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| <a href="harris__corners_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) 2016, 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="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml">helpers.h</a>"</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"></span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">/** Function running harris score on 3x3 block size</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"> * @attention: The input data type should be passed using a compile option -DDATA_TYPE. Supported types: short and int.</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * e.g. -DDATA_TYPE=short.</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> *</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * @param[in] src_gx_ptr Pointer to the first source image. Supported data types: S16, S32</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * @param[in] src_gx_stride_x Stride of the source image in X dimension (in bytes)</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * @param[in] src_gx_step_x src_gx_stride_x * number of elements along X processed per workitem(in bytes)</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * @param[in] src_gx_stride_y Stride of the source image in Y dimension (in bytes)</span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> * @param[in] src_gx_step_y src_gx_stride_y * number of elements along Y processed per workitem(in bytes)</span></div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> * @param[in] src_gx_offset_first_element_in_bytes The offset of the first element in the source image</span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> * @param[in] src_gy_ptr Pointer to the second source image. Supported data types: S16, S32</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> * @param[in] src_gy_stride_x Stride of the destination image in X dimension (in bytes)</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> * @param[in] src_gy_step_x src_gy_stride_x * number of elements along X processed per workitem(in bytes)</span></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> * @param[in] src_gy_stride_y Stride of the destination image in Y dimension (in bytes)</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> * @param[in] src_gy_step_y src_gy_stride_y * number of elements along Y processed per workitem(in bytes)</span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment"> * @param[in] src_gy_offset_first_element_in_bytes The offset of the first element in the destination image</span></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> * @param[out] vc_ptr Pointer to the destination image. Supported data types: F32</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> * @param[in] vc_stride_x Stride of the destination image in X dimension (in bytes)</span></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> * @param[in] vc_step_x vc_stride_x * number of elements along X processed per workitem(in bytes)</span></div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> * @param[in] vc_stride_y Stride of the destination image in Y dimension (in bytes)</span></div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> * @param[in] vc_step_y vc_stride_y * number of elements along Y processed per workitem(in bytes)</span></div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> * @param[in] vc_offset_first_element_in_bytes The offset of the first element in the destination image</span></div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation</span></div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> * @param[in] strength_thresh Minimum threshold with which to eliminate Harris Corner scores</span></div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> * @param[in] pow4_normalization_factor Normalization factor to apply harris score</span></div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> */</span></div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="harris__corners_8cl.xhtml#a2cf3b8c23c9f8f383d81d13bfff96e3d"> 53</a></span> __kernel <span class="keywordtype">void</span> <a class="code" href="harris__corners_8cl.xhtml#a2cf3b8c23c9f8f383d81d13bfff96e3d">harris_score_3x3</a>(</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(src_gx),</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(src_gy),</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(vc),</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">float</span> sensitivity,</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordtype">float</span> strength_thresh,</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">float</span> pow4_normalization_factor)</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> {</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="struct_image.xhtml">Image</a> src_gx = <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(src_gx);</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="struct_image.xhtml">Image</a> src_gy = <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(src_gy);</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <a class="code" href="struct_image.xhtml">Image</a> vc = <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(vc);</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">/* Gx^2, Gy^2 and Gx*Gy */</span></div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  float4 gx2 = (float4)0.0f;</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  float4 gy2 = (float4)0.0f;</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  float4 gxgy = (float4)0.0f;</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">/* Row0 */</span></div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 8)</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  temp_gx = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&src_gx, -1, -1));</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 