Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 1 | /* |
Michele Di Giorgio | d9eaf61 | 2020-07-08 11:12:57 +0100 | [diff] [blame] | 2 | * Copyright (c) 2016, 2017 Arm Limited. |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 3 | * |
| 4 | * SPDX-License-Identifier: MIT |
| 5 | * |
| 6 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| 7 | * of this software and associated documentation files (the "Software"), to |
| 8 | * deal in the Software without restriction, including without limitation the |
| 9 | * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or |
| 10 | * sell copies of the Software, and to permit persons to whom the Software is |
| 11 | * furnished to do so, subject to the following conditions: |
| 12 | * |
| 13 | * The above copyright notice and this permission notice shall be included in all |
| 14 | * copies or substantial portions of the Software. |
| 15 | * |
| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| 17 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| 18 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| 19 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| 20 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| 21 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
| 22 | * SOFTWARE. |
| 23 | */ |
| 24 | #include "helpers.h" |
| 25 | |
| 26 | /** Function running harris score on 3x3 block size |
| 27 | * |
| 28 | * @attention: The input data type should be passed using a compile option -DDATA_TYPE. Supported types: short and int. |
| 29 | * e.g. -DDATA_TYPE=short. |
| 30 | * |
| 31 | * @param[in] src_gx_ptr Pointer to the first source image. Supported data types: S16, S32 |
| 32 | * @param[in] src_gx_stride_x Stride of the source image in X dimension (in bytes) |
| 33 | * @param[in] src_gx_step_x src_gx_stride_x * number of elements along X processed per workitem(in bytes) |
| 34 | * @param[in] src_gx_stride_y Stride of the source image in Y dimension (in bytes) |
| 35 | * @param[in] src_gx_step_y src_gx_stride_y * number of elements along Y processed per workitem(in bytes) |
| 36 | * @param[in] src_gx_offset_first_element_in_bytes The offset of the first element in the source image |
| 37 | * @param[in] src_gy_ptr Pointer to the second source image. Supported data types: S16, S32 |
| 38 | * @param[in] src_gy_stride_x Stride of the destination image in X dimension (in bytes) |
| 39 | * @param[in] src_gy_step_x src_gy_stride_x * number of elements along X processed per workitem(in bytes) |
| 40 | * @param[in] src_gy_stride_y Stride of the destination image in Y dimension (in bytes) |
| 41 | * @param[in] src_gy_step_y src_gy_stride_y * number of elements along Y processed per workitem(in bytes) |
| 42 | * @param[in] src_gy_offset_first_element_in_bytes The offset of the first element in the destination image |
| 43 | * @param[out] vc_ptr Pointer to the destination image. Supported data types: F32 |
| 44 | * @param[in] vc_stride_x Stride of the destination image in X dimension (in bytes) |
