1 /*M///////////////////////////////////////////////////////////////////////////////////////
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11 // For Open Source Computer Vision Library
13 // Copyright (C) 2010-2012, Institute Of Software Chinese Academy Of Science, all rights reserved.
14 // Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
15 // Third party copyrights are property of their respective owners.
18 // Zhang Ying, zhangying913@gmail.com
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21 // are permitted provided that the following conditions are met:
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24 // this list of conditions and the following disclaimer.
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46 #ifdef OP_MAX_EIGEN_VAL
48 __kernel void maxEigenVal(__global const uchar * srcptr, int src_step, int src_offset, int cols,
49 int total, __global uchar * dstptr
51 , __global const uchar * maskptr, int mask_step, int mask_offset
55 int lid = get_local_id(0);
56 int gid = get_group_id(0);
57 int id = get_global_id(0);
59 __local float localmem_max[WGS2_ALIGNED];
60 float maxval = -FLT_MAX;
62 for (int grain = groupnum * WGS; id < total; id += grain)
64 int src_index = mad24(id / cols, src_step, mad24((id % cols), (int)sizeof(float), src_offset));
66 int mask_index = mad24(id / cols, mask_step, id % cols + mask_offset);
69 maxval = max(maxval, *(__global const float *)(srcptr + src_index));
72 if (lid < WGS2_ALIGNED)
73 localmem_max[lid] = maxval;
74 barrier(CLK_LOCAL_MEM_FENCE);
76 if (lid >= WGS2_ALIGNED && total >= WGS2_ALIGNED)
77 localmem_max[lid - WGS2_ALIGNED] = max(maxval, localmem_max[lid - WGS2_ALIGNED]);
78 barrier(CLK_LOCAL_MEM_FENCE);
80 for (int lsize = WGS2_ALIGNED >> 1; lsize > 0; lsize >>= 1)
84 int lid2 = lsize + lid;
85 localmem_max[lid] = max(localmem_max[lid], localmem_max[lid2]);
87 barrier(CLK_LOCAL_MEM_FENCE);
91 *(__global float *)(dstptr + (int)sizeof(float) * gid) = localmem_max[0];
94 __kernel void maxEigenValTask(__global float * dst, float qualityLevel,
95 __global int * cornersptr)
97 float maxval = -FLT_MAX;
100 for (int x = 0; x < groupnum; ++x)
101 maxval = max(maxval, dst[x]);
103 dst[0] = maxval * qualityLevel;
107 #elif OP_FIND_CORNERS
109 #define GET_SRC_32F(_y, _x) *(__global const float *)(eigptr + (_y) * eig_step + (_x) * (int)sizeof(float) )
111 __kernel void findCorners(__global const uchar * eigptr, int eig_step, int eig_offset,
113 __global const uchar * mask, int mask_step, int mask_offset,
115 __global uchar * cornersptr, int rows, int cols,
116 __constant float * threshold, int max_corners)
118 int x = get_global_id(0);
119 int y = get_global_id(1);
121 __global int* counter = (__global int*) cornersptr;
122 __global float2 * corners = (__global float2 *)(cornersptr + (int)sizeof(float2));
124 if (y < rows && x < cols
126 && mask[mad24(y, mask_step, x + mask_offset)]
131 float val = GET_SRC_32F(y, x);
133 if (val > threshold[0])
136 maxVal = max(GET_SRC_32F(y - 1, x - 1), maxVal);
137 maxVal = max(GET_SRC_32F(y - 1, x ), maxVal);
138 maxVal = max(GET_SRC_32F(y - 1, x + 1), maxVal);
140 maxVal = max(GET_SRC_32F(y , x - 1), maxVal);
141 maxVal = max(GET_SRC_32F(y , x + 1), maxVal);
143 maxVal = max(GET_SRC_32F(y + 1, x - 1), maxVal);
144 maxVal = max(GET_SRC_32F(y + 1, x ), maxVal);
145 maxVal = max(GET_SRC_32F(y + 1, x + 1), maxVal);
149 int ind = atomic_inc(counter);
150 if (ind < max_corners)
152 // pack and store eigenvalue and its coordinates
153 corners[ind].x = val;
154 corners[ind].y = as_float(y | (x << 16));