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|  <span id="projectnumber">17.10</span> |
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| <div class="header"> |
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| <div class="title">optical_flow_pyramid_lk.cl</div> </div> |
| </div><!--header--> |
| <div class="contents"> |
| <a href="optical__flow__pyramid__lk_8cl.xhtml">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div> |
| <div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (c) 2017 ARM Limited.</span></div> |
| <div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * SPDX-License-Identifier: MIT</span></div> |
| <div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Permission is hereby granted, free of charge, to any person obtaining a copy</span></div> |
| <div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * of this software and associated documentation files (the "Software"), to</span></div> |
| <div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * deal in the Software without restriction, including without limitation the</span></div> |
| <div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or</span></div> |
| <div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * sell copies of the Software, and to permit persons to whom the Software is</span></div> |
| <div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * furnished to do so, subject to the following conditions:</span></div> |
| <div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * The above copyright notice and this permission notice shall be included in all</span></div> |
| <div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copies or substantial portions of the Software.</span></div> |
| <div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span></div> |
| <div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span></div> |
| <div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span></div> |
| <div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span></div> |
| <div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span></div> |
| <div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE</span></div> |
| <div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * SOFTWARE.</span></div> |
| <div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> */</span></div> |
| <div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include "<a class="code" href="helpers_8h.xhtml">helpers.h</a>"</span></div> |
| <div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include "<a class="code" href="types_8h.xhtml">types.h</a>"</span></div> |
| <div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div> |
| <div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">/*</span></div> |
| <div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> *The criteria for lost tracking is that the spatial gradient matrix has:</span></div> |
| <div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * - Determinant less than DETERMINANT_THR</span></div> |
| <div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * - or minimum eigenvalue is smaller then EIGENVALUE_THR</span></div> |
| <div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * The thresholds for the determinant and the minimum eigenvalue is</span></div> |
| <div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * defined by the OpenVX spec</span></div> |
| <div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> * Note: Also lost tracking happens when the point tracked coordinate is outside</span></div> |
| <div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> * the image coordinates</span></div> |
| <div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> * https://www.khronos.org/registry/vx/specs/1.0/html/d0/d0c/group__group__vision__function__opticalflowpyrlk.html</span></div> |
| <div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> */</span></div> |
| <div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div> |
| <div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment">/* Internal Lucas-Kanade Keypoint struct */</span></div> |
| <div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="struct_internal_keypoint.xhtml"> 42</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a></div> |
| <div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div> |
| <div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e"> 44</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a>; </div> |
| <div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217"> 45</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a>; </div> |
| <div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5"> 46</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">tracking_status</a>; </div> |
| <div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="struct_internal_keypoint.xhtml#aaf67d90c5e431e85ea2b7681537beab9"> 47</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_internal_keypoint.xhtml#aaf67d90c5e431e85ea2b7681537beab9">dummy</a>;</div> |
| <div class="line"><a name="l00048"></a><span class="lineno"> 48</span> } <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ad3a2575d8a9005ddf8ce79dda76918f8">InternalKeypoint</a>;</div> |
| <div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div> |
| <div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#a0f3927d942874a04e6464bdb946de046"> 51</a></span> <span class="preprocessor">#define DETERMINANT_THR 1.0e-07f</span></div> |
| <div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor"></span></div> |
| <div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#a3955a0fbedb5b3eae9a38801fb01bac5"> 54</a></span> <span class="preprocessor">#define EIGENVALUE_THR 1.0e-04f</span></div> |
| <div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="preprocessor"></span></div> |
| <div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376"> 57</a></span> <span class="preprocessor">#define W_BITS (14)</span></div> |
| <div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35"> 58</a></span> <span class="preprocessor"></span><span class="preprocessor">#define FLT_SCALE (1.0f / (float)(1 << 20))</span></div> |
| <div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a"> 59</a></span> <span class="preprocessor"></span><span class="preprocessor">#define D0 ((float)(1 << W_BITS))</span></div> |
| <div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#a52deba56234661c77d4b9573d5175ae2"> 60</a></span> <span class="preprocessor"></span><span class="preprocessor">#define D1 (1.0f / (float)(1 << (W_BITS - 5)))</span></div> |
| <div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="preprocessor"></span></div> |
| <div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#a73bd536f33d9707d1165a0fce16db833"> 68</a></span> __kernel <span class="keywordtype">void</span> <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a73bd536f33d9707d1165a0fce16db833">init_level</a>(</div> |
| <div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  __global float4 *old_points_internal,</div> |
| <div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  __global float4 *new_points_internal,</div> |
| <div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">scale</a>)</div> |
| <div class="line"><a name="l00072"></a><span class="lineno"> 72</span> {</div> |
| <div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordtype">int</span> idx = get_global_id(0);</div> |
| <div class="line"><a name="l00074"></a><span class="lineno"> 74</span> </div> |
| <div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="comment">// Get old and new keypoints</span></div> |
| <div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  float4 old_point = old_points_internal[idx];</div> |
| <div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  float4 new_point = new_points_internal[idx];</div> |
| <div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div> |
