/*
MIT License

Copyright (c) 2019 - 2025 Advanced Micro Devices, Inc.

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/

#define saturate_8u(value) ( (value) > 255 ? 255 : ((value) < 0 ? 0 : (value) ))
#define RPPINRANGE(a, x, y) ((a >= x) && (a <= y) ? 1 : 0)
#define RPPMAX2(a,b) ((a > b) ? a : b)
#define RPPABS(a) ((a < 0) ? (-a) : (a))
#define RPPISGREATER(pixel, value)  ((pixel > value) ? 1 : 0)
#define RPPISLESSER(pixel, value)  ((pixel < value) ? -1 : 0)

__kernel void ced_pln3_to_pln1(  __global unsigned char* input,
                    __global unsigned char* output,
                    const unsigned int height,
                    const unsigned int width,
                    const unsigned int channel
)
{
    int id_x = get_global_id(0);
    int id_y = get_global_id(1);
    if (id_x >= width || id_y >= height) return;

    int IPpixIdx = id_x + id_y * width;
    int ch = height * width;
    float value = ((input[IPpixIdx] + input[IPpixIdx + ch] + input[IPpixIdx + ch * 2]) / 3);
    output[IPpixIdx] = (unsigned char)value ;
}
__kernel void ced_pkd3_to_pln1(  __global unsigned char* input,
                    __global unsigned char* output,
                    const unsigned int height,
                    const unsigned int width,
                    const unsigned int channel
)
{
    int id_x = get_global_id(0);
    int id_y = get_global_id(1);
    if (id_x >= width || id_y >= height) return;

    int OPpixIdx = id_x + id_y * width;
    int IPpixIdx = id_x * channel + id_y * width * channel;
    float value = (input[IPpixIdx] + input[IPpixIdx + 1] + input[IPpixIdx + 2]) / 3;
    output[OPpixIdx] = (unsigned char)value ;
}

__kernel void fast_corner_detector(  __global unsigned char* input,
                    __global unsigned char* output,
                    const unsigned int height,
                    const unsigned int width,
                    const unsigned int channel,
                    const unsigned char threshold,
                    const unsigned int numOfPixels
)
{
    int id_x = get_global_id(0);
    int id_y = get_global_id(1);
    if (id_x >= width || id_y >= height) return;

    int pixIdx = id_y * width + id_x;

    unsigned int bCValues[16], bCOutputMin[16], bCOutputMax[16];
    bCValues[0] = (id_y - 3 >= 0) ? (input[pixIdx + width * (-3)]) : 0;
    bCValues[1] = (id_y - 3 >= 0 && id_x + 1 < width) ? (input[pixIdx - width * 3 + 1]) : 0;
    bCValues[2] = (id_y - 2 >= 0 && id_x + 2 < width) ? (input[pixIdx - width * 2 + 2]) : 0;
    bCValues[3] = (id_y - 1 >= 0 && id_x + 3 < width) ? (input[pixIdx - width  + 3]) : 0;
    bCValues[4] = (id_x + 3 < width) ? (input[pixIdx + 3]) : 0;
    bCValues[5] = (id_y + 1 < height && id_x + 3 < width) ? (input[pixIdx + width + 3]) : 0;
    bCValues[6] = (id_y + 2 < height && id_x + 2 < width) ? (input[pixIdx + width * 2 + 2]) : 0;
    bCValues[7] = (id_y + 3 < height && id_x + 1 < width) ? (input[pixIdx + width * 3 + 1]) : 0;
    bCValues[8] = (id_y + 3 < height) ? (input[pixIdx + width * 3]) : 0;
    bCValues[9] = (id_y + 3 < height && id_x - 1 >= 0) ? (input[pixIdx + width * 3 - 1]) : 0;
    bCValues[10] = (id_y + 2 < height && id_x - 2 >= 0) ? (input[pixIdx + width * 2 - 2]) : 0;
    bCValues[11] = (id_y + 1 < height && id_x - 3 >= 0) ? (input[pixIdx + width - 3]) : 0;
    bCValues[12] = (id_x - 3 >= 0) ? (input[pixIdx - 3]) : 0;
    bCValues[13] = (id_y - 1 >= 0 && id_x - 3 >= 0) ? (input[pixIdx - width - 3]) : 0;
    bCValues[14] = (id_y - 2 >= 0 && id_x - 2 >= 0) ? (input[pixIdx + width * (-2) - 2]) : 0;
    bCValues[15] = (id_y - 3 >= 0 && id_x - 1 >= 0) ? (input[pixIdx + width * (-3) - 1]) : 0;