8)</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  temp_gy = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&src_gy, -1, -1));</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  float4 l_gx = convert_float4(temp_gx.s0123);</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  float4 m_gx = convert_float4(temp_gx.s1234);</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  float4 r_gx = convert_float4(temp_gx.s2345);</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  float4 l_gy = convert_float4(temp_gy.s0123);</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  float4 m_gy = convert_float4(temp_gy.s1234);</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  float4 r_gy = convert_float4(temp_gy.s2345);</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  gx2 += (l_gx * l_gx) + (m_gx * m_gx) + (r_gx * r_gx);</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  gy2 += (l_gy * l_gy) + (m_gy * m_gy) + (r_gy * r_gy);</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  gxgy += (l_gx * l_gy) + (m_gx * m_gy) + (r_gx * r_gy);</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="comment">/* Row1 */</span></div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  temp_gx = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&src_gx, -1, 0));</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  temp_gy = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&src_gy, -1, 0));</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  l_gx = convert_float4(temp_gx.s0123);</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  m_gx = convert_float4(temp_gx.s1234);</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  r_gx = convert_float4(temp_gx.s2345);</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  l_gy = convert_float4(temp_gy.s0123);</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  m_gy = convert_float4(temp_gy.s1234);</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  r_gy = convert_float4(temp_gy.s2345);</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>  gx2 += (l_gx * l_gx) + (m_gx * m_gx) + (r_gx * r_gx);</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  gy2 += (l_gy * l_gy) + (m_gy * m_gy) + (r_gy * r_gy);</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  gxgy += (l_gx * l_gy) + (m_gx * m_gy) + (r_gx * r_gy);</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">/* Row2 */</span></div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  temp_gx = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&src_gx, -1, 1));</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  temp_gy = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(&src_gy, -1, 1));</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  l_gx = convert_float4(temp_gx.s0123);</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  m_gx = convert_float4(temp_gx.s1234);</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  r_gx = convert_float4(temp_gx.s2345);</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  l_gy = convert_float4(temp_gy.s0123);</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  m_gy = convert_float4(temp_gy.s1234);</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  r_gy = convert_float4(temp_gy.s2345);</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  gx2 += (l_gx * l_gx) + (m_gx * m_gx) + (r_gx * r_gx);</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  gy2 += (l_gy * l_gy) + (m_gy * m_gy) + (r_gy * r_gy);</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  gxgy += (l_gx * l_gy) + (m_gx * m_gy) + (r_gx * r_gy);</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="comment">/* Compute trace and determinant */</span></div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  float4 trace = gx2 + gy2;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  float4 det = gx2 * gy2 - (gxgy * gxgy);</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span> </div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="comment">/* Compute harris score */</span></div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  float4 mc = (det - (sensitivity * (trace * trace))) * pow4_normalization_factor;</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  mc = <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#af77145fbdc6b0c8931148f5597d9de53">select</a>(0.0f, mc, mc > (float4)strength_thresh);</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  vstore4(mc, 0, (__global <span class="keywordtype">float</span> *)vc.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>);</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> }</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"></span></div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment">/** Function for calculating harris score 1x5.</span></div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span> <span class="comment"> *</span></div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"> * @param[in] src_gx Pointer to gx gradient image.</span></div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"> * @param[in] src_gy Pointer to gy gradient image.</span></div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"> * @param[in] row Relative row.