| <div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="comment">// Scale accordingly with the pyramid_scale</span></div> |
| <div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  old_point.xy *= (float2)(2.0f);</div> |
| <div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  new_point.xy *= (float2)(2.0f);</div> |
| <div class="line"><a name="l00082"></a><span class="lineno"> 82</span> </div> |
| <div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  old_points_internal[idx] = old_point;</div> |
| <div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  new_points_internal[idx] = new_point;</div> |
| <div class="line"><a name="l00085"></a><span class="lineno"> 85</span> }</div> |
| <div class="line"><a name="l00086"></a><span class="lineno"> 86</span> </div> |
| <div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#a324194275a47768c0460d19b16b477db"> 94</a></span> __kernel <span class="keywordtype">void</span> <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a324194275a47768c0460d19b16b477db">init_level_max</a>(</div> |
| <div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  __global <a class="code" href="struct_keypoint.xhtml">Keypoint</a> *old_points,</div> |
| <div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  __global <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *old_points_internal,</div> |
| <div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  __global <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *new_points_internal,</div> |
| <div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">scale</a>)</div> |
| <div class="line"><a name="l00099"></a><span class="lineno"> 99</span> {</div> |
| <div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">int</span> idx = get_global_id(0);</div> |
| <div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div> |
| <div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <a class="code" href="struct_keypoint.xhtml">Keypoint</a> old_point = old_points[idx];</div> |
| <div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div> |
| <div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="comment">// Get old keypoint to track</span></div> |
| <div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> old_point_internal;</div> |
| <div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a> = old_point.<a class="code" href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">x</a> * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">scale</a>;</div> |
| <div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a> = old_point.<a class="code" href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">y</a> * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">scale</a>;</div> |
| <div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">tracking_status</a> = 1.f;</div> |
| <div class="line"><a name="l00109"></a><span class="lineno"> 109</span> </div> |
| <div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="comment">// Store internal keypoints</span></div> |
| <div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  old_points_internal[idx] = old_point_internal;</div> |
| <div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  new_points_internal[idx] = old_point_internal;</div> |
| <div class="line"><a name="l00113"></a><span class="lineno"> 113</span> }</div> |
| <div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div> |
| <div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#a4b777fd3d432419912e4dbc94fe9d3f5"> 123</a></span> __kernel <span class="keywordtype">void</span> <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a4b777fd3d432419912e4dbc94fe9d3f5">init_level_max_initial_estimate</a>(</div> |
| <div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  __global <a class="code" href="struct_keypoint.xhtml">Keypoint</a> *old_points,</div> |
| <div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  __global <a class="code" href="struct_keypoint.xhtml">Keypoint</a> *new_points_estimates,</div> |
| <div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  __global <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *old_points_internal,</div> |
| <div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  __global <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *new_points_internal,</div> |
| <div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">scale</a>)</div> |
| <div class="line"><a name="l00129"></a><span class="lineno"> 129</span> {</div> |
| <div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordtype">int</span> idx = get_global_id(0);</div> |
| <div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div> |
| <div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <a class="code" href="struct_keypoint.xhtml">Keypoint</a> old_point = old_points[idx];</div> |
| <div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <a class="code" href="struct_keypoint.xhtml">Keypoint</a> new_point_estimate = new_points_estimates[idx];</div> |
| <div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> old_point_internal;</div> |
| <div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> new_point_internal;</div> |
| <div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div> |
| <div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// Get old keypoint to track</span></div> |
| <div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a> = old_point.<a class="code" href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">x</a> * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">scale</a>;</div> |
| <div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a> = old_point.<a class="code" href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">y</a> * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">scale</a>;</div> |
| <div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  old_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">tracking_status</a> = 1.f;</div> |
| <div class="line"><a name="l00141"></a><span class="lineno"> 141</span> </div> |
| <div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="comment">// Get new keypoint to track</span></div> |
| <div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a> = new_point_estimate.<a class="code" href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">x</a> * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">scale</a>;</div> |
| <div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a> = new_point_estimate.<a class="code" href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">y</a> * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">scale</a>;</div> |
| <div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">tracking_status</a> = new_point_estimate.<a class="code" href="struct_keypoint.xhtml#a7edfed755585d6095522904dbe0ec4d8">tracking_status</a>;</div> |
| <div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div> |
| <div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="comment">// Store internal keypoints</span></div> |
| <div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  old_points_internal[idx] = old_point_internal;</div> |
| <div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  new_points_internal[idx] = new_point_internal;</div> |
| <div class="line"><a name="l00150"></a><span class="lineno"> 150</span> }</div> |
| <div class="line"><a name="l00151"></a><span class="lineno"> 151</span> </div> |
| <div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#a0beafe52e6ef0247d036f06bd6da622a"> 157</a></span> __kernel <span class="keywordtype">void</span> <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a0beafe52e6ef0247d036f06bd6da622a">finalize</a>(</div> |
| <div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  __global <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> *new_points_internal,</div> |
| <div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  __global <a class="code" href="struct_keypoint.xhtml">Keypoint</a> *new_points)</div> |
