diff options
Diffstat (limited to 'src/core/CL/cl_kernels/canny.cl')
| -rw-r--r-- | src/core/CL/cl_kernels/canny.cl | 454 |
1 files changed, 0 insertions, 454 deletions
diff --git a/src/core/CL/cl_kernels/canny.cl b/src/core/CL/cl_kernels/canny.cl deleted file mode 100644 index bcff8438db..0000000000 --- a/src/core/CL/cl_kernels/canny.cl +++ /dev/null @@ -1,454 +0,0 @@ -/* - * Copyright (c) 2017-2018 Arm Limited. - * - * SPDX-License-Identifier: MIT - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to - * deal in the Software without restriction, including without limitation the - * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or - * sell copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. - */ -#include "helpers.h" - -/** Calculate the magnitude and phase from horizontal and vertical result of sobel result. - * - * @note The calculation of gradient uses level 1 normalisation. - * @attention The input and output data types need to be passed at compile time using -DDATA_TYPE_IN and -DDATA_TYPE_OUT: - * e.g. -DDATA_TYPE_IN=uchar -DDATA_TYPE_OUT=short - * - * @param[in] src1_ptr Pointer to the source image (Vertical result of Sobel). Supported data types: S16, S32 - * @param[in] src1_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] src1_step_x src1_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] src1_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] src1_step_y src1_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] src1_offset_first_element_in_bytes The offset of the first element in the source image - * @param[in] src2_ptr Pointer to the source image (Vertical result of Sobel). Supported data types: S16, S32 - * @param[in] src2_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] src2_step_x src2_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] src2_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] src2_step_y src2_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] src2_offset_first_element_in_bytes The offset of the first element in the source image - * @param[out] grad_ptr Pointer to the gradient output. Supported data types: U16, U32 - * @param[in] grad_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] grad_step_x grad_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] grad_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] grad_step_y grad_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] grad_offset_first_element_in_bytes The offset of the first element of the output - * @param[out] angle_ptr Pointer to the angle output. Supported data types: U8 - * @param[in] angle_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] angle_step_x angle_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] angle_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] angle_step_y angle_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] angle_offset_first_element_in_bytes The offset of the first element of the output - */ -__kernel void combine_gradients_L1( - IMAGE_DECLARATION(src1), - IMAGE_DECLARATION(src2), - IMAGE_DECLARATION(grad), - IMAGE_DECLARATION(angle)) -{ - // Construct images - Image src1 = CONVERT_TO_IMAGE_STRUCT(src1); - Image src2 = CONVERT_TO_IMAGE_STRUCT(src2); - Image grad = CONVERT_TO_IMAGE_STRUCT(grad); - Image angle = CONVERT_TO_IMAGE_STRUCT(angle); - - // Load sobel horizontal and vertical values - VEC_DATA_TYPE(DATA_TYPE_IN, 4) - h = vload4(0, (__global DATA_TYPE_IN *)src1.ptr); - VEC_DATA_TYPE(DATA_TYPE_IN, 4) - v = vload4(0, (__global DATA_TYPE_IN *)src2.ptr); - - /* Calculate the gradient, using level 1 normalisation method */ - VEC_DATA_TYPE(DATA_TYPE_OUT, 4) - m = CONVERT_SAT((abs(h) + abs(v)), VEC_DATA_TYPE(DATA_TYPE_OUT, 4)); - - /* Calculate the angle */ - float4 p = 180.0f * atan2pi(convert_float4(v), convert_float4(h)); - - /* Remap angle to range [0, 256) */ - p = select(p, p + 180.0f, p < 0.0f); - - /* Store results */ - vstore4(m, 0, (__global DATA_TYPE_OUT *)grad.ptr); - vstore4(convert_uchar4_sat_rte(p), 0, angle.ptr); -} - -/** Calculate the gradient and angle from horizontal and vertical result of sobel result. - * - * @note The calculation of gradient uses level 2 normalisation - * @attention The input and output data types need to be passed at compile time using -DDATA_TYPE_IN and -DDATA_TYPE_OUT: - * e.g. -DDATA_TYPE_IN=uchar -DDATA_TYPE_OUT=short - * - * @param[in] src1_ptr Pointer to the source image (Vertical result of Sobel). Supported data types: S16, S32 - * @param[in] src1_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] src1_step_x src1_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] src1_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] src1_step_y src1_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] src1_offset_first_element_in_bytes The offset of the first element