</span></div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment"> */</span></div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="harris__corners_8cl.xhtml#a71d10f5d9e840b6d270620a2cd856926"> 138</a></span> <span class="keyword">inline</span> float16 <a class="code" href="harris__corners_8cl.xhtml#a71d10f5d9e840b6d270620a2cd856926">harris_score_1x5</a>(<a class="code" href="struct_image.xhtml">Image</a> *src_gx, <a class="code" href="struct_image.xhtml">Image</a> *src_gy, <span class="keywordtype">int</span> row)</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span> {</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  float4 gx2 = 0.0f;</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  float4 gy2 = 0.0f;</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  float4 gxgy = 0.0f;</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="comment">/* Row */</span></div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 8)</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  temp_gx = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(src_gx, -2, row));</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 8)</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  temp_gy = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(src_gy, -2, row));</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  float4 gx = convert_float4(temp_gx.s0123);</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  float4 gy = convert_float4(temp_gy.s0123);</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span> </div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  gx = convert_float4(temp_gx.s1234);</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  gy = convert_float4(temp_gy.s1234);</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  gx = convert_float4(temp_gx.s2345);</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  gy = convert_float4(temp_gy.s2345);</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  gx = convert_float4(temp_gx.s3456);</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  gy = convert_float4(temp_gy.s3456);</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  gx = convert_float4(temp_gx.s4567);</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  gy = convert_float4(temp_gy.s4567);</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">return</span> (float16)(gx2, gy2, gxgy, (float4)0);</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span> }</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"></span></div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment">/** Function running harris score on 5x5 block size</span></div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="comment"> *</span></div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment"> * @attention: The input data type should be passed using a compile option -DDATA_TYPE. Supported types: short and int.</span></div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="comment"> * e.g. -DDATA_TYPE=short.</span></div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="comment"> *</span></div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment"> * @param[in] src_gx_ptr Pointer to the first source image. Supported data types: S16, S32</span></div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="comment"> * @param[in] src_gx_stride_x Stride of the source image in X dimension (in bytes)</span></div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="comment"> * @param[in] src_gx_step_x src_gx_stride_x * number of elements along X processed per workitem(in bytes)</span></div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment"> * @param[in] src_gx_stride_y Stride of the source image in Y dimension (in bytes)</span></div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="comment"> * @param[in] src_gx_step_y src_gx_stride_y * number of elements along Y processed per workitem(in bytes)</span></div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="comment"> * @param[in] src_gx_offset_first_element_in_bytes The offset of the first element in the source image</span></div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="comment"> * @param[in] src_gy_ptr Pointer to the second source image. Supported data types: S16, S32</span></div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="comment"> * @param[in] src_gy_stride_x Stride of the destination image in X dimension (in bytes)</span></div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment"> * @param[in] src_gy_step_x src_gy_stride_x * number of elements along X processed per workitem(in bytes)</span></div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"> * @param[in] src_gy_stride_y Stride of the destination image in Y dimension (in bytes)</span></div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="comment"> * @param[in] src_gy_step_y src_gy_stride_y * number of elements along Y processed per workitem(in bytes)</span></div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment"> * @param[in] src_gy_offset_first_element_in_bytes The offset of the first element in the destination image</span></div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="comment"> * @param[out] vc_ptr Pointer to the destination image. Supported data types: F32</span></div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span> <span class="comment"> * @param[in] vc_stride_x Stride of the destination image in X dimension (in bytes)</span></div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span> <span class="comment"> * @param[in] vc_step_x vc_stride_x * number of elements along X processed per workitem(in bytes)</span></div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span> <span class="comment"> * @param[in] vc_stride_y Stride of the destination image in Y dimension (in bytes)</span></div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment"> * @param[in] vc_step_y vc_stride_y * number of elements along Y processed per workitem(in bytes)</span></div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment"> * @param[in] vc_offset_first_element_in_bytes The offset of the first element in the destination image</span></div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="comment"> * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation</span></div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span> <span class="comment"> * @param[in] strength_thresh Minimum threshold with which to eliminate Harris Corner scores</span></div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="comment"> * @param[in] pow4_normalization_factor Normalization factor to apply harris