| <div class="line"><a name="l00160"></a><span class="lineno"> 160</span> {</div> |
| <div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordtype">int</span> idx = get_global_id(0);</div> |
| <div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div> |
| <div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="comment">// Load internal keypoint</span></div> |
| <div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="struct_internal_keypoint.xhtml">InternalKeypoint</a> new_point_internal = new_points_internal[idx];</div> |
| <div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div> |
| <div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="comment">// Calculate output point</span></div> |
| <div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <a class="code" href="struct_keypoint.xhtml">Keypoint</a> new_point;</div> |
| <div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  new_point.<a class="code" href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">x</a> = <a class="code" href="namespacearm__compute_1_1support_1_1cpp11.xhtml#ab71c35ca207b916a9f8b0336ab88484e">round</a>(new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a>);</div> |
| <div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  new_point.<a class="code" href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">y</a> = <a class="code" href="namespacearm__compute_1_1support_1_1cpp11.xhtml#ab71c35ca207b916a9f8b0336ab88484e">round</a>(new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a>);</div> |
| <div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  new_point.<a class="code" href="struct_keypoint.xhtml#a7edfed755585d6095522904dbe0ec4d8">tracking_status</a> = new_point_internal.<a class="code" href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">tracking_status</a>;</div> |
| <div class="line"><a name="l00171"></a><span class="lineno"> 171</span> </div> |
| <div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="comment">// Store new point</span></div> |
| <div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  new_points[idx] = new_point;</div> |
| <div class="line"><a name="l00174"></a><span class="lineno"> 174</span> }</div> |
| <div class="line"><a name="l00175"></a><span class="lineno"> 175</span> </div> |
| <div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#ae1961d0f636da631c35ffaf096187840"> 207</a></span> <span class="keywordtype">void</span> __kernel <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae1961d0f636da631c35ffaf096187840">lktracker_stage0</a>(</div> |
| <div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <a class="code" href="helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(old_image),</div> |
| <div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <a class="code" href="helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(old_scharr_gx),</div> |
| <div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <a class="code" href="helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(old_scharr_gy),</div> |
| <div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  __global float4 *old_points,</div> |
| <div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  __global float4 *new_points,</div> |
| <div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  __global float4 *coeff,</div> |
| <div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  __global short4 *iold_val,</div> |
| <div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> window_dimension,</div> |
| <div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> window_dimension_pow2,</div> |
| <div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> half_window,</div> |
| <div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keyword">const</span> float3 border_limits,</div> |
| <div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> eig_const,</div> |
| <div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> level0)</div> |
| <div class="line"><a name="l00221"></a><span class="lineno"> 221</span> {</div> |
| <div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordtype">int</span> idx = get_global_id(0);</div> |
| <div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div> |
| <div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <a class="code" href="struct_image.xhtml">Image</a> old_image = <a class="code" href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>(old_image);</div> |
| <div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <a class="code" href="struct_image.xhtml">Image</a> old_scharr_gx = <a class="code" href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>(old_scharr_gx);</div> |
| <div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="struct_image.xhtml">Image</a> old_scharr_gy = <a class="code" href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>(old_scharr_gy);</div> |
| <div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div> |
| <div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="comment">// Get old keypoint</span></div> |
| <div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  float2 old_keypoint = old_points[idx].xy - (float2)half_window;</div> |
| <div class="line"><a name="l00230"></a><span class="lineno"> 230</span> </div> |
| <div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="comment">// Get the floor value</span></div> |
| <div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  float2 iold_keypoint = floor(old_keypoint);</div> |
| <div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div> |
| <div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="comment">// Check if using the window dimension we can go out of boundary in the following for loops. If so, invalidate the tracked point</span></div> |
| <div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">if</span>(any(iold_keypoint < border_limits.zz) || any(iold_keypoint >= border_limits.xy))</div> |
| <div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  {</div> |
| <div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordflow">if</span>(level0 == 1)</div> |
| <div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  {</div> |
| <div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="comment">// Invalidate tracked point as we are at level 0</span></div> |
| <div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  new_points[idx].s2 = 0.0f;</div> |
| <div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  }</div> |
| <div class="line"><a name="l00242"></a><span class="lineno"> 242</span> </div> |
| <div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="comment">// Not valid coordinate. It sets min_eig to 0.0f</span></div> |
| <div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  coeff[idx].s3 = 0.0f;</div> |
| <div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div> |
| <div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">return</span>;</div> |
| <div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  }</div> |
| <div class="line"><a name="l00248"></a><span class="lineno"> 248</span> </div> |
| <div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="comment">// Compute weight for the bilinear interpolation</span></div> |
| <div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  float2 ab = old_keypoint - iold_keypoint;</div> |
| <div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div> |
| <div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="comment">// Weight used for Bilinear-Interpolation on Scharr images</span></div> |
| <div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="comment">// w_scharr.s0 = (1.0f - ab.x) * (1.0f - ab.y)</span></div> |
| <div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="comment">// w_scharr.s1 = ab.x * (1.0f - ab.y)</span></div> |
| <div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="comment">// w_scharr.s2 = (1.0f - ab.x) * ab.y</span></div> |