| 45 | * @param[in] vc_step_x vc_stride_x * number of elements along X processed per workitem(in bytes) |
| 46 | * @param[in] vc_stride_y Stride of the destination image in Y dimension (in bytes) |
| 47 | * @param[in] vc_step_y vc_stride_y * number of elements along Y processed per workitem(in bytes) |
| 48 | * @param[in] vc_offset_first_element_in_bytes The offset of the first element in the destination image |
| 49 | * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation |
| 50 | * @param[in] strength_thresh Minimum threshold with which to eliminate Harris Corner scores |
| 51 | * @param[in] pow4_normalization_factor Normalization factor to apply harris score |
| 52 | */ |
| 53 | __kernel void harris_score_3x3( |
| 54 | IMAGE_DECLARATION(src_gx), |
| 55 | IMAGE_DECLARATION(src_gy), |
| 56 | IMAGE_DECLARATION(vc), |
| 57 | float sensitivity, |
| 58 | float strength_thresh, |
| 59 | float pow4_normalization_factor) |
| 60 | { |
| 61 | Image src_gx = CONVERT_TO_IMAGE_STRUCT(src_gx); |
| 62 | Image src_gy = CONVERT_TO_IMAGE_STRUCT(src_gy); |
| 63 | Image vc = CONVERT_TO_IMAGE_STRUCT(vc); |
| 64 | |
| 65 | /* Gx^2, Gy^2 and Gx*Gy */ |
| 66 | float4 gx2 = (float4)0.0f; |
| 67 | float4 gy2 = (float4)0.0f; |
| 68 | float4 gxgy = (float4)0.0f; |
| 69 | |
| 70 | /* Row0 */ |
| 71 | VEC_DATA_TYPE(DATA_TYPE, 8) |
| 72 | temp_gx = vload8(0, (__global DATA_TYPE *)offset(&src_gx, -1, -1)); |
| 73 | VEC_DATA_TYPE(DATA_TYPE, 8) |
| 74 | temp_gy = vload8(0, (__global DATA_TYPE *)offset(&src_gy, -1, -1)); |
| 75 | |
| 76 | float4 l_gx = convert_float4(temp_gx.s0123); |
| 77 | float4 m_gx = convert_float4(temp_gx.s1234); |
| 78 | float4 r_gx = convert_float4(temp_gx.s2345); |
| 79 | |
| 80 | float4 l_gy = convert_float4(temp_gy.s0123); |
| 81 | float4 m_gy = convert_float4(temp_gy.s1234); |
| 82 | float4 r_gy = convert_float4(temp_gy.s2345); |
| 83 | |
| 84 | gx2 += (l_gx * l_gx) + (m_gx * m_gx) + (r_gx * r_gx); |
| 85 | gy2 += (l_gy * l_gy) + (m_gy * m_gy) + (r_gy * r_gy); |
| 86 | gxgy += (l_gx * l_gy) + (m_gx * m_gy) + (r_gx * r_gy); |
| 87 | |
| 88 | /* Row1 */ |
| 89 | temp_gx = vload8(0, (__global DATA_TYPE *)offset(&src_gx, -1, 0)); |
| 90 | temp_gy = vload8(0, (__global DATA_TYPE *)offset(&src_gy, -1, 0)); |
| 91 | |
| 92 | l_gx = convert_float4(temp_gx.s0123); |
| 93 | m_gx = convert_float4(temp_gx.s1234); |
| 94 | r_gx = convert_float4(temp_gx.s2345); |
| 95 | |
| 96 | l_gy = convert_float4(temp_gy.s0123); |
| 97 | m_gy = convert_float4(temp_gy.s1234); |
| 98 | r_gy = convert_float4(temp_gy.s2345); |
| 99 | |
| 100 | gx2 += (l_gx * l_gx) + (m_gx * m_gx) + (r_gx * r_gx); |
| 101 | gy2 += (l_gy * l_gy) + (m_gy * m_gy) + (r_gy * r_gy); |
| 102 | gxgy += (l_gx * l_gy) + (m_gx * m_gy) + (r_gx * r_gy); |
| 103 | |
| 104 | /* Row2 */ |
| 105 | temp_gx = vload8(0, (__global DATA_TYPE *)offset(&src_gx, -1, 1)); |
| 106 | temp_gy = vload8(0, (__global DATA_TYPE *)offset(&src_gy, -1, 1)); |
| 107 | |
| 108 | l_gx = convert_float4(temp_gx.s0123); |
| 109 | m_gx = convert_float4(temp_gx.s1234); |
| 110 | r_gx = convert_float4(temp_gx.s2345); |
| 111 | |