in the source image - * @param[in] src2_ptr Pointer to the source image (Vertical result of Sobel). Supported data types: S16, S32 - * @param[in] src2_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] src2_step_x src2_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] src2_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] src2_step_y src2_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] src2_offset_first_element_in_bytes The offset of the first element in the source image - * @param[out] grad_ptr Pointer to the gradient output. Supported data types: U16, U32 - * @param[in] grad_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] grad_step_x grad_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] grad_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] grad_step_y grad_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] grad_offset_first_element_in_bytes The offset of the first element of the output - * @param[out] angle_ptr Pointer to the angle output. Supported data types: U8 - * @param[in] angle_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] angle_step_x angle_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] angle_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] angle_step_y angle_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] angle_offset_first_element_in_bytes The offset of the first element of the output - */ -__kernel void combine_gradients_L2( - IMAGE_DECLARATION(src1), - IMAGE_DECLARATION(src2), - IMAGE_DECLARATION(grad), - IMAGE_DECLARATION(angle)) -{ - // Construct images - Image src1 = CONVERT_TO_IMAGE_STRUCT(src1); - Image src2 = CONVERT_TO_IMAGE_STRUCT(src2); - Image grad = CONVERT_TO_IMAGE_STRUCT(grad); - Image angle = CONVERT_TO_IMAGE_STRUCT(angle); - - // Load sobel horizontal and vertical values - float4 h = convert_float4(vload4(0, (__global DATA_TYPE_IN *)src1.ptr)); - float4 v = convert_float4(vload4(0, (__global DATA_TYPE_IN *)src2.ptr)); - - /* Calculate the gradient, using level 2 normalisation method */ - float4 m = sqrt(h * h + v * v); - - /* Calculate the angle */ - float4 p = 180.0f * atan2pi(v, h); - - /* Remap angle to range [0, 256) */ - p = select(p, p + 180.0f, p < 0.0f); - - /* Store results */ - vstore4(CONVERT_SAT_ROUND(m, VEC_DATA_TYPE(DATA_TYPE_OUT, 4), rte), 0, (__global DATA_TYPE_OUT *)grad.ptr); - vstore4(convert_uchar4_sat_rte(p), 0, angle.ptr); -} - -#define EDGE 255 -#define NO_EDGE 0 - -/** Array that holds the relative coordinates offset for the neighbouring pixels. - */ -__constant short4 neighbours_coords[] = -{ - { -1, 0, 1, 0 }, // 0 - { -1, -1, 1, 1 }, // 45 - { 0, -1, 0, 1 }, // 90 - { 1, -1, -1, 1 }, // 135 -}; - -/** Perform non maximum suppression. - * - * @attention The input and output data types need to be passed at compile time using -DDATA_TYPE_IN and -DDATA_TYPE_OUT: - * e.g. -DDATA_TYPE_IN=uchar -DDATA_TYPE_OUT=short - * - * @param[in] grad_ptr Pointer to the gradient output. Supported data types: S16, S32 - * @param[in] grad_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] grad_step_x grad_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] grad_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] grad_step_y grad_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] grad_offset_first_element_in_bytes The offset of the first element of the output - * @param[in] angle_ptr Pointer to the angle output. Supported data types: U8 - * @param[in] angle_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] angle_step_x angle_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] angle_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] angle_step_y angle_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] angle_offset_first_element_in_bytes TThe offset of the first element of the output - * @param[out] non_max_ptr Pointer to the non maximum suppressed output. Supported data types: U16, U32 - * @param[in] non_max_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] non_max_step_x non_max_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] non_max_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] non_max_step_y non_max_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] non_max_offset_first_element_in_bytes The offset of the first element of the output - * @param[in] lower_thr The low threshold - */ -__kernel void suppress_non_maximum( - IMAGE_DECLARATION(grad), - IMAGE_DECLARATION(angle), - IMAGE_DECLARATION(non_max), - uint lower_thr) -{ - // Construct images - Image grad = CONVERT_TO_IMAGE_STRUCT(grad); - Image angle = CONVERT_TO_IMAGE_STRUCT(angle); - Image non_max = CONVERT_TO_IMAGE_STRUCT(non_max); - - // Index - const int x = get_global_id(0); - const int y = get_global_id(1); - - // Get gradient and angle - DATA_TYPE_IN gradient = *((__global DATA_TYPE_IN *)grad.ptr); - uchar an = *((__global uchar *)angle.ptr); - - // Early return if not greater than lower threshold - if(gradient <= lower_thr) - { - return; - } - - // Divide the whole round into 4 directions - DATA_TYPE_OUT q_an; - - if(an < 22.5f || an >= 157.5f) - { - q_an = 0; - } - else if(an < 67.5f) - { - q_an = 1; - } - else if(an < 112.5f) - { - q_an = 2; - } - else - { - q_an = 3; - } - - // Find the two pixels in the perpendicular direction - short2 x_p = neighbours_coords[q_an].s02; - short2 y_p = neighbours_coords[q_an].s13; - DATA_TYPE_IN g1 = *((global DATA_TYPE_IN *)offset(&grad, x_p.x, y_p.x)); - DATA_TYPE_IN g2 = *((global DATA_TYPE_IN *)offset(&grad, x_p.y, y_p.y)); - - if((gradient > g1) && (gradient > g2)) - { - __global uchar *non_max_addr = non_max_ptr + non_max_offset_first_element_in_bytes + x * non_max_stride_x + y * non_max_stride_y; - *((global DATA_TYPE_OUT *)non_max_addr) = gradient; - } -} - -#define hysteresis_local_stack_L1 8 // The size of level 1 stack. This has to agree with the host side -#define hysteresis_local_stack_L2 16 // The size of level 2 stack, adjust this can impact the match rate with VX implementation - -/** Check whether pixel is valid - * - * Skip the pixel if the early_test fails. - * Otherwise, it tries to add the pixel coordinate to the stack, and proceed to popping the stack instead if the stack is full - * - * @param[in] early_test Boolean condition based on the minv check and visited buffer check - * @param[in] x_pos X-coordinate of pixel that is going to be recorded, has to be within the boundary - * @param[in] y_pos Y-coordinate of pixel that is going to be recorded, has to be within the boundary - * @param[in] x_cur X-coordinate of current central pixel - * @param[in] y_cur Y-coordinate of current central pixel - */ -#define check_pixel(early_test, x_pos, y_pos, x_cur, y_cur) \ - { \ - if(!early_test) \ - { \ - /* Number of elements in the local stack 1, points to next available entry */ \ - c = *((__global char *)offset(&l1_stack_counter, x_cur, y_cur)); \ - \ - if(c > (hysteresis_local_stack_L1 - 1)) /* Stack level 1 is full */ \ - goto pop_stack; \ - \ - /* The pixel that has already been recorded is ignored */ \ - if(!atomic_or((__global uint *)offset(&recorded, x_pos, y_pos), 1)) \ - { \ - l1_ptr[c] = (short2)(x_pos, y_pos); \ - *((__global char *)offset(&l1_stack_counter, x_cur, y_cur)) += 1; \ - } \ - } \ - } - -/** Perform hysteresis. - * - * @attention The input data_type needs to be passed at compile time using -DDATA_TYPE_IN: e.g. -DDATA_TYPE_IN=short - * - * @param[in] src_ptr Pointer to the input image. Supported data types: U8 - * @param[in] src_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] src_step_x src_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] src_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] src_step_y src_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] src_offset_first_element_in_bytes The offset of the first element of the output - * @param[out] out_ptr Pointer to the output image. Supported data types: U8 - * @param[in] out_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] out_step_x out_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] out_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] out_step_y out_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] out_offset_first_element_in_bytes The offset of the first element of the output - * @param[out] visited_ptr Pointer to the visited buffer, where pixels are marked as visited. Supported data types: U32 - * @param[in] visited_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] visited_step_x visited_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] visited_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] visited_step_y visited_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] visited_offset_first_element_in_bytes The offset of the first element of the output - * @param[out] recorded_ptr Pointer to the recorded buffer, where pixels are marked as recorded. Supported data types: U32 - * @param[in] recorded_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] recorded_step_x recorded_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] recorded_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] recorded_step_y recorded_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] recorded_offset_first_element_in_bytes The offset of the first element of the output - * @param[out] l1_stack_ptr Pointer to the l1 stack of a pixel. Supported data types: S32 - * @param[in] l1_stack_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] l1_stack_step_x l1_stack_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] l1_stack_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] l1_stack_step_y