| <div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="comment">// w_scharr.s3 = ab.x * ab.y</span></div> |
| <div class="line"><a name="l00257"></a><span class="lineno"> 257</span> </div> |
| <div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  float4 w_scharr;</div> |
| <div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  w_scharr.s3 = ab.x * ab.y;</div> |
| <div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  w_scharr.s0 = w_scharr.s3 + 1.0f - ab.x - ab.y;</div> |
| <div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  w_scharr.s12 = ab - (float2)w_scharr.s3;</div> |
| <div class="line"><a name="l00262"></a><span class="lineno"> 262</span> </div> |
| <div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="comment">// Weight used for Bilinear-Interpolation on Old and New images</span></div> |
| <div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="comment">// w.s0 = round(w_scharr.s0 * D0)</span></div> |
| <div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="comment">// w.s1 = round(w_scharr.s1 * D0)</span></div> |
| <div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="comment">// w.s2 = round(w_scharr.s2 * D0)</span></div> |
| <div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="comment">// w.s3 = w.s3 = D0 - w.s0 - w.s1 - w.s2</span></div> |
| <div class="line"><a name="l00268"></a><span class="lineno"> 268</span> </div> |
| <div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  float4 w;</div> |
| <div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  w = <a class="code" href="namespacearm__compute_1_1support_1_1cpp11.xhtml#ab71c35ca207b916a9f8b0336ab88484e">round</a>(w_scharr * (float4)<a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a>);</div> |
| <div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  w.s3 = <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a> - w.s0 - w.s1 - w.s2; <span class="comment">// Added for matching VX implementation</span></div> |
| <div class="line"><a name="l00272"></a><span class="lineno"> 272</span> </div> |
| <div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="comment">// G.s0 = A11, G.s1 = A12, G.s2 = A22, G.s3 = min_eig</span></div> |
| <div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  int4 iG = (int4)0;</div> |
| <div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div> |
| <div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="comment">// Window offset</span></div> |
| <div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keywordtype">int</span> window_offset = idx * window_dimension_pow2;</div> |
| <div class="line"><a name="l00278"></a><span class="lineno"> 278</span> </div> |
| <div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="comment">// Compute Spatial Gradient Matrix G</span></div> |
| <div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordflow">for</span>(ushort ky = 0; ky < window_dimension; ++ky)</div> |
| <div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  {</div> |
| <div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordtype">int</span> offset_y = iold_keypoint.y + ky;</div> |
| <div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">for</span>(ushort kx = 0; kx < window_dimension; ++kx)</div> |
| <div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  {</div> |
| <div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordtype">int</span> offset_x = iold_keypoint.x + kx;</div> |
| <div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  float4 px;</div> |
| <div class="line"><a name="l00287"></a><span class="lineno"> 287</span> </div> |
| <div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="comment">// Load values from old_image for computing the bilinear interpolation</span></div> |
| <div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  px = convert_float4((uchar4)(vload2(0, <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&old_image, offset_x, offset_y)),</div> |
| <div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  vload2(0, <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&old_image, offset_x, offset_y + 1))));</div> |
| <div class="line"><a name="l00291"></a><span class="lineno"> 291</span> </div> |
| <div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="comment">// old_i.s0 = ival, old_i.s1 = ixval, old_i.s2 = iyval, old_i.s3 = dummy</span></div> |
| <div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  float4 old_i;</div> |
| <div class="line"><a name="l00294"></a><span class="lineno"> 294</span> </div> |
| <div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="comment">// Compute bilinear interpolation (with D1 scale factor) for ival</span></div> |
| <div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  old_i.s0 = dot(px, w) * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a52deba56234661c77d4b9573d5175ae2">D1</a>;</div> |
| <div class="line"><a name="l00297"></a><span class="lineno"> 297</span> </div> |
| <div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="comment">// Load values from old_scharr_gx for computing the bilinear interpolation</span></div> |
| <div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  px = convert_float4((short4)(vload2(0, (__global <span class="keywordtype">short</span> *)<a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&old_scharr_gx, offset_x, offset_y)),</div> |
| <div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  vload2(0, (__global <span class="keywordtype">short</span> *)<a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&old_scharr_gx, offset_x, offset_y + 1))));</div> |
| <div class="line"><a name="l00301"></a><span class="lineno"> 301</span> </div> |
| <div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="comment">// Compute bilinear interpolation for ixval</span></div> |
| <div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  old_i.s1 = dot(px, w_scharr);</div> |
| <div class="line"><a name="l00304"></a><span class="lineno"> 304</span> </div> |
| <div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="comment">// Load values from old_scharr_gy for computing the bilinear interpolation</span></div> |
| <div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  px = convert_float4((short4)(vload2(0, (__global <span class="keywordtype">short</span> *)<a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&old_scharr_gy, offset_x, offset_y)),</div> |
| <div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  vload2(0, (__global <span class="keywordtype">short</span> *)<a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&old_scharr_gy, offset_x, offset_y + 1))));</div> |
| <div class="line"><a name="l00308"></a><span class="lineno"> 308</span> </div> |
| <div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="comment">// Compute bilinear interpolation for iyval</span></div> |
| <div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  old_i.s2 = dot(px, w_scharr);</div> |
| <div class="line"><a name="l00311"></a><span class="lineno"> 311</span> </div> |
| <div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="comment">// Rounding (it could be omitted. Used just for matching the VX implementation)</span></div> |
| <div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  int4 iold = convert_int4(<a class="code" href="namespacearm__compute_1_1support_1_1cpp11.xhtml#ab71c35ca207b916a9f8b0336ab88484e">round</a>(old_i));</div> |
| <div class="line"><a name="l00314"></a><span class="lineno"> 314</span> </div> |
| <div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="comment">// Accumulate values in the Spatial Gradient Matrix</span></div> |
| <div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  iG.s0 += (int)(iold.s1 * iold.s1);</div> |
| <div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  iG.s1 += (int)(iold.s1 * iold.s2);</div> |
| <div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  iG.s2 += (int)(iold.s2 * iold.s2);</div> |