score</span></div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="comment"> */</span></div><div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="harris__corners_8cl.xhtml#a0f0af2add0a40f2f4b8a14f409186a02"> 210</a></span> __kernel <span class="keywordtype">void</span> <a class="code" href="harris__corners_8cl.xhtml#a0f0af2add0a40f2f4b8a14f409186a02">harris_score_5x5</a>(</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(src_gx),</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(src_gy),</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(vc),</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordtype">float</span> sensitivity,</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordtype">float</span> strength_thresh,</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keywordtype">float</span> pow4_normalization_factor)</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span> {</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <a class="code" href="struct_image.xhtml">Image</a> src_gx = <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(src_gx);</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <a class="code" href="struct_image.xhtml">Image</a> src_gy = <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(src_gy);</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <a class="code" href="struct_image.xhtml">Image</a> vc = <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(vc);</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="comment">/* Gx^2, Gy^2 and Gx*Gy */</span></div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  float16 res = (float16)0.0f;</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="comment">/* Compute row */</span></div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = -2; i < 3; i++)</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>  res += <a class="code" href="harris__corners_8cl.xhtml#a71d10f5d9e840b6d270620a2cd856926">harris_score_1x5</a>(&src_gx, &src_gy, i);</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  }</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>  float4 gx2 = res.s0123;</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  float4 gy2 = res.s4567;</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  float4 gxgy = res.s89AB;</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span> </div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="comment">/* Compute trace and determinant */</span></div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  float4 trace = gx2 + gy2;</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  float4 det = gx2 * gy2 - (gxgy * gxgy);</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">/* Compute harris score */</span></div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  float4 mc = (det - (sensitivity * (trace * trace))) * pow4_normalization_factor;</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>  mc = <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#af77145fbdc6b0c8931148f5597d9de53">select</a>(0.0f, mc, mc > (float4)strength_thresh);</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span> </div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  vstore4(mc, 0, (__global <span class="keywordtype">float</span> *)vc.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>);</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="comment"></span></div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="comment">/** Function for calculating harris score 1x7.</span></div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="comment"> *</span></div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span> <span class="comment"> * @param[in] src_gx Pointer to gx gradient image.</span></div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span> <span class="comment"> * @param[in] src_gy Pointer to gy gradient image.</span></div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="comment"> * @param[in] row Relative row.</span></div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="comment"> */</span></div><div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="harris__corners_8cl.xhtml#a2fadfd6378605824bb7926e1ac0123fb"> 253</a></span> <span class="keyword">inline</span> float16 <a class="code" href="harris__corners_8cl.xhtml#a2fadfd6378605824bb7926e1ac0123fb">harris_score_1x7</a>(<a class="code" href="struct_image.xhtml">Image</a> *src_gx, <a class="code" href="struct_image.xhtml">Image</a> *src_gy, <span class="keywordtype">int</span> row)</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span> {</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  float4 gx2 = 0.0f;</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  float4 gy2 = 0.0f;</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  float4 gxgy = 0.0f;</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span> </div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="comment">/* Row */</span></div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 8)</div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  temp_gx0 = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(src_gx, -3, row));</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 8)</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  temp_gy0 = vload8(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(src_gy, -3, row));</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 2)</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  temp_gx1 = vload2(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(src_gx, 5, row));</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 2)</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  temp_gy1 = vload2(0, (__global <a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a> *)<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>(src_gy, 5, row));</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 gx = convert_float4(temp_gx0.s0123);</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  