//
//M*/
-#define BUFFER 64
-#define BUFFER2 BUFFER>>1
+#define GRIDSIZE 3
+#define LSx 8
+#define LSy 8
+#define BUFFER (LSx*LSy)
+#define BUFFER2 BUFFER>>1
#ifndef WAVE_SIZE
#define WAVE_SIZE 1
#endif
+
#ifdef CPU
inline void reduce3(float val1, float val2, float val3, __local float* smem1, __local float* smem2, __local float* smem3, int tid)
#if WAVE_SIZE <16
}
barrier(CLK_LOCAL_MEM_FENCE);
- if (tid < 8)
+ if (tid<1)
{
#endif
- smem1[tid] += smem1[tid + 8];
- smem2[tid] += smem2[tid + 8];
- smem3[tid] += smem3[tid + 8];
-
- smem1[tid] += smem1[tid + 4];
- smem2[tid] += smem2[tid + 4];
- smem3[tid] += smem3[tid + 4];
-
- smem1[tid] += smem1[tid + 2];
- smem2[tid] += smem2[tid + 2];
- smem3[tid] += smem3[tid + 2];
-
- smem1[tid] += smem1[tid + 1];
- smem2[tid] += smem2[tid + 1];
- smem3[tid] += smem3[tid + 1];
+ local float8* m1 = (local float8*)smem1;
+ local float8* m2 = (local float8*)smem2;
+ local float8* m3 = (local float8*)smem3;
+ float8 t1 = m1[0]+m1[1];
+ float8 t2 = m2[0]+m2[1];
+ float8 t3 = m3[0]+m3[1];
+ float4 t14 = t1.lo + t1.hi;
+ float4 t24 = t2.lo + t2.hi;
+ float4 t34 = t3.lo + t3.hi;
+ smem1[0] = t14.x+t14.y+t14.z+t14.w;
+ smem2[0] = t24.x+t24.y+t24.z+t24.w;
+ smem3[0] = t34.x+t34.y+t34.z+t34.w;
}
barrier(CLK_LOCAL_MEM_FENCE);
}
#if WAVE_SIZE <16
}
barrier(CLK_LOCAL_MEM_FENCE);
- if (tid < 8)
+ if (tid<1)
{
#endif
- smem1[tid] += smem1[tid + 8];
- smem2[tid] += smem2[tid + 8];
-
- smem1[tid] += smem1[tid + 4];
- smem2[tid] += smem2[tid + 4];
-
- smem1[tid] += smem1[tid + 2];
- smem2[tid] += smem2[tid + 2];
-
- smem1[tid] += smem1[tid + 1];
- smem2[tid] += smem2[tid + 1];
+ local float8* m1 = (local float8*)smem1;
+ local float8* m2 = (local float8*)smem2;
+ float8 t1 = m1[0]+m1[1];
+ float8 t2 = m2[0]+m2[1];
+ float4 t14 = t1.lo + t1.hi;
+ float4 t24 = t2.lo + t2.hi;
+ smem1[0] = t14.x+t14.y+t14.z+t14.w;
+ smem2[0] = t24.x+t24.y+t24.z+t24.w;
}
barrier(CLK_LOCAL_MEM_FENCE);
}
#if WAVE_SIZE <16
}
barrier(CLK_LOCAL_MEM_FENCE);
- if (tid < 8)
+ if (tid<1)
{
#endif
- smem1[tid] += smem1[tid + 8];
- smem1[tid] += smem1[tid + 4];
- smem1[tid] += smem1[tid + 2];
- smem1[tid] += smem1[tid + 1];
+ local float8* m1 = (local float8*)smem1;
+ float8 t1 = m1[0]+m1[1];
+ float4 t14 = t1.lo + t1.hi;
+ smem1[0] = t14.x+t14.y+t14.z+t14.w;
}
barrier(CLK_LOCAL_MEM_FENCE);
}
// Image read mode
__constant sampler_t sampler = CLK_NORMALIZED_COORDS_FALSE | CLK_ADDRESS_CLAMP_TO_EDGE | CLK_FILTER_LINEAR;
-inline void SetPatch(image2d_t I, float x, float y,
+// macro to get pixel value from local memory
+#define VAL(_y,_x,_yy,_xx) (IPatchLocal[yid+((_y)*LSy)+1+(_yy)][xid+((_x)*LSx)+1+(_xx)])
+inline void SetPatch(local float IPatchLocal[LSy*GRIDSIZE+2][LSx*GRIDSIZE+2], int TileY, int TileX,
float* Pch, float* Dx, float* Dy,
- float* A11, float* A12, float* A22)
+ float* A11, float* A12, float* A22, float w)
{
- *Pch = read_imagef(I, sampler, (float2)(x, y)).x;
-
- float dIdx = 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x + 1, y)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)).x -
- (3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x - 1, y)).x + 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)).x);
+ unsigned int xid=get_local_id(0);