| <div class="line"><a name="l00319"></a><span class="lineno"> 319</span> </div> |
| <div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="comment">// Store ival, ixval and iyval</span></div> |
| <div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  iold_val[window_offset + kx] = convert_short4(iold);</div> |
| <div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  }</div> |
| <div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  window_offset += window_dimension;</div> |
| <div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  }</div> |
| <div class="line"><a name="l00325"></a><span class="lineno"> 325</span> </div> |
| <div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="comment">// Scale iA11, iA12 and iA22</span></div> |
| <div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  float4 G = convert_float4(iG) * (float4)<a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>;</div> |
| <div class="line"><a name="l00328"></a><span class="lineno"> 328</span> </div> |
| <div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="comment">// Compute minimum eigen value</span></div> |
| <div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  G.s3 = (float)(G.s2 + G.s0 - sqrt(pown(G.s0 - G.s2, 2) + 4.0f * G.s1 * G.s1)) * eig_const;</div> |
| <div class="line"><a name="l00331"></a><span class="lineno"> 331</span> </div> |
| <div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="comment">// Store A11. A11, A22 and min_eig</span></div> |
| <div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  coeff[idx] = G;</div> |
| <div class="line"><a name="l00334"></a><span class="lineno"> 334</span> }</div> |
| <div class="line"><a name="l00335"></a><span class="lineno"> 335</span> </div> |
| <div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="optical__flow__pyramid__lk_8cl.xhtml#a97401877f0071dbe2443c697b29d80e0"> 358</a></span> <span class="keywordtype">void</span> __kernel <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a97401877f0071dbe2443c697b29d80e0">lktracker_stage1</a>(</div> |
| <div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <a class="code" href="helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(new_image),</div> |
| <div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  __global float4 *new_points,</div> |
| <div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  __global float4 *coeff,</div> |
| <div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  __global short4 *iold_val,</div> |
| <div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> window_dimension,</div> |
| <div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> window_dimension_pow2,</div> |
| <div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> half_window,</div> |
| <div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> num_iterations,</div> |
| <div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> epsilon,</div> |
| <div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="keyword">const</span> float3 border_limits,</div> |
| <div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> eig_const,</div> |
| <div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> level0,</div> |
| <div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> term_iteration,</div> |
| <div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> term_epsilon)</div> |
| <div class="line"><a name="l00373"></a><span class="lineno"> 373</span> {</div> |
| <div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  <span class="keywordtype">int</span> idx = get_global_id(0);</div> |
| <div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <a class="code" href="struct_image.xhtml">Image</a> new_image = <a class="code" href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a>(new_image);</div> |
| <div class="line"><a name="l00376"></a><span class="lineno"> 376</span> </div> |
| <div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="comment">// G.s0 = A11, G.s1 = A12, G.s2 = A22, G.s3 = min_eig</span></div> |
| <div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  float4 G = coeff[idx];</div> |
| <div class="line"><a name="l00379"></a><span class="lineno"> 379</span> </div> |
| <div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="comment">// Determinant</span></div> |
| <div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="keywordtype">float</span> D = G.s0 * G.s2 - G.s1 * G.s1;</div> |
| <div class="line"><a name="l00382"></a><span class="lineno"> 382</span> </div> |
| <div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <span class="comment">// Check if it is a good point to track</span></div> |
| <div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="keywordflow">if</span>(G.s3 < <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a3955a0fbedb5b3eae9a38801fb01bac5">EIGENVALUE_THR</a> || D < <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a0f3927d942874a04e6464bdb946de046">DETERMINANT_THR</a>)</div> |
| <div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  {</div> |
| <div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordflow">if</span>(level0 == 1)</div> |
| <div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  {</div> |
| <div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="comment">// Invalidate tracked point as we are at level 0</span></div> |
| <div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  new_points[idx].s2 = 0;</div> |
| <div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  }</div> |
| <div class="line"><a name="l00391"></a><span class="lineno"> 391</span> </div> |
| <div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <span class="keywordflow">return</span>;</div> |
| <div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  }</div> |
| <div class="line"><a name="l00394"></a><span class="lineno"> 394</span> </div> |
| <div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="comment">// Compute inverse</span></div> |
| <div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="comment">//D = native_recip(D);</span></div> |
| <div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  D = 1.0 / D;</div> |
| <div class="line"><a name="l00398"></a><span class="lineno"> 398</span> </div> |
| <div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="comment">// Get new keypoint</span></div> |
| <div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  float2 new_keypoint = new_points[idx].xy - (float)half_window;</div> |
| <div class="line"><a name="l00401"></a><span class="lineno"> 401</span> </div> |
| <div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="comment">// Get new point</span></div> |
| <div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  float2 out_new_point = new_points[idx].xy;</div> |
| <div class="line"><a name="l00404"></a><span class="lineno"> 404</span> </div> |
| <div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="comment">// Keep delta obtained in the previous iteration</span></div> |
| <div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  float2 prev_delta = (float2)0.0f;</div> |
| <div class="line"><a name="l00407"></a><span class="lineno"> 407</span> </div> |
| <div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  <span class="keywordtype">int</span> j = 0;</div> |
| <div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="keywordflow">while</span>(j < num_iterations)</div> |
| <div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  {</div> |
| <div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="comment">// Get the floor value</span></div> |
| <div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  float2 inew_keypoint = floor(new_keypoint);</div> |
| <div class="line"><a name="l00413"></a><span class="lineno"> 413</span> </div> |
| <div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  <span class="comment">// Check if using the window dimension we can go out of boundary in the following for loops. If so, invalidate the tracked point</span></div> |