l1_stack_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] l1_stack_offset_first_element_in_bytes The offset of the first element of the output - * @param[out] l1_stack_counter_ptr Pointer to the l1 stack counters of an image. Supported data types: U8 - * @param[in] l1_stack_counter_stride_x Stride of the source image in X dimension (in bytes) - * @param[in] l1_stack_counter_step_x l1_stack_counter_stride_x * number of elements along X processed per workitem(in bytes) - * @param[in] l1_stack_counter_stride_y Stride of the source image in Y dimension (in bytes) - * @param[in] l1_stack_counter_step_y l1_stack_counter_stride_y * number of elements along Y processed per workitem(in bytes) - * @param[in] l1_stack_counter_offset_first_element_in_bytes The offset of the first element of the output - * @param[in] low_thr The lower threshold - * @param[in] up_thr The upper threshold - * @param[in] width The width of the image. - * @param[in] height The height of the image - */ -kernel void hysteresis( - IMAGE_DECLARATION(src), - IMAGE_DECLARATION(out), - IMAGE_DECLARATION(visited), - IMAGE_DECLARATION(recorded), - IMAGE_DECLARATION(l1_stack), - IMAGE_DECLARATION(l1_stack_counter), - uint low_thr, - uint up_thr, - int width, - int height) -{ - // Create images - Image src = CONVERT_TO_IMAGE_STRUCT_NO_STEP(src); - Image out = CONVERT_TO_IMAGE_STRUCT_NO_STEP(out); - Image visited = CONVERT_TO_IMAGE_STRUCT_NO_STEP(visited); - Image recorded = CONVERT_TO_IMAGE_STRUCT_NO_STEP(recorded); - Image l1_stack = CONVERT_TO_IMAGE_STRUCT_NO_STEP(l1_stack); - Image l1_stack_counter = CONVERT_TO_IMAGE_STRUCT_NO_STEP(l1_stack_counter); - - // Index - int x = get_global_id(0); - int y = get_global_id(1); - - // Load value - DATA_TYPE_IN val = *((__global DATA_TYPE_IN *)offset(&src, x, y)); - - // If the pixel has already been marked as NO_EDGE, store that value in the output and return - if(val == NO_EDGE) - { - *offset(&out, x, y) = NO_EDGE; - return; - } - - // Return if it is a MAYBE pixel. Such pixels will become edges if near a strong edge - if(val <= up_thr) - { - return; - } - - // Init local stack 2 - short2 stack_L2[hysteresis_local_stack_L2] = { 0 }; - int L2_counter = 0; - - // Perform recursive hysteresis - while(true) - { - // Get L1 stack pointer - __global short2 *l1_ptr = (__global short2 *)(l1_stack.ptr + y * l1_stack.stride_y + x * hysteresis_local_stack_L1 * l1_stack.stride_x); - - // If the pixel has already been visited, proceed with the items in the stack instead - if(atomic_or((__global uint *)offset(&visited, x, y), 1) != 0) - { - goto pop_stack; - } - - // Set strong edge - *offset(&out, x, y) = EDGE; - - // If it is the top of stack l2, we don't need check the surrounding pixels - if(L2_counter > (hysteresis_local_stack_L2 - 1)) - { - goto pop_stack2; - } - - // Points to the start of the local stack; - char c; - - VEC_DATA_TYPE(DATA_TYPE_IN, 4) - x_tmp; - uint4 v_tmp; - - // Get direction pixel indices - int N = max(y - 1, 0), S = min(y + 1, height - 2), W = max(x - 1, 0), E = min(x + 1, width - 2); - - // Check 8 pixels around for weak edges where low_thr < val <= up_thr - x_tmp = vload4(0, (__global DATA_TYPE_IN *)offset(&src, W, N)); - v_tmp = vload4(0, (__global uint *)offset(&visited, W, N)); - check_pixel(((x_tmp.s0 <= low_thr) || v_tmp.s0 || (x_tmp.s0 > up_thr)), W, N, x, y); // NW - check_pixel(((x_tmp.s1 <= low_thr) || v_tmp.s1 || (x_tmp.s1 > up_thr)), x, N, x, y); // N - check_pixel(((x_tmp.s2 <= low_thr) || v_tmp.s2 || (x_tmp.s2 > up_thr)), E, N, x, y); // NE - - x_tmp = vload4(0, (__global DATA_TYPE_IN *)offset(&src, W, y)); - v_tmp = vload4(0, (__global uint *)offset(&visited, W, y)); - check_pixel(((x_tmp.s0 <= low_thr) || v_tmp.s0 || (x_tmp.s0 > up_thr)), W, y, x, y); // W - check_pixel(((x_tmp.s2 <= low_thr) || v_tmp.s2 || (x_tmp.s2 > up_thr)), E, y, x, y); // E - - x_tmp = vload4(0, (__global DATA_TYPE_IN *)offset(&src, W, S)); - v_tmp = vload4(0, (__global uint *)offset(&visited, W, S)); - check_pixel(((x_tmp.s0 <= low_thr) || v_tmp.s0 || (x_tmp.s0 > up_thr)), W, S, x, y); // SW - check_pixel(((x_tmp.s1 <= low_thr) || v_tmp.s1 || (x_tmp.s1 > up_thr)), x, S, x, y); // S - check_pixel(((x_tmp.s2 <= low_thr) || v_tmp.s2 || (x_tmp.s2 > up_thr)), E, S, x, y); // SE - -#undef check_pixel - -pop_stack: - c = *((__global char *)offset(&l1_stack_counter, x, y)); - - if(c >= 1) - { - *((__global char *)offset(&l1_stack_counter, x, y)) -= 1; - int2 l_c = convert_int2(l1_ptr[c - 1]); - - // Push the current position into level 2 stack - stack_L2[L2_counter].x = x; - stack_L2[L2_counter].y = y; - - x = l_c.x; - y = l_c.y; - - L2_counter++; - - continue; - } - - if(L2_counter > 0) - { - goto pop_stack2; - } - else - { - return; - } - -pop_stack2: - L2_counter--; - x = stack_L2[L2_counter].x; - y = stack_L2[L2_counter].y; - }; -} |