);
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float image_sum_ = (float)((sum[SUMS_PTR(t_cols, t_rows)] - sum[SUMS_PTR(t_cols, 0)]) -
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(sum[SUMS_PTR(0, t_rows)] - sum[SUMS_PTR(0, 0)]));
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float image_sqsum_ = (float)((sqsum[SQSUMS_PTR(t_cols, t_rows)] - sqsum[SQSUMS_PTR(t_cols, 0)]) -
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(sqsum[SQSUMS_PTR(0, t_rows)] - sqsum[SQSUMS_PTR(0, 0)]));
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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__global float * dstult = (__global float *)(dst+dst_idx);
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*dstult = normAcc((*dstult) - image_sum_ * template_sum,
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sqrt(template_sqsum * (image_sqsum_ - weight * image_sum_ * image_sum_)));
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}
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}
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#elif cn == 2
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__kernel void matchTemplate_CCOEFF_NORMED(__global const uchar * src_sums, int src_sums_step, int src_sums_offset,
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__global const uchar * src_sqsums, int src_sqsums_step, int src_sqsums_offset,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols,
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int t_rows, int t_cols, float weight, float template_sum_0, float template_sum_1, float template_sqsum)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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float sum_[2];
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float sqsum_[2];
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if (x < dst_cols && y < dst_rows)
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{
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src_sums_offset /= ELEM_SIZE;
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src_sums_step /= ELEM_SIZE;
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src_sqsums_step /= sizeof(float);
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src_sqsums_offset /= sizeof(float);
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__global ELEM_TYPE* sum = (__global ELEM_TYPE*)(src_sums);
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__global float * sqsum = (__global float*)(src_sqsums);
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sum_[0] = (float)((sum[SUMS_PTR(t_cols, t_rows)] - sum[SUMS_PTR(t_cols, 0)])-(sum[SUMS_PTR(0, t_rows)] - sum[SUMS_PTR(0, 0)]));
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sum_[1] = (float)((sum[SUMS_PTR(t_cols, t_rows)+1] - sum[SUMS_PTR(t_cols, 0)+1])-(sum[SUMS_PTR(0, t_rows)+1] - sum[SUMS_PTR(0, 0)+1]));
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sqsum_[0] = (float)((sqsum[SQSUMS_PTR(t_cols, t_rows)] - sqsum[SQSUMS_PTR(t_cols, 0)])-(sqsum[SQSUMS_PTR(0, t_rows)] - sqsum[SQSUMS_PTR(0, 0)]));
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sqsum_[1] = (float)((sqsum[SQSUMS_PTR(t_cols, t_rows)+1] - sqsum[SQSUMS_PTR(t_cols, 0)+1])-(sqsum[SQSUMS_PTR(0, t_rows)+1] - sqsum[SQSUMS_PTR(0, 0)+1]));
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float num = sum_[0]*template_sum_0 + sum_[1]*template_sum_1;
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float denum = sqrt( template_sqsum * (sqsum_[0] - weight * sum_[0]* sum_[0] +
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sqsum_[1] - weight * sum_[1]* sum_[1]));
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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__global float * dstult = (__global float *)(dst+dst_idx);
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*dstult = normAcc((*dstult) - num, denum);
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}
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}
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#elif cn == 4
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__kernel void matchTemplate_CCOEFF_NORMED(__global const uchar * src_sums, int src_sums_step, int src_sums_offset,
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__global const uchar * src_sqsums, int src_sqsums_step, int src_sqsums_offset,
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__global uchar * dst, int dst_step, int dst_offset, int dst_rows, int dst_cols,
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int t_rows, int t_cols, float weight,
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float template_sum_0, float template_sum_1, float template_sum_2, float template_sum_3,
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float template_sqsum)
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{
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int x = get_global_id(0);
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int y = get_global_id(1);
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float sum_[4];
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float sqsum_[4];
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if (x < dst_cols && y < dst_rows)
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{
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src_sums_offset /= ELEM_SIZE;
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src_sums_step /= ELEM_SIZE;
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src_sqsums_step /= sizeof(float);
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src_sqsums_offset /= sizeof(float);
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__global ELEM_TYPE* sum = (__global ELEM_TYPE*)(src_sums);
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__global float * sqsum = (__global float*)(src_sqsums);
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int c_r = SUMS_PTR(t_cols, t_rows);
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int c_o = SUMS_PTR(t_cols, 0);
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int o_r = SUMS_PTR(0, t_rows);
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int o_o = SUMS_PTR(0, 0);
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sum_[0] = (float)((sum[c_r] - sum[c_o]) -(sum[o_r] - sum[o_o ]));
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sum_[1] = (float)((sum[c_r+1] - sum[c_o+1])-(sum[o_r+1] - sum[o_o +1]));
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sum_[2] = (float)((sum[c_r+2] - sum[c_o+2])-(sum[o_r+2] - sum[o_o +2]));
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sum_[3] = (float)((sum[c_r+3] - sum[c_o+3])-(sum[o_r+3] - sum[o_o +3]));
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c_r = SQSUMS_PTR(t_cols, t_rows);
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c_o = SQSUMS_PTR(t_cols, 0);
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o_r = SQSUMS_PTR(0, t_rows);
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o_o = SQSUMS_PTR(0, 0);
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sqsum_[0] = (float)((sqsum[c_r] - sqsum[c_o]) -(sqsum[o_r] - sqsum[o_o]));
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sqsum_[1] = (float)((sqsum[c_r+1] - sqsum[c_o+1])-(sqsum[o_r+1] - sqsum[o_o+1]));
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sqsum_[2] = (float)((sqsum[c_r+2] - sqsum[c_o+2])-(sqsum[o_r+2] - sqsum[o_o+2]));
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sqsum_[3] = (float)((sqsum[c_r+3] - sqsum[c_o+3])-(sqsum[o_r+3] - sqsum[o_o+3]));
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float num = sum_[0]*template_sum_0 + sum_[1]*template_sum_1 + sum_[2]*template_sum_2 + sum_[3]*template_sum_3;
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float denum = sqrt( template_sqsum * (
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sqsum_[0] - weight * sum_[0]* sum_[0] +
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sqsum_[1] - weight * sum_[1]* sum_[1] +
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sqsum_[2] - weight * sum_[2]* sum_[2] +
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sqsum_[3] - weight * sum_[3]* sum_[3] ));
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int dst_idx = mad24(y, dst_step, mad24(x, (int)sizeof(float), dst_offset));
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__global float * dstult = (__global float *)(dst+dst_idx);
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*dstult = normAcc((*dstult) - num, denum);
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}
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}
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#else
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#error "cn should be 1, 2 or 4"
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#endif
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#endif
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