| <div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  <span class="keywordflow">if</span>(any(inew_keypoint < border_limits.zz) || any(inew_keypoint >= border_limits.xy))</div> |
| <div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  {</div> |
| <div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <span class="keywordflow">if</span>(level0 == 1)</div> |
| <div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  {</div> |
| <div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <span class="comment">// Invalidate tracked point as we are at level 0</span></div> |
| <div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  new_points[idx].s2 = 0.0f;</div> |
| <div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  }</div> |
| <div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="keywordflow">else</span></div> |
| <div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  {</div> |
| <div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  new_points[idx].xy = out_new_point;</div> |
| <div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  }</div> |
| <div class="line"><a name="l00426"></a><span class="lineno"> 426</span> </div> |
| <div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <span class="keywordflow">return</span>;</div> |
| <div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  }</div> |
| <div class="line"><a name="l00429"></a><span class="lineno"> 429</span> </div> |
| <div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  <span class="comment">// Compute weight for the bilinear interpolation</span></div> |
| <div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  float2 ab = new_keypoint - inew_keypoint;</div> |
| <div class="line"><a name="l00432"></a><span class="lineno"> 432</span> </div> |
| <div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="comment">// Weight used for Bilinear-Interpolation on Old and New images</span></div> |
| <div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="comment">// w.s0 = round((1.0f - ab.x) * (1.0f - ab.y) * D0)</span></div> |
| <div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="comment">// w.s1 = round(ab.x * (1.0f - ab.y) * D0)</span></div> |
| <div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <span class="comment">// w.s2 = round((1.0f - ab.x) * ab.y * D0)</span></div> |
| <div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  <span class="comment">// w.s3 = D0 - w.s0 - w.s1 - w.s2</span></div> |
| <div class="line"><a name="l00438"></a><span class="lineno"> 438</span> </div> |
| <div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  float4 w;</div> |
| <div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  w.s3 = ab.x * ab.y;</div> |
| <div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  w.s0 = w.s3 + 1.0f - ab.x - ab.y;</div> |
| <div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  w.s12 = ab - (float2)w.s3;</div> |
| <div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  w = <a class="code" href="namespacearm__compute_1_1support_1_1cpp11.xhtml#ab71c35ca207b916a9f8b0336ab88484e">round</a>(w * (float4)<a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a>);</div> |
| <div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  w.s3 = <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a> - w.s0 - w.s1 - w.s2;</div> |
| <div class="line"><a name="l00445"></a><span class="lineno"> 445</span> </div> |
| <div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <span class="comment">// Mismatch vector</span></div> |
| <div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  int2 ib = 0;</div> |
| <div class="line"><a name="l00448"></a><span class="lineno"> 448</span> </div> |
| <div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <span class="comment">// Old val offset</span></div> |
| <div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <span class="keywordtype">int</span> old_val_offset = idx * window_dimension_pow2;</div> |
| <div class="line"><a name="l00451"></a><span class="lineno"> 451</span> </div> |
| <div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> ky = 0; ky < window_dimension; ++ky)</div> |
| <div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  {</div> |
| <div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> kx = 0; kx < window_dimension; ++kx)</div> |
| <div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  {</div> |
| <div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  <span class="comment">// ival, ixval and iyval have been computed in the previous stage</span></div> |
| <div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  int4 old_ival = convert_int4(iold_val[old_val_offset]);</div> |
| <div class="line"><a name="l00458"></a><span class="lineno"> 458</span> </div> |
| <div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  <span class="comment">// Load values from old_image for computing the bilinear interpolation</span></div> |
| <div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  float4 px = convert_float4((uchar4)(vload2(0, <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&new_image, inew_keypoint.x + kx, inew_keypoint.y + ky)),</div> |
| <div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  vload2(0, <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&new_image, inew_keypoint.x + kx, inew_keypoint.y + ky + 1))));</div> |
| <div class="line"><a name="l00462"></a><span class="lineno"> 462</span> </div> |
| <div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  <span class="comment">// Compute bilinear interpolation on new image</span></div> |
| <div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="keywordtype">int</span> jval = (int)<a class="code" href="namespacearm__compute_1_1support_1_1cpp11.xhtml#ab71c35ca207b916a9f8b0336ab88484e">round</a>(dot(px, w) * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a52deba56234661c77d4b9573d5175ae2">D1</a>);</div> |
| <div class="line"><a name="l00465"></a><span class="lineno"> 465</span> </div> |
| <div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <span class="comment">// Compute luminance difference</span></div> |
| <div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="keywordtype">int</span> diff = (int)(jval - old_ival.s0);</div> |
| <div class="line"><a name="l00468"></a><span class="lineno"> 468</span> </div> |
| <div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="comment">// Accumulate values in mismatch vector</span></div> |
| <div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  ib += (diff * old_ival.s12);</div> |
| <div class="line"><a name="l00471"></a><span class="lineno"> 471</span> </div> |
| <div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="comment">// Update old val offset</span></div> |
| <div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  old_val_offset++;</div> |
| <div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  }</div> |
| <div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  }</div> |
| <div class="line"><a name="l00476"></a><span class="lineno"> 476</span> </div> |
| <div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  float2 b = convert_float2(ib) * (float2)<a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>;</div> |
| <div class="line"><a name="l00478"></a><span class="lineno"> 478</span> </div> |
| <div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  <span class="comment">// Optical Flow</span></div> |
| <div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  float2 delta;</div> |
| <div class="line"><a name="l00481"></a><span class="lineno"> 481</span> </div> |
| <div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  delta.x = (float)((G.s1 * b.y - G.s2 * b.x) * D);</div> |
| <div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  delta.y = (float)((G.s1 * b.x - G.s0 * b.y) * D);</div> |