    unsigned char max = saturate_8u(input[pixIdx] + threshold);
    unsigned char min = saturate_8u(input[pixIdx] - threshold);
    unsigned int conditions = 0;

    float flag = 0;
    
    int a = 0,b = 0,c = 0,d = 0;
    a = ((RPPISLESSER(bCValues[1], min) == -1) ? -1 : ((RPPISGREATER(bCValues[1], max) == 1) ? 1 : 0));
    b = ((RPPISLESSER(bCValues[8], min) == -1) ? -1 : ((RPPISGREATER(bCValues[8], max) == 1) ? 1 : 0));
    c = ((RPPISLESSER(bCValues[4], min) == -1) ? -1 : ((RPPISGREATER(bCValues[4], max) == 1) ? 1 : 0));
    d = ((RPPISLESSER(bCValues[12], min) == -1) ? -1 : ((RPPISGREATER(bCValues[12], max) == 1) ? 1 : 0));    

    flag = a + b + c + d;
    if(flag >= 2 || flag <= -2)
    {
        conditions += (a == 0) ? 1 : 0;
        conditions += (b == 0) ? 1 : 0;
        conditions += (c == 0) ? 1 : 0;
        conditions += (d == 0) ? 1 : 0;
        if(conditions < 2)
        {
            output[pixIdx] = 0;
            return;
        }
        else
        {
            bCOutputMin[0] = RPPISLESSER(bCValues[0], min);
            bCOutputMin[1] = RPPISLESSER(bCValues[1], min);
            bCOutputMin[2] = RPPISLESSER(bCValues[2], min);
            bCOutputMin[3] = RPPISLESSER(bCValues[3], min);
            bCOutputMin[4] = RPPISLESSER(bCValues[4], min);
            bCOutputMin[5] = RPPISLESSER(bCValues[5], min);
            bCOutputMin[6] = RPPISLESSER(bCValues[6], min);
            bCOutputMin[7] = RPPISLESSER(bCValues[7], min);
            bCOutputMin[8] = RPPISLESSER(bCValues[8], min);
            bCOutputMin[9] = RPPISLESSER(bCValues[9], min);
            bCOutputMin[10] = RPPISLESSER(bCValues[10], min);
            bCOutputMin[11] = RPPISLESSER(bCValues[11], min);
            bCOutputMin[12] = RPPISLESSER(bCValues[12], min);
            bCOutputMin[13] = RPPISLESSER(bCValues[13], min);
            bCOutputMin[14] = RPPISLESSER(bCValues[14], min);
            bCOutputMin[15] = RPPISLESSER(bCValues[15], min);  

            bCOutputMax[0] = RPPISGREATER(bCValues[0], max);
            bCOutputMax[1] = RPPISGREATER(bCValues[1], max);
            bCOutputMax[2] = RPPISGREATER(bCValues[2], max);
            bCOutputMax[3] = RPPISGREATER(bCValues[3], max);
            bCOutputMax[4] = RPPISGREATER(bCValues[4], max);
            bCOutputMax[5] = RPPISGREATER(bCValues[5], max);
            bCOutputMax[6] = RPPISGREATER(bCValues[6], max);
            bCOutputMax[7] = RPPISGREATER(bCValues[7], max);
            bCOutputMax[8] = RPPISGREATER(bCValues[8], max);
            bCOutputMax[9] = RPPISGREATER(bCValues[9], max);
            bCOutputMax[10] = RPPISGREATER(bCValues[10], max);
            bCOutputMax[11] = RPPISGREATER(bCValues[11], max);
            bCOutputMax[12] = RPPISGREATER(bCValues[12], max);
            bCOutputMax[13] = RPPISGREATER(bCValues[13], max);
            bCOutputMax[14] = RPPISGREATER(bCValues[14], max);
            bCOutputMax[15] = RPPISGREATER(bCValues[15], max); 
        }
        