float4 gy = convert_float4(temp_gy0.s0123);</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span> </div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  gx = convert_float4(temp_gx0.s1234);</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  gy = convert_float4(temp_gy0.s1234);</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span> </div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  gx = convert_float4(temp_gx0.s2345);</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  gy = convert_float4(temp_gy0.s2345);</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span> </div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  gx = convert_float4(temp_gx0.s3456);</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  gy = convert_float4(temp_gy0.s3456);</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span> </div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  gx = convert_float4(temp_gx0.s4567);</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  gy = convert_float4(temp_gy0.s4567);</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span> </div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  gx = convert_float4((<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 4))(temp_gx0.s567, temp_gx1.s0));</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  gy = convert_float4((<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 4))(temp_gy0.s567, temp_gy1.s0));</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  gxgy += (gx * gy);</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>  gx = convert_float4((<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 4))(temp_gx0.s67, temp_gx1.s01));</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  gy = convert_float4((<a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a>(<a class="code" href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a>, 4))(temp_gy0.s67, temp_gy1.s01));</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  gx2 += (gx * gx);</div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  gy2 += (gy * gy);</div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  gxgy += (gx * gy);</div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span> </div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordflow">return</span> (float16)(gx2, gy2, gxgy, (float4)0);</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span> }</div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span> <span class="comment"></span></div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span> <span class="comment">/** Function running harris score on 7x7 block size</span></div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span> <span class="comment"> *</span></div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span> <span class="comment"> * @attention: The input data type should be passed using a compile option -DDATA_TYPE. Supported types: short and int.</span></div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span> <span class="comment"> * e.g. -DDATA_TYPE=short.</span></div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span> <span class="comment"> *</span></div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span> <span class="comment"> * @param[in] src_gx_ptr Pointer to the first source image. Supported data types: S16, S32</span></div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span> <span class="comment"> * @param[in] src_gx_stride_x Stride of the source image in X dimension (in bytes)</span></div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span> <span class="comment"> * @param[in] src_gx_step_x src_gx_stride_x * number of elements along X processed per workitem(in bytes)</span></div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span> <span class="comment"> * @param[in] src_gx_stride_y Stride of the source image in Y dimension (in bytes)</span></div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span> <span class="comment"> * @param[in] src_gx_step_y src_gx_stride_y * number of elements along Y processed per workitem(in bytes)</span></div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span> <span class="comment"> * @param[in] src_gx_offset_first_element_in_bytes The offset of the first element in the source image</span></div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span> <span class="comment"> * @param[in] src_gy_ptr Pointer to the second source image. Supported data types: S16, S32</span></div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span> <span class="comment"> * @param[in] src_gy_stride_x Stride of the destination image in X dimension (in bytes)</span></div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span> <span class="comment"> * @param[in] src_gy_step_x src_gy_stride_x * number of elements along X processed per workitem(in bytes)</span></div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span> <span class="comment"> * @param[in] src_gy_stride_y Stride of the destination image in Y dimension (in bytes)</span></div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="comment"> * @param[in] src_gy_step_y src_gy_stride_y * number of elements along Y processed per workitem(in bytes)</span></div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span> <span class="comment"> * @param[in] src_gy_offset_first_element_in_bytes The offset of the first element in the destination image</span></div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="comment"> * @param[out] vc_ptr Pointer to the destination image. Supported data types: F32</span></div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span> <span class="comment"> * @param[in] vc_stride_x Stride of the destination image in X dimension (in bytes)</span></div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span> <span class="comment"> * @param[in] vc_step_x vc_stride_x * number of elements along X processed per workitem(in