main.cu

#include <iostream>
#include<string>
#include<cuda.h>
#include <cuda_runtime.h>
#include "device_launch_parameters.h"
#include <fstream>
#include <curand.h>
#include <curand_kernel.h>
#include <time.h>
#include <chrono>
#include <stdio.h>
#include <math.h>
#include "opencv2/core/core.hpp"
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui_c.h>
#define USING_OPENCV
#include<stim/image/image.h>
#include <stim/cuda/cudatools/callable.h>
#include <stim/cuda/cudatools/error.h>
#include <stim/cuda/cudatools/timer.h>
#include <stim/math/constants.h>
#include "stim/parser/arguments.h"
#include<random>
#include <numeric>      // std::iota
//#include<stim/math/random.h>
#include "hypersnakuscule.h"
//#include "median2.cuh"
#define deltaR 2.0f
#define deltar 1.5874f		// deltar=deltaR/cubeRoot2
#define cubeRoot2 1.2599f
#define pi 3.14159f
//#define Energy_th -3
//----------------------------------------------functions--------------------------------------------------------------
void stretch(float* I, size_t size, int low, int high) {
	//size: number of image pixel
	float max_val = I[0];
	float min_val = I[0];
	for (int n = 0; n < size; n++) {
		if (I[n] > max_val) {
			max_val = I[n];
		}
		if (I[n] < min_val) {
			min_val = I[n];
		}
	}
	float range = max_val - min_val;
	float desired_range = (float)high - (float)low;
	for (size_t n = 0; n < size; n++) {		//for each element in the image
		I[n] = desired_range * (I[n] - min_val) / range + low;
	}
}
/// random generator function: generate random numbers in a sphere with radius 1 in the center (0, 0, 0)
void randGenerator(point<float>* r, int sampleNum, bool debug = false) {
	for (size_t i = 0; i < sampleNum; i++) {
		double rn = (double)rand() / (double)(RAND_MAX);
		double theta = (double)rand() / (double)(RAND_MAX)* stim::TAU;
		double cosphi = 1.0 - 2.0 * ((double)rand() / (double)(RAND_MAX));
		double phi = std::acos(cosphi);
		//double phi = std::acos(2.0 * v - 1.0);
		//double phi = (double)rand() / (double)(RAND_MAX)* stim::PI;
		//std::cout << "rn=" << rn << "\t theta=" << theta << "\tphi=" << phi << std::endl;
		r[i].x = (float)(std::cbrt(rn) * cos(theta) * sin(phi));
		r[i].y = (float)(std::cbrt(rn) * sin(theta) * sin(phi));
		r[i].z = (float)(std::cbrt(rn) * cos(phi));
	}
	if (debug) {
		std::ofstream outfile("randomSamples.txt");										//open a file for writing
		for (size_t i = 0; i < sampleNum; i++) {
			outfile << r[i].x << " " << r[i].y << " " << r[i].z << std::endl;		//output the center and radius
		}
		outfile.close();
	}
}
///create random numbers in a cube and delete the one outside the sphere
void randGenerator_cube(point<float>* r, int sampleNum, bool debug = false) {
	size_t counter = 0;
	while (counter < sampleNum) {
		double x = ((double)rand() / (double)(RAND_MAX) * 2.0) - 1.0;
		double y = ((double)rand() / (double)(RAND_MAX) * 2.0) - 1.0;
		double z = ((double)rand() / (double)(RAND_MAX) * 2.0) - 1.0;
		double d = sqrt((x * x) + (y * y) + (z * z));
		if (d < 1.1) {
			r[counter].x = (float)x;
			r[counter].y = (float)y;
			r[counter].z = (float)z;
			counter++;
		}
	}
	if (debug) {
		std::ofstream outfile("randomSamples.txt");										//open a file for writing
		for (size_t i = 0; i < sampleNum; i++) {
			outfile << r[i].x << " " << r[i].y << " " << r[i].z << std::endl;		//output the center and radius
		}
		outfile.close();
	}
}
/// random generator function: generate random numbers in a sphere with radius 1 in the center (0 , 0, 0)
//void randGenerator1(point<float>* r, int sampleNum, bool debug = false) {