        int max = 0, min = 0;
        max = bCOutputMax[0] + bCOutputMax[1] + bCOutputMax[2] + bCOutputMax[3] + bCOutputMax[4] + bCOutputMax[5] + bCOutputMax[6] + bCOutputMax[7] + bCOutputMax[8] + bCOutputMax[9] + bCOutputMax[10] + bCOutputMax[11] + bCOutputMax[12] + bCOutputMax[13] + bCOutputMax[14] + bCOutputMax[15];
        min = bCOutputMin[0] + bCOutputMin[1] + bCOutputMin[2] + bCOutputMin[3] + bCOutputMin[4] + bCOutputMin[5] + bCOutputMin[6] + bCOutputMin[7] + bCOutputMin[8] + bCOutputMin[9] + bCOutputMin[10] + bCOutputMin[11] + bCOutputMin[12] + bCOutputMin[13] + bCOutputMin[14] + bCOutputMin[15]; 
        
        min = -min;

        if(min >= numOfPixels || max >= numOfPixels)
        {
            unsigned int count = 0;
            unsigned int maxLength = 0;
            if(min >= max)
            {
                for (int i = 0; i < 32; i++)
                {
                    if (bCOutputMin[(i % 16)] == -1)
                    {
                        count = 0;
                        if (i >= 16)
                        {
                            break;
                        } 
                    }
                    else
                    {
                        count++;
                        maxLength = RPPMAX2(maxLength, count);
                    }
                }   
            }
            else
            {
                for (int i = 0; i < 32; i++)
                {
                    if (bCOutputMax[(i % 16)] == 11)
                    {
                        count = 0;
                        if (i >= 16)
                        {
                            break;
                        } 
                    }
                    else
                    {
                        count++;
                        maxLength = RPPMAX2(maxLength, count);
                    }
                }  
            }
            if (maxLength >= numOfPixels)
            {
                output[pixIdx] = 255;
            }
            else
            {
                output[pixIdx] = 0;
            } 
        }
        else
        {
            output[pixIdx] = 0;
            return;
        }
    }
}

__kernel void fast_corner_detector_nms_pln(  __global unsigned char* input,
                    __global unsigned char* output,
                    const unsigned int height,
                    const unsigned int width,
                    const unsigned int channel,
                    const unsigned int kernelSize
)
{
    int id_x = get_global_id(0);
    int id_y = get_global_id(1);
    if (id_x >= width || id_y >= height) return;

    int pixIdx = id_y * width + id_x;

    unsigned int bCValues[16];

    bCValues[0] = (id_y - 3 >= 0) ? (input[pixIdx + width * (-3)]) : 0;
    bCValues[1] = (id_y - 3 >= 0 && id_x + 1 < width) ? (input[pixIdx - width * 3 + 1]) : 0;
    bCValues[2] = (id_y - 2 >= 0 && id_x + 2 < width) ? (input[pixIdx - width * 2 + 2]) : 0;
    bCValues[3] = (id_y - 1 >= 0 && id_x + 3 < width) ? (input[pixIdx - width  + 3]) : 0;
    bCValues[4] = (id_x + 3 < width) ? (input[pixIdx + 3]) : 0;
    bCValues[5] = (id_y + 1 < height && id_x + 3 < width) ? (input[pixIdx + width + 3]) : 0;
    bCValues[6] = (id_y + 2 < height && id_x + 2 < width) ? (input[pixIdx + width * 2 + 2]) : 0;
    bCValues[7] = (id_y + 3 < height && id_x + 1 < width) ? (input[pixIdx + width * 3 + 1]) : 0;
    bCValues[8] = (id_y + 3 < height) ? (input[pixIdx + width * 3]) : 0;
    bCValues[9] = (id_y + 3 < height && id_x - 1 >= 0) ? (input[pixIdx + width * 3 - 1]) : 0;
    bCValues[10] = (id_y + 2 < height && id_x - 2 >= 0) ? (input[pixIdx + width * 2 - 2]) : 0;
    bCValues[11] = (id_y + 1 < height && id_x - 3 >= 0) ? (input[pixIdx + width - 3]) : 0;
    bCValues[12] = (id_x - 3 >= 0) ? (input[pixIdx - 3]) : 0;
    bCValues[13] = (id_y - 1 >= 0 && id_x - 3 >= 0) ? (input[pixIdx - width - 3]) : 0;
    bCValues[14] = (id_y - 2 >= 0 && id_x - 2 >= 0) ? (input[pixIdx + width * (-2) - 2]) : 0;
    bCValues[15] = (id_y - 3 >= 0 && id_x - 1 >= 0) ? (input[pixIdx + width * (-3) - 1]) : 0;