bytes)</span></div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span> <span class="comment"> * @param[in] vc_stride_y Stride of the destination image in Y dimension (in bytes)</span></div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span> <span class="comment"> * @param[in] vc_step_y vc_stride_y * number of elements along Y processed per workitem(in bytes)</span></div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="comment"> * @param[in] vc_offset_first_element_in_bytes The offset of the first element in the destination image</span></div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="comment"> * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation</span></div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="comment"> * @param[in] strength_thresh Minimum threshold with which to eliminate Harris Corner scores</span></div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span> <span class="comment"> * @param[in] pow4_normalization_factor Normalization factor to apply harris score</span></div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <span class="comment"> */</span></div><div class="line"><a name="l00341"></a><span class="lineno"><a class="line" href="harris__corners_8cl.xhtml#a468ac2728816485f017f51faeb0a7d65"> 341</a></span> __kernel <span class="keywordtype">void</span> <a class="code" href="harris__corners_8cl.xhtml#a468ac2728816485f017f51faeb0a7d65">harris_score_7x7</a>(</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(src_gx),</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(src_gy),</div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(vc),</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="keywordtype">float</span> sensitivity,</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordtype">float</span> strength_thresh,</div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="keywordtype">float</span> pow4_normalization_factor)</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span> {</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <a class="code" href="struct_image.xhtml">Image</a> src_gx = <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(src_gx);</div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <a class="code" href="struct_image.xhtml">Image</a> src_gy = <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(src_gy);</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <a class="code" href="struct_image.xhtml">Image</a> vc = <a class="code" href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(vc);</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span> </div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="comment">/* Gx^2, Gy^2 and Gx*Gy */</span></div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  float16 res = (float16)0.0f;</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span> </div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <span class="comment">/* Compute row */</span></div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = -3; i < 4; i++)</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  {</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  res += <a class="code" href="harris__corners_8cl.xhtml#a2fadfd6378605824bb7926e1ac0123fb">harris_score_1x7</a>(&src_gx, &src_gy, i);</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  }</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span> </div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  float4 gx2 = res.s0123;</div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  float4 gy2 = res.s4567;</div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  float4 gxgy = res.s89AB;</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span> </div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="comment">/* Compute trace and determinant */</span></div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  float4 trace = gx2 + gy2;</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  float4 det = gx2 * gy2 - (gxgy * gxgy);</div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span> </div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="comment">/* Compute harris score */</span></div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  float4 mc = (det - (sensitivity * (trace * trace))) * pow4_normalization_factor;</div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span> </div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  mc = <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#af77145fbdc6b0c8931148f5597d9de53">select</a>(0.0f, mc, mc > (float4)strength_thresh);</div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span> </div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  vstore4(mc, 0, (__global <span class="keywordtype">float</span> *)vc.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>);</div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span> }</div><div class="ttc" id="src_2core_2_c_l_2cl__kernels_2_helpers_8h_xhtml_a009469e4d9b8fce3b6d5e97d2077827d"><div class="ttname"><a href="src_2core_2_c_l_2cl__kernels_2_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="src_2core_2_c_l_2cl__kernels_2_helpers_8h_source.xhtml#l00510">helpers.h:510</a></div></div> |
| <div class="ttc" id="src_2core_2_c_l_2cl__kernels_2_helpers_8h_xhtml_aebe814363556c244be043b13e7969197"><div class="ttname"><a href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a></div><div class="ttdeci">#define CONVERT_TO_IMAGE_STRUCT(name)</div><div class="ttdef"><b>Definition:</b> <a href="src_2core_2_c_l_2cl__kernels_2_helpers_8h_source.xhtml#l00311">helpers.h:311</a></div></div> |
| <div class="ttc" id="convolution3x3_8cl_xhtml_afb8c72ce35c4a1f4a2588d6573e54aa1"><div class="ttname"><a href="convolution3x3_8cl.xhtml#afb8c72ce35c4a1f4a2588d6573e54aa1">DATA_TYPE</a></div><div class="ttdeci">#define DATA_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="convolution3x3_8cl_source.xhtml#l00027">convolution3x3.cl:27</a></div></div> |