//	for (int i = 0; i < sampleNum; i++) {
//		std::default_random_engine generator1(100 + i);
//		std::uniform_real_distribution<double> distribution1(0.0f, 1.0f);
//		double rn = distribution1(generator1);
//		std::default_random_engine generator2(50.0f + 5.0f * i);
//		std::uniform_real_distribution<double> distribution2(0.0, 2.0 * stim::PI);
//		double theta = distribution2(generator2);
//		std::default_random_engine generator3(30.0f + 3.0f * i);
//		std::uniform_real_distribution<double> distribution3(0, stim::PI);
//		double phi = distribution3(generator3);
//		r[i].x = (float)(std::cbrt(rn) * cos(theta) * sin(phi));
//		r[i].y = (float)(std::cbrt(rn) * sin(theta) * sin(phi));
//		r[i].z = (float)(std::cbrt(rn) * cos(phi));
//	}
//	if (debug) {
//		std::ofstream outfile("randomSamples.txt");										//open a file for writing
//		for (size_t i = 0; i < sampleNum; i++) {
//			outfile << r[i].x << " " << r[i].y << " " << r[i].z << std::endl;		//output the center and radius
//		}
//		outfile.close();
//	}
//}
/// saves the snakes specified by the idx array
void SaveSnakes(std::string filename, sphere* snakes, std::vector<size_t> idx) {
	std::ofstream outfile(filename);										//open a file for writing
	for (size_t i = 0; i < idx.size(); i++) {
		point<float> center = snakes[idx[i]].c();														//get the centerpoint of the snake
		outfile << center.x << " " << center.y << " " << center.z << " " << snakes[idx[i]].r() << std::endl;		//output the center and radius
	}
	outfile.close();
}
void initialSwarmSnake(sphere * snakes, size_t &counter, size_t w, size_t h, size_t d, float radius) {
	std::cout << "W=" << w << "\t h=" << h << "\td=" << d << std::endl;
	int D = int(sqrt(1.5)*radius);			//distance between hypersnakes
	//int D = 30; //for phantom
	int k1 = 0;
	counter = 0;
	float startpoint = 0;
	for (float k = radius; k < (d - radius); k += D ) {// for phantom D
		for (float j = radius; j < (h - radius); j += D) {
			k1++;
			if (k1 % 2 == 1)
				startpoint = 0;				//for phantom D
			else
				startpoint = (float)D / 2.0f;//for phantom D
			for (float i = startpoint; i < (w - radius); i += D) {
				point<float> temp_p(i, j, k);
				snakes[counter].p = temp_p;
				point<float> temp_q(i + (2 * radius), j, k);
				snakes[counter].q = temp_q;
				counter = counter + 1;
			}
		}
	}
	std::ofstream outfile("initials.txt");
	for (int i = 0; i < counter; i++) {
		outfile << snakes[i].c().x << " " << snakes[i].c().y << " " << snakes[i].c().z << " " << snakes[i].r() << std::endl;
	}
	outfile.close();
}
__host__ __device__ void sum_dE(point<float>& dEdp, point<float>& dEdq, point<float> c, point<float> s, float R, float f) {
	float r = R / cubeRoot2;				// radius of inner snake
	float dz2 = (s.z - c.z)*(s.z - c.z);
	float dy2 = (s.y - c.y)*(s.y - c.y);
	float dx2 = (s.x - c.x)*(s.x - c.x);
	float d = sqrt(dz2 + dy2 + dx2);											//distance bw given sample and center of contour
	float gx = 2.0f * R;															// gx= snake.q.x - snake.p.x ; 
	float dx = (c.x - s.x) / d;
	float dy = (c.y - s.y) / d;
	float dz = (c.z - s.z) / d;
	if (d < (r - 0.5f*deltar)) {													// mouth of snake
		dEdp.x -= 3.0f / gx * f;													//calculate the growth/shrinking term for the snake
		dEdq.x += 3.0f / gx * f;
	}
	else if (d < (r + 0.5f*deltar)) {											// throat of snake
		float S = (2.0f / deltar) *  (d - r);										// weight function value in the given point
		dEdp.x += f * ((3.0f / gx) * S + (dx + (1.0f / cubeRoot2)) / deltar);