    unsigned int valueCircle = 0, valueNeighbour = 0;
    valueCircle = RPPABS((input[pixIdx] - bCValues[0]) + (input[pixIdx] - bCValues[1]) + (input[pixIdx] - bCValues[2]) + (input[pixIdx] - bCValues[3]) + (input[pixIdx] - bCValues[4]) + (input[pixIdx] - bCValues[5]) + (input[pixIdx] - bCValues[6]) + (input[pixIdx] - bCValues[7]) + (input[pixIdx] - bCValues[8]) + (input[pixIdx] - bCValues[9]) + (input[pixIdx] - bCValues[10]) + (input[pixIdx] - bCValues[11]) + (input[pixIdx] - bCValues[12]) + (input[pixIdx] - bCValues[13]) + (input[pixIdx] - bCValues[14]) + (input[pixIdx] - bCValues[15]));

    int bound = (kernelSize - 1) / 2;
    for(int i = -bound ; i <= bound ; i++)
    {
        for(int j = -bound ; j <= bound ; j++)
        {
            unsigned int index = pixIdx + (j * channel) + (i * width * channel);
            if(id_x + j >= 0 && id_x + j <= width - 1 && id_y + i >= 0 && id_y + i <= height -1)
            {
                valueNeighbour += RPPABS(input[pixIdx] - input[index]);
            }
            else
            {
                valueNeighbour += RPPABS(input[pixIdx]);
            }
        }
    }

    if(valueCircle > valueNeighbour)
    {
        if(input[pixIdx] == 255)
        {
            if(id_y - 3 >= 0)
                output[pixIdx + width * (-3)] = 255;
            if(id_y - 3 >= 0 && id_x + 1 < width)
                output[pixIdx - width * 3 + 1] = 255;
            if(id_y - 2 >= 0 && id_x + 2 < width) 
                output[pixIdx - width * 2 + 2] = 255;
            if(id_y - 1 >= 0 && id_x + 3 < width) 
                output[pixIdx - width  + 3] = 255;
            if(id_x + 3 < width) 
                output[pixIdx + 3] = 255;
            if(id_y + 1 < height && id_x + 3 < width) 
                output[pixIdx + width + 3] = 255;
            if(id_y + 2 < height && id_x + 2 < width) 
                output[pixIdx + width * 2 + 2] = 255;
            if(id_y + 3 < height && id_x + 1 < width) 
                output[pixIdx + width * 3 + 1] = 255;
            if(id_y + 3 < height) 
                output[pixIdx + width * 3] = 255;
            if(id_y + 3 < height && id_x - 1 >= 0) 
                output[pixIdx + width * 3 - 1] = 255;
            if(id_y + 2 < height && id_x - 2 >= 0) 
                output[pixIdx + width * 2 - 2] = 255;
            if(id_y + 1 < height && id_x - 3 >= 0) 
                output[pixIdx + width - 3] = 255;
            if(id_x - 3 >= 0) 
                output[pixIdx - 3] = 255;
            if(id_y - 1 >= 0 && id_x - 3 >= 0) 
                output[pixIdx - width - 3] = 255;
            if(id_y - 2 >= 0 && id_x - 2 >= 0) 
                output[pixIdx + width * (-2) - 2] = 255;
            if(id_y - 3 >= 0 && id_x - 1 >= 0) 
                output[pixIdx + width * (-3) - 1] = 255;
        }
    }
}

