void run(int argc, char** argv)
{
init(argc, argv);
unsigned long long cycles;
int *src, *dst, *temp;
int min;
dst = result;
src = new int[cols];
#ifdef GEM5_WORK
m5_work_begin(0, 0);
m5_dumpreset_stats(0, 0);
#endif
#ifdef TIMING
double start_time = gettime();
#endif
for (int t = 0; t < rows-1; t++) {
temp = src;
src = dst;
dst = temp;
#pragma omp parallel for private(min)
for(int n = 0; n < cols; n++){
min = src[n];
if (n > 0)
min = MIN(min, src[n-1]);
if (n < cols-1)
min = MIN(min, src[n+1]);
dst[n] = wall[t+1][n]+min;
}
}
#ifdef TIMING
double end_time = gettime();
printf("ROI Runtime: %f\n", end_time - start_time);
#endif
#ifdef GEM5_WORK
m5_dumpreset_stats(0, 0);
m5_work_end(0, 0);
#endif
#ifdef OUTPUT
for (int i = 0; i < cols; i++)
printf("%d ",data[i]);
printf("\n") ;
for (int i = 0; i < cols; i++)
printf("%d ",dst[i]);
printf("\n") ;
#endif
delete [] data;
delete [] wall;
/**
* The implementation of the particle filter using OpenMP for many frames
* @see http://openmp.org/wp/
* @note This function is designed to work with a video of several frames. In addition, it references a provided MATLAB function which takes the video, the objxy matrix and the x and y arrays as arguments and returns the likelihoods
* @param I The video to be run
* @param IszX The x dimension of the video
* @param IszY The y dimension of the video
* @param Nfr The number of frames
* @param seed The seed array used for random number generation
* @param Nparticles The number of particles to be used
*/
void particleFilter(int * I, int IszX, int IszY, int Nfr, int * seed, int Nparticles){
int max_size = IszX*IszY*Nfr;
long long start = get_time();
//original particle centroid
double xe = roundDouble(IszY/2.0);
double ye = roundDouble(IszX/2.0);
//expected object locations, compared to center
int radius = 5;
int diameter = radius*2 - 1;
int * disk = (int *)malloc(diameter*diameter*sizeof(int));
strelDisk(disk, radius);
int countOnes = 0;
int x, y;
for(x = 0; x < diameter; x++){
for(y = 0; y < diameter; y++){
if(disk[x*diameter + y] == 1)
countOnes++;
}
}
double * objxy = (double *)malloc(countOnes*2*sizeof(double));
getneighbors(disk, countOnes, objxy, radius);
long long get_neighbors = get_time();
printf("TIME TO GET NEIGHBORS TOOK: %f\n", elapsed_time(start, get_neighbors));
//initial weights are all equal (1/Nparticles)
double * weights = (double *)malloc(sizeof(double)*Nparticles);
#pragma omp parallel for shared(weights, Nparticles) private(x)
for(x = 0; x < Nparticles; x++){
weights[x] = 1/((double)(Nparticles));
}
long long get_weights = get_time();
printf("TIME TO GET WEIGHTSTOOK: %f\n", elapsed_time(get_neighbors, get_weights));
//initial likelihood to 0.0
double * likelihood = (double *)malloc(sizeof(double)*Nparticles);
double * arrayX = (double *)malloc(sizeof(double)*Nparticles);
double * arrayY = (double *)malloc(sizeof(double)*Nparticles);
double * xj = (double *)malloc(sizeof(double)*Nparticles);
double * yj = (double *)malloc(sizeof(double)*Nparticles);
double * CDF = (double *)malloc(sizeof(double)*Nparticles);
double * u = (double *)malloc(sizeof(double)*Nparticles);
int * ind = (int*)malloc(sizeof(int)*countOnes*Nparticles);
#pragma omp parallel for shared(arrayX, arrayY, xe, ye) private(x)
for(x = 0; x < Nparticles; x++){
arrayX[x] = xe;
arrayY[x] = ye;
}
int k;
printf("TIME TO SET ARRAYS TOOK: %f\n", elapsed_time(get_weights, get_time()));
#ifdef GEM5_WORK
m5_work_begin(0, 0);
m5_dumpreset_stats(0, 0);
#endif
int indX, indY;
for(k = 1; k < Nfr; k++){
long long set_arrays = get_time();
//apply motion model
//draws sample from motion model (random walk). The only prior information
//is that the object moves 2x as fast as in the y direction
#pragma omp parallel for shared(arrayX, arrayY, Nparticles, seed) private(x)
for(x = 0; x < Nparticles; x++){
arrayX[x] += 1 + 5*randn(seed, x);
arrayY[x] += -2 + 2*randn(seed, x);
}
long long error = get_time();
printf("TIME TO SET ERROR TOOK: %f\n", elapsed_time(set_arrays, error));
//particle filter likelihood
#pragma omp parallel for shared(likelihood, I, arrayX, arrayY, objxy, ind) private(x, y, indX, indY)
for(x = 0; x < Nparticles; x++){
//compute the likelihood: remember our assumption is that you know
// foreground and the background image intensity distribution.