+ unsigned int yid=get_local_id(1);
+ *Pch = VAL(TileY,TileX,0,0);
- float dIdy = 3.0f * read_imagef(I, sampler, (float2)(x - 1, y + 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x, y + 1)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y + 1)).x -
- (3.0f * read_imagef(I, sampler, (float2)(x - 1, y - 1)).x + 10.0f * read_imagef(I, sampler, (float2)(x, y - 1)).x + 3.0f * read_imagef(I, sampler, (float2)(x + 1, y - 1)).x);
+ float dIdx = (3.0f*VAL(TileY,TileX,-1,1)+10.0f*VAL(TileY,TileX,0,1)+3.0f*VAL(TileY,TileX,+1,1))-(3.0f*VAL(TileY,TileX,-1,-1)+10.0f*VAL(TileY,TileX,0,-1)+3.0f*VAL(TileY,TileX,+1,-1));
+ float dIdy = (3.0f*VAL(TileY,TileX,1,-1)+10.0f*VAL(TileY,TileX,1,0)+3.0f*VAL(TileY,TileX,1,+1))-(3.0f*VAL(TileY,TileX,-1,-1)+10.0f*VAL(TileY,TileX,-1,0)+3.0f*VAL(TileY,TileX,-1,+1));
+ dIdx *= w;
+ dIdy *= w;
*Dx = dIdx;
*Dy = dIdy;
*A12 += dIdx * dIdy;
*A22 += dIdy * dIdy;
}
+#undef VAL
inline void GetPatch(image2d_t J, float x, float y,
float* Pch, float* Dx, float* Dy,
*errval += fabs(diff);
}
-#define GRIDSIZE 3
+
+//macro to read pixel value into local memory.
+#define READI(_y,_x) IPatchLocal[yid+((_y)*LSy)][xid+((_x)*LSx)] = read_imagef(I, sampler, (float2)(Point.x + xid+(_x)*LSx + 0.5f-1, Point.y + yid+(_y)*LSy+ 0.5f-1)).x;
+void ReadPatchIToLocalMem(image2d_t I, float2 Point, local float IPatchLocal[LSy*GRIDSIZE+2][LSx*GRIDSIZE+2])
+{
+ unsigned int xid=get_local_id(0);
+ unsigned int yid=get_local_id(1);
+ //read (3*LSx)*(3*LSy) window. each macro call read LSx*LSy pixels block
+ READI(0,0);READI(0,1);READI(0,2);
+ READI(1,0);READI(1,1);READI(1,2);
+ READI(2,0);READI(2,1);READI(2,2);
+ if(xid<2)
+ {// read last 2 columns border. each macro call reads 2*LSy pixels block
+ READI(0,3);
+ READI(1,3);
+ READI(2,3);
+ }
+
+ if(yid<2)
+ {// read last 2 row. each macro call reads LSx*2 pixels block
+ READI(3,0);READI(3,1);READI(3,2);
+ }
+
+ if(yid<2 && xid<2)
+ {// read right bottom 2x2 corner. one macro call reads 2*2 pixels block
+ READI(3,3);
+ }
+ barrier(CLK_LOCAL_MEM_FENCE);
+}
+#undef READI
+
+__attribute__((reqd_work_group_size(LSx, LSy, 1)))
__kernel void lkSparse(image2d_t I, image2d_t J,
- __global const float2* prevPts, __global float2* nextPts, __global uchar* status, __global float* err,
+ __global const float2* prevPts, int prevPtsStep, __global float2* nextPts, int nextPtsStep, __global uchar* status, __global float* err,
const int level, const int rows, const int cols, int PATCH_X, int PATCH_Y, int c_winSize_x, int c_winSize_y, int c_iters, char calcErr)
{
__local float smem1[BUFFER];
unsigned int xsize=get_local_size(0);
unsigned int ysize=get_local_size(1);
int xBase, yBase, k;
+ float wx = ((xid+2*xsize)<c_winSize_x)?1:0;
+ float wy = ((yid+2*ysize)<c_winSize_y)?1:0;
float2 c_halfWin = (float2)((c_winSize_x - 1)>>1, (c_winSize_y - 1)>>1);
float dIdx_patch[GRIDSIZE][GRIDSIZE];
float dIdy_patch[GRIDSIZE][GRIDSIZE];
- yBase=yid;
+ // local memory to read image with border to calc sobels
+ local float IPatchLocal[LSy*GRIDSIZE+2][LSx*GRIDSIZE+2];
+ ReadPatchIToLocalMem(I,prevPt,IPatchLocal);
+
{
- xBase=xid;
- SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
+ SetPatch(IPatchLocal, 0, 0,