| <div class="line"><a name="l00484"></a><span class="lineno"> 484</span> </div> |
| <div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <span class="comment">// Update new point coordinate</span></div> |
| <div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  new_keypoint += delta;</div> |
| <div class="line"><a name="l00487"></a><span class="lineno"> 487</span> </div> |
| <div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  out_new_point = new_keypoint + (float2)half_window;</div> |
| <div class="line"><a name="l00489"></a><span class="lineno"> 489</span> </div> |
| <div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="keywordflow">if</span>(term_epsilon == 1)</div> |
| <div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  {</div> |
| <div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordtype">float</span> mag2 = dot(delta, delta);</div> |
| <div class="line"><a name="l00493"></a><span class="lineno"> 493</span> </div> |
| <div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <span class="keywordflow">if</span>(mag2 <= epsilon)</div> |
| <div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  {</div> |
| <div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  new_points[idx].xy = out_new_point;</div> |
| <div class="line"><a name="l00497"></a><span class="lineno"> 497</span> </div> |
| <div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  <span class="keywordflow">return</span>;</div> |
| <div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  }</div> |
| <div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  }</div> |
| <div class="line"><a name="l00501"></a><span class="lineno"> 501</span> </div> |
| <div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <span class="comment">// Check convergence analyzing the previous delta</span></div> |
| <div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  <span class="keywordflow">if</span>(j > 0 && all(fabs(delta + prev_delta) < (float2)0.01f))</div> |
| <div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  {</div> |
| <div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  out_new_point -= delta * (float2)0.5f;</div> |
| <div class="line"><a name="l00506"></a><span class="lineno"> 506</span> </div> |
| <div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  new_points[idx].xy = out_new_point;</div> |
| <div class="line"><a name="l00508"></a><span class="lineno"> 508</span> </div> |
| <div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  <span class="keywordflow">return</span>;</div> |
| <div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  }</div> |
| <div class="line"><a name="l00511"></a><span class="lineno"> 511</span> </div> |
| <div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <span class="comment">// Update previous delta</span></div> |
| <div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  prev_delta = delta;</div> |
| <div class="line"><a name="l00514"></a><span class="lineno"> 514</span> </div> |
| <div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  <span class="keywordflow">if</span>(term_iteration == 1)</div> |
| <div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  {</div> |
| <div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  j++;</div> |
| <div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  }</div> |
| <div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  }</div> |
| <div class="line"><a name="l00520"></a><span class="lineno"> 520</span> </div> |
| <div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  new_points[idx].xy = out_new_point;</div> |
| <div class="line"><a name="l00522"></a><span class="lineno"> 522</span> }</div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_ae0b2360d4b8e961bf2709b0663fd9f2a"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a></div><div class="ttdeci">#define D0</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00059">optical_flow_pyramid_lk.cl:59</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a324194275a47768c0460d19b16b477db"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a324194275a47768c0460d19b16b477db">init_level_max</a></div><div class="ttdeci">__kernel void init_level_max(__global Keypoint *old_points, __global InternalKeypoint *old_points_internal, __global InternalKeypoint *new_points_internal, const float scale)</div><div class="ttdoc">Initializes the internal new points array when the level of pyramid is equal to max. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00094">optical_flow_pyramid_lk.cl:94</a></div></div> |
| <div class="ttc" id="struct_internal_keypoint_xhtml_aaf67d90c5e431e85ea2b7681537beab9"><div class="ttname"><a href="struct_internal_keypoint.xhtml#aaf67d90c5e431e85ea2b7681537beab9">InternalKeypoint::dummy</a></div><div class="ttdeci">float dummy</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00047">optical_flow_pyramid_lk.cl:47</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a0beafe52e6ef0247d036f06bd6da622a"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a0beafe52e6ef0247d036f06bd6da622a">finalize</a></div><div class="ttdeci">__kernel void finalize(__global InternalKeypoint *new_points_internal, __global Keypoint *new_points)</div><div class="ttdoc">Truncates the coordinates stored in new_points array. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00157">optical_flow_pyramid_lk.cl:157</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a73bd536f33d9707d1165a0fce16db833"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a73bd536f33d9707d1165a0fce16db833">init_level</a></div><div class="ttdeci">__kernel void init_level(__global float4 *old_points_internal, __global float4 *new_points_internal, const float scale)</div><div class="ttdoc">Initializes the internal new points array when the level of pyramid is NOT equal to max...</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00068">optical_flow_pyramid_lk.cl:68</a></div></div> |
| <div class="ttc" id="struct_internal_keypoint_xhtml_ad0da36b2558901e21e7a30f6c227a45e"><div class="ttname"><a href="struct_internal_keypoint.xhtml#ad0da36b2558901e21e7a30f6c227a45e">InternalKeypoint::x</a></div><div class="ttdeci">float x</div><div class="ttdoc">The x coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00044">optical_flow_pyramid_lk.cl:44</a></div></div> |
| <div class="ttc" id="helpers_8h_xhtml_a4334a4a76f8e9628c0fb9e1acf616e2a"><div class="ttname"><a href="helpers_8h.xhtml#a4334a4a76f8e9628c0fb9e1acf616e2a">CONVERT_TO_IMAGE_STRUCT_NO_STEP</a></div><div class="ttdeci">#define CONVERT_TO_IMAGE_STRUCT_NO_STEP(name)</div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00099">helpers.h:99</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a3955a0fbedb5b3eae9a38801fb01bac5"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a3955a0fbedb5b3eae9a38801fb01bac5">EIGENVALUE_THR</a></div><div class="ttdeci">#define EIGENVALUE_THR</div><div class="ttdoc">Thresholds for minimum eigenvalue. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00054">optical_flow_pyramid_lk.cl:54</a></div></div> |
| <div class="ttc" id="struct_internal_keypoint_xhtml_a08361efa212a9ab04a5965766ea942d5"><div class="ttname"><a href="struct_internal_keypoint.xhtml#a08361efa212a9ab04a5965766ea942d5">InternalKeypoint::tracking_status</a></div><div class="ttdeci">float tracking_status</div><div class="ttdoc">A zero indicates a lost point. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00046">optical_flow_pyramid_lk.cl:46</a></div></div> |
| <div class="ttc" id="struct_keypoint_xhtml"><div class="ttname"><a href="struct_keypoint.xhtml">Keypoint</a></div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00035">types.h:35</a></div></div> |