| <div class="ttc" id="harris__corners_8cl_xhtml_a468ac2728816485f017f51faeb0a7d65"><div class="ttname"><a href="harris__corners_8cl.xhtml#a468ac2728816485f017f51faeb0a7d65">harris_score_7x7</a></div><div class="ttdeci">__kernel void harris_score_7x7(__global uchar *src_gx_ptr, uint src_gx_stride_x, uint src_gx_step_x, uint src_gx_stride_y, uint src_gx_step_y, uint src_gx_offset_first_element_in_bytes, __global uchar *src_gy_ptr, uint src_gy_stride_x, uint src_gy_step_x, uint src_gy_stride_y, uint src_gy_step_y, uint src_gy_offset_first_element_in_bytes, __global uchar *vc_ptr, uint vc_stride_x, uint vc_step_x, uint vc_stride_y, uint vc_step_y, uint vc_offset_first_element_in_bytes, float sensitivity, float strength_thresh, float pow4_normalization_factor)</div><div class="ttdoc">Function running harris score on 7x7 block size.</div><div class="ttdef"><b>Definition:</b> <a href="harris__corners_8cl_source.xhtml#l00341">harris_corners.cl:341</a></div></div> |
| <div class="ttc" id="src_2core_2_c_l_2cl__kernels_2_helpers_8h_xhtml_a22f42fcf2077d951271df83b55c1a71a"><div class="ttname"><a href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a></div><div class="ttdeci">#define IMAGE_DECLARATION(name)</div><div class="ttdef"><b>Definition:</b> <a href="src_2core_2_c_l_2cl__kernels_2_helpers_8h_source.xhtml#l00275">helpers.h:275</a></div></div> |
| <div class="ttc" id="harris__corners_8cl_xhtml_a71d10f5d9e840b6d270620a2cd856926"><div class="ttname"><a href="harris__corners_8cl.xhtml#a71d10f5d9e840b6d270620a2cd856926">harris_score_1x5</a></div><div class="ttdeci">float16 harris_score_1x5(Image *src_gx, Image *src_gy, int row)</div><div class="ttdoc">Function for calculating harris score 1x5.</div><div class="ttdef"><b>Definition:</b> <a href="harris__corners_8cl_source.xhtml#l00138">harris_corners.cl:138</a></div></div> |
| <div class="ttc" id="harris__corners_8cl_xhtml_a2cf3b8c23c9f8f383d81d13bfff96e3d"><div class="ttname"><a href="harris__corners_8cl.xhtml#a2cf3b8c23c9f8f383d81d13bfff96e3d">harris_score_3x3</a></div><div class="ttdeci">__kernel void harris_score_3x3(__global uchar *src_gx_ptr, uint src_gx_stride_x, uint src_gx_step_x, uint src_gx_stride_y, uint src_gx_step_y, uint src_gx_offset_first_element_in_bytes, __global uchar *src_gy_ptr, uint src_gy_stride_x, uint src_gy_step_x, uint src_gy_stride_y, uint src_gy_step_y, uint src_gy_offset_first_element_in_bytes, __global uchar *vc_ptr, uint vc_stride_x, uint vc_step_x, uint vc_stride_y, uint vc_step_y, uint vc_offset_first_element_in_bytes, float sensitivity, float strength_thresh, float pow4_normalization_factor)</div><div class="ttdoc">Function running harris score on 3x3 block size.</div><div class="ttdef"><b>Definition:</b> <a href="harris__corners_8cl_source.xhtml#l00053">harris_corners.cl:53</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="src_2core_2_c_l_2cl__kernels_2_helpers_8h_source.xhtml#l00349">helpers.h:349</a></div></div> |
| <div class="ttc" id="struct_image_xhtml_acf52c23cbd7424606c10a606524e3e32"><div class="ttname"><a href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">Image::ptr</a></div><div class="ttdeci">__global uchar * ptr</div><div class="ttdoc">Pointer to the starting postion of the buffer.</div><div class="ttdef"><b>Definition:</b> <a href="src_2core_2_c_l_2cl__kernels_2_helpers_8h_source.xhtml#l00351">helpers.h:351</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_1_1validation_xhtml_af77145fbdc6b0c8931148f5597d9de53"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation.xhtml#af77145fbdc6b0c8931148f5597d9de53">arm_compute::test::validation::select</a></div><div class="ttdeci">CLSelect select</div><div class="ttdef"><b>Definition:</b> <a href="_c_l_2_select_8cpp_source.xhtml#l00164">Select.cpp:164</a></div></div> |
| <div class="ttc" id="src_2core_2_c_l_2cl__kernels_2_helpers_8h_xhtml"><div class="ttname"><a href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml">helpers.h</a></div></div> |
| <div class="ttc" id="harris__corners_8cl_xhtml_a0f0af2add0a40f2f4b8a14f409186a02"><div class="ttname"><a href="harris__corners_8cl.xhtml#a0f0af2add0a40f2f4b8a14f409186a02">harris_score_5x5</a></div><div class="ttdeci">__kernel void harris_score_5x5(__global uchar *src_gx_ptr, uint src_gx_stride_x, uint src_gx_step_x, uint src_gx_stride_y, uint src_gx_step_y, uint src_gx_offset_first_element_in_bytes, __global uchar *src_gy_ptr, uint src_gy_stride_x, uint src_gy_step_x, uint src_gy_stride_y, uint src_gy_step_y, uint src_gy_offset_first_element_in_bytes, __global uchar *vc_ptr, uint vc_stride_x, uint vc_step_x, uint vc_stride_y, uint vc_step_y, uint vc_offset_first_element_in_bytes, float sensitivity, float strength_thresh, float pow4_normalization_factor)</div><div class="ttdoc">Function running harris score on 5x5 block size.</div><div class="ttdef"><b>Definition:</b> <a href="harris__corners_8cl_source.xhtml#l00210">harris_corners.cl:210</a></div></div> |
| <div class="ttc" id="harris__corners_8cl_xhtml_a2fadfd6378605824bb7926e1ac0123fb"><div class="ttname"><a href="harris__corners_8cl.xhtml#a2fadfd6378605824bb7926e1ac0123fb">harris_score_1x7</a></div><div class="ttdeci">float16 harris_score_1x7(Image *src_gx, Image *src_gy, int row)</div><div class="ttdoc">Function for calculating harris score 1x7.</div><div class="ttdef"><b>Definition:</b> <a href="harris__corners_8cl_source.xhtml#l00253">harris_corners.cl:253</a></div></div> |
| <div class="ttc" id="src_2core_2_c_l_2cl__kernels_2_helpers_8h_xhtml_a36f754c05b6fddf6df0d8d0a74f8159f"><div class="ttname"><a href="src_2core_2_c_l_2cl__kernels_2_helpers_8h.xhtml#a36f754c05b6fddf6df0d8d0a74f8159f">VEC_DATA_TYPE</a></div><div class="ttdeci">#define VEC_DATA_TYPE(type, size)</div><div class="ttdef"><b>Definition:</b> <a href="src_2core_2_c_l_2cl__kernels_2_helpers_8h_source.xhtml#l00255">helpers.h:255</a></div></div> |
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