		dEdp.y += f *(dy / deltar);
		dEdp.z += f *(dz / deltar);
		dEdq.x += f * ((-3.0f / gx) * S + (dx - (1.0f / cubeRoot2)) / deltar);
		dEdq.y = dEdp.y;
		dEdq.z = dEdp.z;
	}
	else if (d < (R - 0.5f*deltaR)) {											// coil of snake
		dEdp.x += 3.0f / gx * f;
		dEdq.x -= 3.0f / gx * f;
	}
	else if (d < (R + 0.5f*deltaR)) {											// fangs of snake
		float S = -(1.0f / deltaR) * (d - (R + deltaR / 2.0f));
		dEdp.x += f * ((3.0f * S / gx) - (0.5f * (dx + 1.0f) / deltaR));
		dEdp.y -= 0.5f *(dy / deltaR) * f;
		dEdp.z -= 0.5f *(dz / deltaR) * f;
		dEdq.x += f *((-3.0f * S / gx) - (0.5f * (dx - 1.0f) / deltaR));
		dEdq.y = dEdp.y;
		dEdq.z = dEdp.z;
	}
}
//sum_dE in debug mode
__host__ __device__ void sum_dE_debug(point<float>& dEdp, point<float>& dEdq, int &counter, point<float> c, point<float> s, float R, float f) {
	float r = R / cubeRoot2;				// radius of inner snake
	float dz2 = (s.z - c.z)*(s.z - c.z);
	float dy2 = (s.y - c.y)*(s.y - c.y);
	float dx2 = (s.x - c.x)*(s.x - c.x);
	float d = sqrt(dz2 + dy2 + dx2);											//distance bw given sample and center of contour
	float gx = 2.0f * R;															// gx= snake.q.x - snake.p.x ; 
	float dx = (c.x - s.x) / d;
	float dy = (c.y - s.y) / d;
	float dz = (c.z - s.z) / d;
	int trivial = 0;															//to test if any point is out of the contour
	if (d < (r - 0.5f*deltar)) {													// mouth of snake
		counter++;
		dEdp.x -= 3.0f / gx * f;													//calculate the growth/shrinking term for the snake
		dEdq.x += 3.0f / gx * f;
	}
	else if (d < (r + 0.5f*deltar)) {											// throat of snake
		counter++;
		float S = (2.0f / deltar) *  (d - r);										// weight function value in the given point
		dEdp.x += f * ((3.0f / gx) * S + (dx + (1.0f / cubeRoot2)) / deltar);
		dEdp.y += f *(dy / deltar);
		dEdp.z += f *(dz / deltar);
		dEdq.x += f * ((-3.0f / gx) * S + (dx - (1.0f / cubeRoot2)) / deltar);
		dEdq.y = dEdp.y;
		dEdq.z = dEdp.z;
	}
	else if (d < (R - 0.5f*deltaR)) {											// coil of snake
		counter++;
		dEdp.x += 3.0f / gx * f;
		dEdq.x -= 3.0f / gx * f;
	}
	else if (d < (R + 0.5f*deltaR)) {											// fangs of snake
		counter++;
		float S = -(1.0f / deltaR) * (d - (R + deltaR / 2.0f));
		dEdp.x += f * ((3.0f * S / gx) - (0.5f * (dx + 1.0f) / deltaR));
		dEdp.y -= 0.5f *(dy / deltaR) * f;
		dEdp.z -= 0.5f *(dz / deltaR) * f;
		dEdq.x += f *((-3.0f * S / gx) - (0.5f * (dx - 1.0f) / deltaR));
		dEdq.y = dEdp.y;
		dEdq.z = dEdp.z;
	}
	else
		trivial++;
}
// this function calculate gradient of energy with respect to two point p and q
__host__ __device__ void snake_Engrad(point<float>&dEdp, point<float>&dEdq, sphere snake, float* I, size_t w, size_t h, size_t d, bool debug = false) {
	float radius = snake.r();					// radius of outer snake
	point<float> c = snake.c();					// center of snake
	dEdp = point<float>(0, 0, 0);												//initialize dEdp and dEdq to zero
	dEdq = point<float>(0, 0, 0);
	float threshold = ((1 + cubeRoot2) / (cubeRoot2 - 1))*(deltar / pow(2.0f, (2.0f / 3.0f)));
	if (radius < threshold) {
		if (debug) printf("\t RADIUS IS OUT OF RANGE\n");
		return;
	}
	float tempXmin = floor(c.x - radius - 1);						//calculate a bounding box around the sphere
	float tempXmax = ceil(c.x + radius + 1);
	float tempYmin = floor(c.y - radius - 1);
	float tempYmax = ceil(c.y + radius + 1);
	float tempZmin = floor(c.z - radius - 1);
	float tempZmax = ceil(c.z + radius + 1);
	float xmin = max((float)tempXmin, (float) 0.0);						//clamp the bounding box to the image edges
	float xmax = min((float)tempXmax, (float)(w - 1));
