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harris.opt.cpp
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harris.opt.cpp
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#include <stdio.h>
#include <stdlib.h>
#include <fstream>
// check L1 / L2 size and tune
#ifndef BLOCK
#define BLOCK 128
#endif
//check 4k aliasing and tune
#ifndef PAD
#define PAD 1024
#endif
void harris_opt(int C, int R, float * img, float *& harris)
{
#ifdef LOG
std::ofstream myfile;
myfile.open ("opt");
unsigned int counter = 0;
#endif
int iblock, jblock;
harris = (float *) (malloc((sizeof(float ) * ((2 + R) * (2 + C)))));
//dummy = (float *) (malloc(PAD));
#pragma omp parallel for
for (int ii = -1; ii <= R; ii = (ii + BLOCK))
{
float Ixx [BLOCK+4] [BLOCK+4];
float Ixy [BLOCK+4] [BLOCK+4];
float Iyy [BLOCK+4] [BLOCK+4];
float Sxx [BLOCK+4] [BLOCK+4];
float Sxy [BLOCK+4] [BLOCK+4];
float Syy [BLOCK+4] [BLOCK+4];
for (int jj = -1; jj <= C; jj = (jj + BLOCK))
{
iblock = std::min(R,ii+BLOCK+3);
jblock = std::min(C,jj+BLOCK+3);
for (int i = std::max(1,ii); i <= iblock; i = (i + 1))
{
#pragma GCC ivdep
for (int j = std::max(1,jj); j <= jblock; j = (j + 1))
{
float resx,resy;
int index1 = (((-1 + i) * (C + 2)) + (-1 + j)); // [i-1] [j-1]
int index2 = (((1 + i) * (C + 2)) + (-1 + j)); // [i+1] [j-1]
int index3 = (((-1 + i) * (C + 2)) + j); // [i-1] [j]
int index4 = (((1 + i) * (C + 2)) + j); // [i+1] [j]
int index5 = (((-1 + i) * (C + 2)) + (1 + j)); // [i-1] [j+1]
int index6 = (((1 + i) * (C + 2)) + (1 + j)); // [i+1] [j+1]
int index7 = ((i * (C + 2)) + (-1 + j)); // [i] [j-1]
int index8 = ((i * (C + 2)) + (1 + j)); // [i] [j+1]
// X derivative
resx = (img[index1] * -0.0833333333333f) +
(img[index2] * 0.0833333333333f) +
(img[index3] * -0.166666666667f) +
(img[index4] * 0.166666666667f) +
(img[index5] * -0.0833333333333f) +
(img[index6] * 0.0833333333333f);
// Y derivative
resy = (img[index1] * -0.0833333333333f) +
(img[index5] * 0.0833333333333f) +
(img[index7] * -0.166666666667f) +
(img[index8] * 0.166666666667f) +
(img[index2] * -0.0833333333333f) +
(img[index6] * 0.0833333333333f);
Ixx[i-ii][j-jj] = resx * resx;
Iyy[i-ii][j-jj] = resy * resy;
Ixy[i-ii][j-jj] = resx * resy;
}
}
iblock = std::min(R-1,ii+BLOCK+2);
jblock = std::min(C-1,jj+BLOCK+2);
for (int i = std::max(2,ii+1); i <= iblock; i=i+2) {
#pragma GCC ivdep
for (int j = std::max(2,jj+1); j <= jblock; j=j+1) {
Syy[i-ii][j-jj] = Iyy[i-ii-1][j-jj-1] +
Iyy[i-ii-1][j-jj] +
Iyy[i-ii-1][j-jj+1] +
Iyy[i-ii][j-jj-1] +
Iyy[i-ii][j-jj] +
Iyy[i-ii][j-jj+1] +
Iyy[i-ii+1][j-jj-1] +
Iyy[i-ii+1][j-jj] +
Iyy[i-ii+1][j-jj+1];
Syy[i-ii+1][j-jj] = Iyy[i-ii][j-jj-1] +
Iyy[i-ii][j-jj] +
Iyy[i-ii][j-jj+1] +
Iyy[i-ii+1][j-jj-1] +
Iyy[i-ii+1][j-jj] +
Iyy[i-ii+1][j-jj+1] +
Iyy[i-ii+2][j-jj-1] +
Iyy[i-ii+2][j-jj] +
Iyy[i-ii+2][j-jj+1];
}
}
for (int i = std::max(2,ii+1); i <= iblock; i=i+2) {
#pragma GCC ivdep
for (int j = std::max(2,jj+1); j <= jblock; j=j+1){
Sxy[i-ii][j-jj] = Ixy[i-ii-1][j-jj-1] +
Ixy[i-ii-1][j-jj] +
Ixy[i-ii-1][j-jj+1] +
Ixy[i-ii][j-jj-1] +
Ixy[i-ii][j-jj] +
Ixy[i-ii][j-jj+1] +
Ixy[i-ii+1][j-jj-1] +
Ixy[i-ii+1][j-jj] +
Ixy[i-ii+1][j-jj+1];
Sxy[i-ii+1][j-jj] = Ixy[i-ii][j-jj-1] +
Ixy[i-ii][j-jj] +
Ixy[i-ii][j-jj+1] +
Ixy[i-ii+1][j-jj-1] +
Ixy[i-ii+1][j-jj] +
Ixy[i-ii+1][j-jj+1] +
Ixy[i-ii+2][j-jj-1] +
Ixy[i-ii+2][j-jj] +
Ixy[i-ii+2][j-jj+1];
}
}
for (int i = std::max(2,ii+1); (i <= iblock); i=i+2) {
#pragma GCC ivdep
for (int j = std::max(2,jj+1); (j <= jblock); j=j+1) {
Sxx[i-ii][j-jj] = Ixx[i-ii-1][j-jj-1] +
Ixx[i-ii-1][j-jj] +
Ixx[i-ii-1][j-jj+1] +
Ixx[i-ii][j-jj-1] +
Ixx[i-ii][j-jj] +
Ixx[i-ii][j-jj+1] +
Ixx[i-ii+1][j-jj-1] +
Ixx[i-ii+1][j-jj] +
Ixx[i-ii+1][j-jj+1];
Sxx[i-ii+1][j-jj] = Ixx[i-ii][j-jj-1] +
Ixx[i-ii][j-jj] +
Ixx[i-ii][j-jj+1] +
Ixx[i-ii+1][j-jj-1] +
Ixx[i-ii+1][j-jj] +
Ixx[i-ii+1][j-jj+1] +
Ixx[i-ii+2][j-jj-1] +
Ixx[i-ii+2][j-jj] +
Ixx[i-ii+2][j-jj+1];
}
}
iblock = std::min(R-1,ii+BLOCK+1);
jblock = std::min(C-1,jj+BLOCK+1);
for (int i = ii+2; (i <= iblock); i++) {
#pragma GCC ivdep
for (int j = jj+2; (j <= jblock); j++) {
int index = (i * (2 + C)) + j;
#ifdef LOG
myfile << i << " " << j << "\n";
#endif
float trace =
Sxx[i-ii][j-jj] + Syy[i-ii][j-jj];
float det =
Sxx[i-ii][j-jj] * Syy[i-ii][j-jj] - Sxy[i-ii][j-jj] * Sxy[i-ii][j-jj];
harris[index] = det - (0.04f * trace * trace);
#ifdef LOG
counter++;
#endif
}
}
}
}
#ifdef LOG
std::cout << "opt count: "<< counter << "\n";
myfile.close();
#endif
}