| <div class="ttc" id="helpers_8h_xhtml_a22f42fcf2077d951271df83b55c1a71a"><div class="ttname"><a href="helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a></div><div class="ttdeci">#define IMAGE_DECLARATION(name)</div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00060">helpers.h:60</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a0f3927d942874a04e6464bdb946de046"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a0f3927d942874a04e6464bdb946de046">DETERMINANT_THR</a></div><div class="ttdeci">#define DETERMINANT_THR</div><div class="ttdoc">Threshold for the determinant. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00051">optical_flow_pyramid_lk.cl:51</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_ad3a2575d8a9005ddf8ce79dda76918f8"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#ad3a2575d8a9005ddf8ce79dda76918f8">InternalKeypoint</a></div><div class="ttdeci">struct InternalKeypoint InternalKeypoint</div></div> |
| <div class="ttc" id="helpers_8h_xhtml_a009469e4d9b8fce3b6d5e97d2077827d"><div class="ttname"><a href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a></div><div class="ttdeci">__global uchar * offset(const Image *img, int x, int y)</div><div class="ttdoc">Get the pointer position of a Image. </div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00295">helpers.h:295</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_ae1961d0f636da631c35ffaf096187840"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#ae1961d0f636da631c35ffaf096187840">lktracker_stage0</a></div><div class="ttdeci">void __kernel lktracker_stage0(__global uchar *old_image_ptr, uint old_image_stride_x, uint old_image_step_x, uint old_image_stride_y, uint old_image_step_y, uint old_image_offset_first_element_in_bytes, __global uchar *old_scharr_gx_ptr, uint old_scharr_gx_stride_x, uint old_scharr_gx_step_x, uint old_scharr_gx_stride_y, uint old_scharr_gx_step_y, uint old_scharr_gx_offset_first_element_in_bytes, __global uchar *old_scharr_gy_ptr, uint old_scharr_gy_stride_x, uint old_scharr_gy_step_x, uint old_scharr_gy_stride_y, uint old_scharr_gy_step_y, uint old_scharr_gy_offset_first_element_in_bytes, __global float4 *old_points, __global float4 *new_points, __global float4 *coeff, __global short4 *iold_val, const int window_dimension, const int window_dimension_pow2, const int half_window, const float3 border_limits, const float eig_const, const int level0)</div><div class="ttdoc">Computes A11, A12, A22, min_eig, ival, ixval and iyval at level 0th of the pyramid. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00207">optical_flow_pyramid_lk.cl:207</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a4b777fd3d432419912e4dbc94fe9d3f5"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a4b777fd3d432419912e4dbc94fe9d3f5">init_level_max_initial_estimate</a></div><div class="ttdeci">__kernel void init_level_max_initial_estimate(__global Keypoint *old_points, __global Keypoint *new_points_estimates, __global InternalKeypoint *old_points_internal, __global InternalKeypoint *new_points_internal, const float scale)</div><div class="ttdoc">Initializes the new_points array when the level of pyramid is equal to max and if use_initial_estimat...</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00123">optical_flow_pyramid_lk.cl:123</a></div></div> |
| <div class="ttc" id="helpers_8h_xhtml"><div class="ttname"><a href="helpers_8h.xhtml">helpers.h</a></div></div> |
| <div class="ttc" id="struct_keypoint_xhtml_a0a2f84ed7838f07779ae24c5a9086d33"><div class="ttname"><a href="struct_keypoint.xhtml#a0a2f84ed7838f07779ae24c5a9086d33">Keypoint::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">The y coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00038">types.h:38</a></div></div> |
| <div class="ttc" id="struct_internal_keypoint_xhtml"><div class="ttname"><a href="struct_internal_keypoint.xhtml">InternalKeypoint</a></div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00042">optical_flow_pyramid_lk.cl:42</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a52deba56234661c77d4b9573d5175ae2"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a52deba56234661c77d4b9573d5175ae2">D1</a></div><div class="ttdeci">#define D1</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00060">optical_flow_pyramid_lk.cl:60</a></div></div> |
| <div class="ttc" id="struct_image_xhtml"><div class="ttname"><a href="struct_image.xhtml">Image</a></div><div class="ttdoc">Structure to hold Image information. </div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00134">helpers.h:134</a></div></div> |
| <div class="ttc" id="types_8h_xhtml"><div class="ttname"><a href="types_8h.xhtml">types.h</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a1852457538f524c42f96b66882bd9b35"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a></div><div class="ttdeci">#define FLT_SCALE</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00058">optical_flow_pyramid_lk.cl:58</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1support_1_1cpp11_xhtml_ab71c35ca207b916a9f8b0336ab88484e"><div class="ttname"><a href="namespacearm__compute_1_1support_1_1cpp11.xhtml#ab71c35ca207b916a9f8b0336ab88484e">arm_compute::support::cpp11::round</a></div><div class="ttdeci">T round(T value)</div><div class="ttdoc">Round floating-point value with half value rounding away from zero. </div><div class="ttdef"><b>Definition:</b> <a href="_toolchain_support_8h_source.xhtml#l00228">ToolchainSupport.h:228</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a97401877f0071dbe2443c697b29d80e0"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a97401877f0071dbe2443c697b29d80e0">lktracker_stage1</a></div><div class="ttdeci">void __kernel lktracker_stage1(__global uchar *new_image_ptr, uint new_image_stride_x, uint new_image_step_x, uint new_image_stride_y, uint new_image_step_y, uint new_image_offset_first_element_in_bytes, __global float4 *new_points, __global float4 *coeff, __global short4 *iold_val, const int window_dimension, const int window_dimension_pow2, const int half_window, const int num_iterations, const float epsilon, const float3 border_limits, const float eig_const, const int level0, const int term_iteration, const int term_epsilon)</div><div class="ttdoc">Computes the motion vector for a given keypoint. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00358">optical_flow_pyramid_lk.cl:358</a></div></div> |
| <div class="ttc" id="struct_keypoint_xhtml_a7edfed755585d6095522904dbe0ec4d8"><div class="ttname"><a href="struct_keypoint.xhtml#a7edfed755585d6095522904dbe0ec4d8">Keypoint::tracking_status</a></div><div class="ttdeci">int tracking_status</div><div class="ttdoc">A zero indicates a lost point. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00042">types.h:42</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_1_1validation_1_1reference_xhtml_a2c08fc82f2e4b9733cd0dacd6eabe579"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a2c08fc82f2e4b9733cd0dacd6eabe579">arm_compute::test::validation::reference::scale</a></div><div class="ttdeci">SimpleTensor< T > scale(const SimpleTensor< T > &in, float scale_x, float scale_y, InterpolationPolicy policy, BorderMode border_mode, T constant_border_value)</div><div class="ttdef"><b>Definition:</b> <a href="_c_p_p_2_scale_8cpp_source.xhtml#l00039">Scale.cpp:39</a></div></div> |
| <div class="ttc" id="struct_keypoint_xhtml_a6150e0515f7202e2fb518f7206ed97dc"><div class="ttname"><a href="struct_keypoint.xhtml#a6150e0515f7202e2fb518f7206ed97dc">Keypoint::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">The x coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00037">types.h:37</a></div></div> |
| <div class="ttc" id="struct_internal_keypoint_xhtml_aa4f0d3eebc3c443f9be81bf48561a217"><div class="ttname"><a href="struct_internal_keypoint.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">InternalKeypoint::y</a></div><div class="ttdeci">float y</div><div class="ttdoc">The y coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00045">optical_flow_pyramid_lk.cl:45</a></div></div> |
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