| 112 | l_gy = convert_float4(temp_gy.s0123); |
| 113 | m_gy = convert_float4(temp_gy.s1234); |
| 114 | r_gy = convert_float4(temp_gy.s2345); |
| 115 | |
| 116 | gx2 += (l_gx * l_gx) + (m_gx * m_gx) + (r_gx * r_gx); |
| 117 | gy2 += (l_gy * l_gy) + (m_gy * m_gy) + (r_gy * r_gy); |
| 118 | gxgy += (l_gx * l_gy) + (m_gx * m_gy) + (r_gx * r_gy); |
| 119 | |
| 120 | /* Compute trace and determinant */ |
| 121 | float4 trace = gx2 + gy2; |
| 122 | float4 det = gx2 * gy2 - (gxgy * gxgy); |
| 123 | |
| 124 | /* Compute harris score */ |
| 125 | float4 mc = (det - (sensitivity * (trace * trace))) * pow4_normalization_factor; |
| 126 | |
| 127 | mc = select(0.0f, mc, mc > (float4)strength_thresh); |
| 128 | |
| 129 | vstore4(mc, 0, (__global float *)vc.ptr); |
| 130 | } |
| 131 | |
| 132 | /** Function for calculating harris score 1x5. |
| 133 | * |
| 134 | * @param[in] src_gx Pointer to gx gradient image. |
| 135 | * @param[in] src_gy Pointer to gy gradient image. |
| 136 | * @param[in] row Relative row. |
| 137 | */ |
| 138 | inline float16 harris_score_1x5(Image *src_gx, Image *src_gy, int row) |
| 139 | { |
| 140 | float4 gx2 = 0.0f; |
| 141 | float4 gy2 = 0.0f; |
| 142 | float4 gxgy = 0.0f; |
| 143 | |
| 144 | /* Row */ |
| 145 | VEC_DATA_TYPE(DATA_TYPE, 8) |
| 146 | temp_gx = vload8(0, (__global DATA_TYPE *)offset(src_gx, -2, row)); |
| 147 | VEC_DATA_TYPE(DATA_TYPE, 8) |
| 148 | temp_gy = vload8(0, (__global DATA_TYPE *)offset(src_gy, -2, row)); |
| 149 | |
| 150 | float4 gx = convert_float4(temp_gx.s0123); |
| 151 | float4 gy = convert_float4(temp_gy.s0123); |
| 152 | gx2 += (gx * gx); |
| 153 | gy2 += (gy * gy); |
| 154 | gxgy += (gx * gy); |
| 155 | |
| 156 | gx = convert_float4(temp_gx.s1234); |
| 157 | gy = convert_float4(temp_gy.s1234); |
| 158 | gx2 += (gx * gx); |
| 159 | gy2 += (gy * gy); |
| 160 | gxgy += (gx * gy); |
| 161 | |
| 162 | gx = convert_float4(temp_gx.s2345); |
| 163 | gy = convert_float4(temp_gy.s2345); |
| 164 | gx2 += (gx * gx); |
| 165 | gy2 += (gy * gy); |
| 166 | gxgy += (gx * gy); |
| 167 | |
| 168 | gx = convert_float4(temp_gx.s3456); |
| 169 | gy = convert_float4(temp_gy.s3456); |
| 170 | gx2 += (gx * gx); |
| 171 | gy2 += (gy * gy); |
| 172 | gxgy += (gx * gy); |
| 173 | |
| 174 | gx = convert_float4(temp_gx.s4567); |
| 175 | gy = convert_float4(temp_gy.s4567); |
| 176 | gx2 += (gx * gx); |
| 177 | gy2 += (gy * gy); |
| 178 | gxgy += (gx * gy); |
| 179 | |
| 180 | return (float16)(gx2, gy2, gxgy, (float4)0); |
| 181 | } |
| 182 | |
| 183 | /** Function running harris score on 5x5 block size |
| 184 | * |
| 185 | * @attention: The input data type should be passed using a compile option -DDATA_TYPE. Supported types: short and int. |
| 186 | * e.g. -DDATA_TYPE=short. |
| 187 | * |
| 188 | * @param[in] src_gx_ptr Pointer to the first source image. Supported data types: S16, S32 |
| 189 | * @param[in] src_gx_stride_x Stride of the source image in X dimension (in bytes) |
| 190 | * @param[in] src_gx_step_x src_gx_stride_x * number of elements along X processed per workitem(in bytes) |