__kernel void fast_corner_detector_nms_pkd(  __global unsigned char* input,
                    __global unsigned char* output,
                    const unsigned int height,
                    const unsigned int width,
                    const unsigned int channel,
                    const unsigned int kernelSize
)
{
    int id_x = get_global_id(0);
    int id_y = get_global_id(1);
    if (id_x >= width || id_y >= height) return;

    int pixIdx = id_y * width + id_x;
    int opPixIdx = id_y * width * 3 + id_x * 3;

    unsigned int bCValues[16];

    bCValues[0] = (id_y - 3 >= 0) ? (input[pixIdx + width * (-3)]) : 0;
    bCValues[1] = (id_y - 3 >= 0 && id_x + 1 < width) ? (input[pixIdx - width * 3 + 1]) : 0;
    bCValues[2] = (id_y - 2 >= 0 && id_x + 2 < width) ? (input[pixIdx - width * 2 + 2]) : 0;
    bCValues[3] = (id_y - 1 >= 0 && id_x + 3 < width) ? (input[pixIdx - width  + 3]) : 0;
    bCValues[4] = (id_x + 3 < width) ? (input[pixIdx + 3]) : 0;
    bCValues[5] = (id_y + 1 < height && id_x + 3 < width) ? (input[pixIdx + width + 3]) : 0;
    bCValues[6] = (id_y + 2 < height && id_x + 2 < width) ? (input[pixIdx + width * 2 + 2]) : 0;
    bCValues[7] = (id_y + 3 < height && id_x + 1 < width) ? (input[pixIdx + width * 3 + 1]) : 0;
    bCValues[8] = (id_y + 3 < height) ? (input[pixIdx + width * 3]) : 0;
    bCValues[9] = (id_y + 3 < height && id_x - 1 >= 0) ? (input[pixIdx + width * 3 - 1]) : 0;
    bCValues[10] = (id_y + 2 < height && id_x - 2 >= 0) ? (input[pixIdx + width * 2 - 2]) : 0;
    bCValues[11] = (id_y + 1 < height && id_x - 3 >= 0) ? (input[pixIdx + width - 3]) : 0;
    bCValues[12] = (id_x - 3 >= 0) ? (input[pixIdx - 3]) : 0;
    bCValues[13] = (id_y - 1 >= 0 && id_x - 3 >= 0) ? (input[pixIdx - width - 3]) : 0;
    bCValues[14] = (id_y - 2 >= 0 && id_x - 2 >= 0) ? (input[pixIdx + width * (-2) - 2]) : 0;
    bCValues[15] = (id_y - 3 >= 0 && id_x - 1 >= 0) ? (input[pixIdx + width * (-3) - 1]) : 0;



    unsigned int valueCircle = 0, valueNeighbour = 0;
    valueCircle = RPPABS((input[pixIdx] - bCValues[0]) + (input[pixIdx] - bCValues[1]) + (input[pixIdx] - bCValues[2]) + (input[pixIdx] - bCValues[3]) + (input[pixIdx] - bCValues[4]) + (input[pixIdx] - bCValues[5]) + (input[pixIdx] - bCValues[6]) + (input[pixIdx] - bCValues[7]) + (input[pixIdx] - bCValues[8]) + (input[pixIdx] - bCValues[9]) + (input[pixIdx] - bCValues[10]) + (input[pixIdx] - bCValues[11]) + (input[pixIdx] - bCValues[12]) + (input[pixIdx] - bCValues[13]) + (input[pixIdx] - bCValues[14]) + (input[pixIdx] - bCValues[15]));

    int bound = (kernelSize - 1) / 2;
    for(int i = -bound ; i <= bound ; i++)
    {
        for(int j = -bound ; j <= bound ; j++)
        {
            unsigned int index = pixIdx + (j * channel) + (i * width * channel);
            if(id_x + j >= 0 && id_x + j <= width - 1 && id_y + i >= 0 && id_y + i <= height -1)
            {
                valueNeighbour += RPPABS(input[pixIdx] - input[index]);
            }
            else
            {
                valueNeighbour += RPPABS(input[pixIdx]);
            }
        }
    }