// Notice that we consider here a likelihood ratio, instead of
// p(z|x). It is possible in this case. why? a hometask for you.
//calc ind
for(y = 0; y < countOnes; y++){
indX = roundDouble(arrayX[x]) + objxy[y*2 + 1];
indY = roundDouble(arrayY[x]) + objxy[y*2];
ind[x*countOnes + y] = fabs(indX*IszY*Nfr + indY*Nfr + k);
if(ind[x*countOnes + y] >= max_size)
ind[x*countOnes + y] = 0;
}
likelihood[x] = 0;
for(y = 0; y < countOnes; y++)
likelihood[x] += (pow((I[ind[x*countOnes + y]] - 100),2) - pow((I[ind[x*countOnes + y]]-228),2))/50.0;
likelihood[x] = likelihood[x]/((double) countOnes);
}
long long likelihood_time = get_time();
printf("TIME TO GET LIKELIHOODS TOOK: %f\n", elapsed_time(error, likelihood_time));
// update & normalize weights
// using equation (63) of Arulampalam Tutorial
#pragma omp parallel for shared(Nparticles, weights, likelihood) private(x)
for(x = 0; x < Nparticles; x++){
weights[x] = weights[x] * exp(likelihood[x]);
}
long long exponential = get_time();
printf("TIME TO GET EXP TOOK: %f\n", elapsed_time(likelihood_time, exponential));
double sumWeights = 0;
#pragma omp parallel for private(x) reduction(+:sumWeights)
for(x = 0; x < Nparticles; x++){
sumWeights += weights[x];
}
long long sum_time = get_time();
printf("TIME TO SUM WEIGHTS TOOK: %f\n", elapsed_time(exponential, sum_time));
#pragma omp parallel for shared(sumWeights, weights) private(x)
for(x = 0; x < Nparticles; x++){
weights[x] = weights[x]/sumWeights;
}
long long normalize = get_time();
printf("TIME TO NORMALIZE WEIGHTS TOOK: %f\n", elapsed_time(sum_time, normalize));
xe = 0;
ye = 0;
// estimate the object location by expected values
#pragma omp parallel for private(x) reduction(+:xe, ye)
for(x = 0; x < Nparticles; x++){
xe += arrayX[x] * weights[x];
ye += arrayY[x] * weights[x];
}
long long move_time = get_time();
printf("TIME TO MOVE OBJECT TOOK: %f\n", elapsed_time(normalize, move_time));
printf("XE: %lf\n", xe);
printf("YE: %lf\n", ye);
double distance = sqrt( pow((double)(xe-(int)roundDouble(IszY/2.0)),2) + pow((double)(ye-(int)roundDouble(IszX/2.0)),2) );
printf("%lf\n", distance);
//display(hold off for now)
//pause(hold off for now)
//resampling
CDF[0] = weights[0];
for(x = 1; x < Nparticles; x++){
CDF[x] = weights[x] + CDF[x-1];
}
long long cum_sum = get_time();
printf("TIME TO CALC CUM SUM TOOK: %f\n", elapsed_time(move_time, cum_sum));
double u1 = (1/((double)(Nparticles)))*randu(seed, 0);
#pragma omp parallel for shared(u, u1, Nparticles) private(x)
for(x = 0; x < Nparticles; x++){
u[x] = u1 + x/((double)(Nparticles));
}
long long u_time = get_time();
printf("TIME TO CALC U TOOK: %f\n", elapsed_time(cum_sum, u_time));
int j, i;
#pragma omp parallel for shared(CDF, Nparticles, xj, yj, u, arrayX, arrayY) private(i, j)
for(j = 0; j < Nparticles; j++){
i = findIndex(CDF, Nparticles, u[j]);
if(i == -1)
i = Nparticles-1;
xj[j] = arrayX[i];
yj[j] = arrayY[i];
}
long long xyj_time = get_time();
printf("TIME TO CALC NEW ARRAY X AND Y TOOK: %f\n", elapsed_time(u_time, xyj_time));
//#pragma omp parallel for shared(weights, Nparticles) private(x)
for(x = 0; x < Nparticles; x++){
//reassign arrayX and arrayY
arrayX[x] = xj[x];
arrayY[x] = yj[x];
weights[x] = 1/((double)(Nparticles));
}
long long reset = get_time();
printf("TIME TO RESET WEIGHTS TOOK: %f\n", elapsed_time(xyj_time, reset));
}
#ifdef GEM5_WORK
m5_dumpreset_stats(0, 0);
m5_work_end(0, 0);
#endif
free(disk);
free(objxy);
free(weights);
free(likelihood);
free(xj);
free(yj);
free(arrayX);
free(arrayY);
free(CDF);
free(u);
free(ind);
}
void StartSim(uint64_t workid, uint64_t threadid)
{
//MAGIC_CMD(4 << 16);
//m5_debugbreak();
m5_work_begin(workid, threadid);
}