&I_patch[0][0], &dIdx_patch[0][0], &dIdy_patch[0][0],
- &A11, &A12, &A22);
+ &A11, &A12, &A22,1);
- xBase+=xsize;
- SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
+ SetPatch(IPatchLocal, 0, 1,
&I_patch[0][1], &dIdx_patch[0][1], &dIdy_patch[0][1],
- &A11, &A12, &A22);
+ &A11, &A12, &A22,1);
- xBase+=xsize;
- if(xBase<c_winSize_x)
- SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
- &I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
- &A11, &A12, &A22);
+ SetPatch(IPatchLocal, 0, 2,
+ &I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
+ &A11, &A12, &A22,wx);
}
- yBase+=ysize;
{
- xBase=xid;
- SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
+ SetPatch(IPatchLocal, 1, 0,
&I_patch[1][0], &dIdx_patch[1][0], &dIdy_patch[1][0],
- &A11, &A12, &A22);
+ &A11, &A12, &A22,1);
- xBase+=xsize;
- SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
+ SetPatch(IPatchLocal, 1,1,
&I_patch[1][1], &dIdx_patch[1][1], &dIdy_patch[1][1],
- &A11, &A12, &A22);
+ &A11, &A12, &A22,1);
- xBase+=xsize;
- if(xBase<c_winSize_x)
- SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
- &I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
- &A11, &A12, &A22);
+ SetPatch(IPatchLocal, 1,2,
+ &I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
+ &A11, &A12, &A22,wx);
}
- yBase+=ysize;
- if(yBase<c_winSize_y)
{
- xBase=xid;
- SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
+ SetPatch(IPatchLocal, 2,0,
&I_patch[2][0], &dIdx_patch[2][0], &dIdy_patch[2][0],
- &A11, &A12, &A22);
+ &A11, &A12, &A22,wy);
- xBase+=xsize;
- SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
+ SetPatch(IPatchLocal, 2,1,
&I_patch[2][1], &dIdx_patch[2][1], &dIdy_patch[2][1],
- &A11, &A12, &A22);
+ &A11, &A12, &A22,wy);
- xBase+=xsize;
- if(xBase<c_winSize_x)
- SetPatch(I, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
- &I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
- &A11, &A12, &A22);
+ SetPatch(IPatchLocal, 2,2,
+ &I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
+ &A11, &A12, &A22,wx*wy);
}
+
reduce3(A11, A12, A22, smem1, smem2, smem3, tid);
A11 = smem1[0];
&b1, &b2);
xBase+=xsize;
- if(xBase<c_winSize_x)
- GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
- &I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
- &b1, &b2);
+ GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
+ &I_patch[0][2], &dIdx_patch[0][2], &dIdy_patch[0][2],
+ &b1, &b2);
}
yBase+=ysize;
{
&b1, &b2);
xBase+=xsize;
- if(xBase<c_winSize_x)
- GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
- &I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
- &b1, &b2);
+ GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
+ &I_patch[1][2], &dIdx_patch[1][2], &dIdy_patch[1][2],
+ &b1, &b2);
}
yBase+=ysize;
- if(yBase<c_winSize_y)
{
xBase=xid;
GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
&b1, &b2);
xBase+=xsize;
- if(xBase<c_winSize_x)
- GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
- &I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
- &b1, &b2);
+ GetPatch(J, prevPt.x + xBase + 0.5f, prevPt.y + yBase + 0.5f,
+ &I_patch[2][2], &dIdx_patch[2][2], &dIdy_patch[2][2],
+ &b1, &b2);
}
reduce2(b1, b2, smem1, smem2, tid);
projects / profile / ivi / opencv.git / commitdiff