    if(valueCircle > valueNeighbour)
    {
        if(input[pixIdx] == 255)
        {
            if(id_y - 3 >= 0)
            {
                output[opPixIdx - width * 9] = 255;
                output[opPixIdx - width * 9 + 1] = 0;
                output[opPixIdx - width * 9 + 2] = 0;
            }
            if(id_y - 3 >= 0 && id_x + 1 < width)
            {
                output[opPixIdx - width * 9 + 3] = 255;
                output[opPixIdx - width * 9 + 3 + 1] = 0;
                output[opPixIdx - width * 9 + 3 + 2] = 0;
            }
            if(id_y - 2 >= 0 && id_x + 2 < width) 
            {
                output[opPixIdx - width * 6 + 6] = 255;
                output[opPixIdx - width * 6 + 6 + 1] = 0;
                output[opPixIdx - width * 6 + 6 + 2] = 0;
            }
            if(id_y - 1 >= 0 && id_x + 3 < width) 
            {
                output[opPixIdx - width * 3  + 9] = 255;
                output[opPixIdx - width * 3  + 9 + 1] = 0;
                output[opPixIdx - width * 3  + 9 + 2] = 0;
            }
            if(id_x + 3 < width) 
            {
                output[opPixIdx + 9] = 255;
                output[opPixIdx + 9 + 1] = 0;
                output[opPixIdx + 9 + 2] = 0;
            }
            if(id_y + 1 < height && id_x + 3 < width) 
            {
                output[opPixIdx + width * 3 + 9] = 255;
                output[opPixIdx + width * 3 + 9 + 1] = 0;
                output[opPixIdx + width * 3 + 9 + 2] = 0;
            }
            if(id_y + 2 < height && id_x + 2 < width) 
            {
                output[opPixIdx + width * 6 + 6] = 255;
                output[opPixIdx + width * 6 + 6 + 1] = 0;
                output[opPixIdx + width * 6 + 6 + 2] = 0;
            }
            if(id_y + 3 < height && id_x + 1 < width) 
            {
                output[opPixIdx + width * 9 + 3] = 255;
                output[opPixIdx + width * 9 + 3 + 1] = 0;
                output[opPixIdx + width * 9 + 3 + 2] = 0;
            }
            if(id_y + 3 < height) 
            {
                output[opPixIdx + width * 9] = 255;
                output[opPixIdx + width * 9 + 1] = 0;
                output[opPixIdx + width * 9 + 2] = 0;
            }
            if(id_y + 3 < height && id_x - 1 >= 0) 
            {
                output[opPixIdx + width * 9 - 3] = 255;
                output[opPixIdx + width * 9 - 3 + 1] = 0;
                output[opPixIdx + width * 9 - 3 + 2] = 0;
            }
            if(id_y + 2 < height && id_x - 2 >= 0) 
            {
                output[opPixIdx + width * 6 - 6] = 255;
                output[opPixIdx + width * 6 - 6 + 1] = 0;
                output[opPixIdx + width * 6 - 6 + 2] = 0;
            }
            if(id_y + 1 < height && id_x - 3 >= 0) 
            {
                output[opPixIdx + width * 3 - 9] = 255;
                output[opPixIdx + width * 3 - 9 + 1] = 0;
                output[opPixIdx + width * 3 - 9 + 2] = 0;
            }
            if(id_x - 3 >= 0) 
            {
                output[opPixIdx - 9] = 255;
                output[opPixIdx - 9 + 1] = 0;
                output[opPixIdx - 9 + 2] = 0;
            }
            if(id_y - 1 >= 0 && id_x - 3 >= 0) 
            {
                output[opPixIdx - width * 3 - 9] = 255;
                output[opPixIdx - width * 3 - 9 + 1] = 0;
                output[opPixIdx - width * 3 - 9 + 2] = 0;
            }
            if(id_y - 2 >= 0 && id_x - 2 >= 0) 
            {
                output[opPixIdx - width * 6 - 6] = 255;
                output[opPixIdx - width * 6 - 6 + 1] = 0;
                output[opPixIdx - width * 6 - 6 + 2] = 0;
            }
            if(id_y - 3 >= 0 && id_x - 1 >= 0) 
            {
                output[opPixIdx - width * 9 - 3] = 255;
                output[opPixIdx - width * 9 - 3 + 1] = 0;
                output[opPixIdx - width * 9 - 3 + 2] = 0;
            }      
        }
    }
}