| 191 | * @param[in] src_gx_stride_y Stride of the source image in Y dimension (in bytes) |
| 192 | * @param[in] src_gx_step_y src_gx_stride_y * number of elements along Y processed per workitem(in bytes) |
| 193 | * @param[in] src_gx_offset_first_element_in_bytes The offset of the first element in the source image |
| 194 | * @param[in] src_gy_ptr Pointer to the second source image. Supported data types: S16, S32 |
| 195 | * @param[in] src_gy_stride_x Stride of the destination image in X dimension (in bytes) |
| 196 | * @param[in] src_gy_step_x src_gy_stride_x * number of elements along X processed per workitem(in bytes) |
| 197 | * @param[in] src_gy_stride_y Stride of the destination image in Y dimension (in bytes) |
| 198 | * @param[in] src_gy_step_y src_gy_stride_y * number of elements along Y processed per workitem(in bytes) |
| 199 | * @param[in] src_gy_offset_first_element_in_bytes The offset of the first element in the destination image |
| 200 | * @param[out] vc_ptr Pointer to the destination image. Supported data types: F32 |
| 201 | * @param[in] vc_stride_x Stride of the destination image in X dimension (in bytes) |
| 202 | * @param[in] vc_step_x vc_stride_x * number of elements along X processed per workitem(in bytes) |
| 203 | * @param[in] vc_stride_y Stride of the destination image in Y dimension (in bytes) |
| 204 | * @param[in] vc_step_y vc_stride_y * number of elements along Y processed per workitem(in bytes) |
| 205 | * @param[in] vc_offset_first_element_in_bytes The offset of the first element in the destination image |
| 206 | * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation |
| 207 | * @param[in] strength_thresh Minimum threshold with which to eliminate Harris Corner scores |
| 208 | * @param[in] pow4_normalization_factor Normalization factor to apply harris score |
| 209 | */ |
| 210 | __kernel void harris_score_5x5( |
| 211 | IMAGE_DECLARATION(src_gx), |
| 212 | IMAGE_DECLARATION(src_gy), |
| 213 | IMAGE_DECLARATION(vc), |
| 214 | float sensitivity, |
| 215 | float strength_thresh, |
| 216 | float pow4_normalization_factor) |
| 217 | { |
| 218 | Image src_gx = CONVERT_TO_IMAGE_STRUCT(src_gx); |
| 219 | Image src_gy = CONVERT_TO_IMAGE_STRUCT(src_gy); |
| 220 | Image vc = CONVERT_TO_IMAGE_STRUCT(vc); |
| 221 | |
| 222 | /* Gx^2, Gy^2 and Gx*Gy */ |
| 223 | float16 res = (float16)0.0f; |
| 224 | |
| 225 | /* Compute row */ |
| 226 | for(int i = -2; i < 3; i++) |
| 227 | { |
| 228 | res += harris_score_1x5(&src_gx, &src_gy, i); |
| 229 | } |
| 230 | |
| 231 | float4 gx2 = res.s0123; |
| 232 | float4 gy2 = res.s4567; |
| 233 | float4 gxgy = res.s89AB; |
| 234 | |
| 235 | /* Compute trace and determinant */ |
| 236 | float4 trace = gx2 + gy2; |
| 237 | float4 det = gx2 * gy2 - (gxgy * gxgy); |
| 238 | |
| 239 | /* Compute harris score */ |
| 240 | float4 mc = (det - (sensitivity * (trace * trace))) * pow4_normalization_factor; |
| 241 | |
| 242 | mc = select(0.0f, mc, mc > (float4)strength_thresh); |
| 243 | |
| 244 | vstore4(mc, 0, (__global float *)vc.ptr); |
| 245 | } |
| 246 | |
| 247 | /** Function for calculating harris score 1x7. |
| 248 | * |
| 249 | * @param[in] src_gx Pointer to gx gradient image. |
| 250 | * @param[in] src_gy Pointer to gy gradient image. |
| 251 | * @param[in] row Relative row. |
| 252 | */ |
| 253 | inline float16 harris_score_1x7(Image *src_gx, Image *src_gy, int row) |
| 254 | { |
| 255 | float4 gx2 = 0.0f; |
| 256 | float4 gy2 = 0.0f; |
| 257 | float4 gxgy = 0.0f; |
| 258 | |
| 259 | /* Row */ |
| 260 | VEC_DATA_TYPE(DATA_TYPE, 8) |
| 261 | temp_gx0 = vload8(0, (__global DATA_TYPE *)offset(src_gx, -3, row)); |
| 262 | VEC_DATA_TYPE(DATA_TYPE, 8) |
| 263 | temp_gy0 = vload8(0, (__global DATA_TYPE *)offset(src_gy, -3, row)); |
| 264 | VEC_DATA_TYPE(DATA_TYPE, 2) |
| 265 | temp_gx1 = vload2(0, (__global DATA_TYPE *)offset(src_gx, 5, row)); |
| 266 | VEC_DATA_TYPE(DATA_TYPE, 2) |
| 267 | temp_gy1 = vload2(0, (__global DATA_TYPE *)offset(src_gy, 5, row)); |
| 268 | |
| 269 | float4 gx = convert_float4(temp_gx0.s0123); |
| 270 | float4 gy = convert_float4(temp_gy0.s0123); |
| 271 | gx2 += (gx * gx); |
| 272 | gy2 += (gy * gy); |
| 273 | gxgy += (gx * gy); |
| 274 | |
| 275 | gx = convert_float4(temp_gx0.s1234); |
| 276 | gy = convert_float4(temp_gy0.s1234); |
| 277 | gx2 += (gx * gx); |
| 278 | gy2 += (gy * gy); |
| 279 | gxgy += (gx * gy); |
| 280 | |
| 281 | gx = convert_float4(temp_gx0.s2345); |
| 282 | gy = convert_float4(temp_gy0.s2345); |
| 283 | gx2 += (gx * gx); |
| 284 | gy2 += (gy * gy); |
| 285 | gxgy += (gx * gy); |
| 286 | |
| 287 | gx = convert_float4(temp_gx0.s3456); |
| 288 | gy = convert_float4(temp_gy0.s3456); |
| 289 | gx2 += (gx * gx); |
| 290 | gy2 += (gy * gy); |
| 291 | gxgy += (gx * gy); |
| 292 | |
| 293 | gx = convert_float4(temp_gx0.s4567); |
| 294 | gy = convert_float4(temp_gy0.s4567); |
| 295 | gx2 += (gx * gx); |
| 296 | gy2 += (gy * gy); |
| 297 | gxgy += (gx * gy); |
| 298 | |
| 299 | gx = convert_float4((VEC_DATA_TYPE(DATA_TYPE, 4))(temp_gx0.s567, temp_gx1.s0)); |
| 300 | gy = convert_float4((VEC_DATA_TYPE(DATA_TYPE, 4))(temp_gy0.s567, temp_gy1.s0)); |
| 301 | gx2 += (gx * gx); |
| 302 | gy2 += (gy * gy); |
| 303 | gxgy += (gx * gy); |
| 304 | |
| 305 | gx = convert_float4((VEC_DATA_TYPE(DATA_TYPE, 4))(temp_gx0.s67, temp_gx1.s01)); |
| 306 | gy = convert_float4((VEC_DATA_TYPE(DATA_TYPE, 4))(temp_gy0.s67, temp_gy1.s01)); |
| 307 | gx2 += (gx * gx); |
| 308 | gy2 += (gy * gy); |
| 309 | gxgy += (gx * gy); |
| 310 | |
| 311 | return (float16)(gx2, gy2, gxgy, (float4)0); |
| 312 | } |
| 313 | |
| 314 | /** Function running harris score on 7x7 block size |
| 315 | * |
| 316 | * @attention: The input data type should be passed using a compile option -DDATA_TYPE. Supported types: short and int. |
| 317 | * e.g. -DDATA_TYPE=short. |
| 318 | * |
| 319 | * @param[in] src_gx_ptr Pointer to the first source image. Supported data types: S16, S32 |
| 320 | * @param[in] src_gx_stride_x Stride of the source image in X dimension (in bytes) |
| 321 | * @param[in] src_gx_step_x src_gx_stride_x * number of elements along X processed per workitem(in bytes) |
| 322 | * @param[in] src_gx_stride_y Stride of the source image in Y dimension (in bytes) |
| 323 | * @param[in] src_gx_step_y src_gx_stride_y * number of elements along Y processed per workitem(in bytes) |
| 324 | * @param[in] src_gx_offset_first_element_in_bytes The offset of the first element in the source image |
| 325 | * @param[in] src_gy_ptr Pointer to the second source image. Supported data types: S16, S32 |
| 326 | * @param[in] src_gy_stride_x Stride of the destination image in X dimension (in bytes) |
| 327 | * @param[in] src_gy_step_x src_gy_stride_x * number of elements along X processed per workitem(in bytes) |
| 328 | * @param[in] src_gy_stride_y Stride of the destination image in Y dimension (in bytes) |
| 329 | * @param[in] src_gy_step_y src_gy_stride_y * number of elements along Y processed per workitem(in bytes) |
| 330 | * @param[in] src_gy_offset_first_element_in_bytes The offset of the first element in the destination image |
| 331 | * @param[out] vc_ptr Pointer to the destination image. Supported data types: F32 |
| 332 | * @param[in] vc_stride_x Stride of the destination image in X dimension (in bytes) |
| 333 | * @param[in] vc_step_x vc_stride_x * number of elements along X processed per workitem(in bytes) |
| 334 | * @param[in] vc_stride_y Stride of the destination image in Y dimension (in bytes) |
| 335 | * @param[in] vc_step_y vc_stride_y * number of elements along Y processed per workitem(in bytes) |
| 336 | * @param[in] vc_offset_first_element_in_bytes The offset of the first element in the destination image |
| 337 | * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation |
| 338 | * @param[in] strength_thresh Minimum threshold with which to eliminate Harris Corner scores |
| 339 | * @param[in] pow4_normalization_factor Normalization factor to apply harris score |
| 340 | */ |
| 341 | __kernel void harris_score_7x7( |
| 342 | IMAGE_DECLARATION(src_gx), |
| 343 | IMAGE_DECLARATION(src_gy), |
| 344 | IMAGE_DECLARATION(vc), |
| 345 | float sensitivity, |
| 346 | float strength_thresh, |
| 347 | float pow4_normalization_factor) |
| 348 | { |
| 349 | Image src_gx = CONVERT_TO_IMAGE_STRUCT(src_gx); |
| 350 | Image src_gy = CONVERT_TO_IMAGE_STRUCT(src_gy); |
| 351 | Image vc = CONVERT_TO_IMAGE_STRUCT(vc); |
| 352 | |
| 353 | /* Gx^2, Gy^2 and Gx*Gy */ |
| 354 | float16 res = (float16)0.0f; |
| 355 | |
| 356 | /* Compute row */ |
| 357 | for(int i = -3; i < 4; i++) |
| 358 | { |
| 359 | res += harris_score_1x7(&src_gx, &src_gy, i); |
| 360 | } |
| 361 | |
| 362 | float4 gx2 = res.s0123; |
| 363 | float4 gy2 = res.s4567; |
| 364 | float4 gxgy = res.s89AB; |
| 365 | |
| 366 | /* Compute trace and determinant */ |
| 367 | float4 trace = gx2 + gy2; |
| 368 | float4 det = gx2 * gy2 - (gxgy * gxgy); |
| 369 | |
| 370 | /* Compute harris score */ |
| 371 | float4 mc = (det - (sensitivity * (trace * trace))) * pow4_normalization_factor; |
| 372 | |
| 373 | mc = select(0.0f, mc, mc > (float4)strength_thresh); |
| 374 | |
| 375 | vstore4(mc, 0, (__global float *)vc.ptr); |
| 376 | } |