	float ymin = max((float)tempYmin, (float)0);
	float ymax = min((float)tempYmax, (float)(h - 1));
	float zmin = max((float)tempZmin, (float)0);
	float zmax = min((float)tempZmax, (float)(d - 1));
	if ((xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)) {
		if (debug) printf("(xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)");
		return;
	}
	float R = radius;																//simplify radius to R
	float R3 = R * R * R;																//calculate R^2 (radius squared)
	for (unsigned int z = (unsigned int)zmin; z <= (unsigned int)zmax; z++) {				// for each section
		for (unsigned int x = (unsigned int)xmin; x <= (unsigned int)xmax; x++) {			//for each column of section in the bounding box
			for (unsigned int y = (unsigned int)ymin; y <= (unsigned int)ymax; y++) {			//for each pixel p in the column
				point<float> s(x, y, z);													// a sample inside the contour
				float f;																	// image value in given position
				int position = (int)((w * h * z) + (x * h + y));
				if (position < (w * h * d)) {
					f = I[position];
					if (!f == 0)
						sum_dE(dEdp, dEdq, c, s, R, f);
				}
			}
		}
	}
	dEdp = dEdp / (8 * R3);
	dEdq = dEdq / (8 * R3);
}
//// this function calculate gradient of energy with respect to two point p and q using Monte Carlo
__host__ __device__ void snake_Engrad_MC(point<float>&dEdp, point<float>&dEdq, sphere snake, float* I, point<float>* samples, size_t sampleNum, size_t w, size_t h, size_t d, bool debug = false) {
	float radius = snake.r();					// radius of outer snake
	point<float> c = snake.c();					// center of snake
	dEdp = point<float>(0, 0, 0);				//initialize dEdp and dEdq to zero
	dEdq = point<float>(0, 0, 0);
	float threshold = ((1 + cubeRoot2) / (cubeRoot2 - 1))*(deltar / pow(2.0f, (2.0f / 3.0f)));
	if (radius < threshold) {
		if (debug) printf("\t RADIUS IS OUT OF RANGE\n");
		return;
	}
	float tempXmin = floor(c.x - radius - 1);						//calculate a bounding box around the sphere
	float tempXmax = ceil(c.x + radius + 1);
	float tempYmin = floor(c.y - radius - 1);
	float tempYmax = ceil(c.y + radius + 1);
	float tempZmin = floor(c.z - radius - 1);
	float tempZmax = ceil(c.z + radius + 1);
	float xmin = max((float)tempXmin, (float) 0.0);						//clsamples(amp the bounding box to the image edges
	float xmax = min((float)tempXmax, (float)(w - 1.0));
	float ymin = max((float)tempYmin, (float)0.0);
	float ymax = min((float)tempYmax, (float)(h - 1.0));
	float zmin = max((float)tempZmin, (float)0.0);
	float zmax = min((float)tempZmax, (float)(d - 1.0));
	if ((xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)) {
		if (debug) printf("(xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)");
		return;
	}
	
	float R = radius;																//simplify radius to R
	float R3 = R * R * R;																//calculate R^3 (radius cube)
	int counter = 0;
	float sumf = 0.0;
	for (int i = 0; i < sampleNum; i++) {
		float sx = samples[i].x;
		float sy = samples[i].y;
		float sz = samples[i].z;
		float x = (R + 1.0f) * sx + c.x;
		float y = (R + 1.0f) * sy + c.y;
		float z = (R + 1.0f) * sz + c.z;
		int xi = (int)round(x);
		int yi = (int)round(y);
		int zi = (int)round(z);
		point<float> s(xi, yi, zi);													// a sample inside the contour
		float f;																	// image value in given position	
		int position = (int)((w * h * zi) + (xi * h + yi));
		if (position < (w * h * d) && xi >= xmin && xi <= xmax && yi >= ymin && yi <= ymax && zi >= zmin && zi <= zmax) {						//  && d1< (R + 1)
			counter++;
			f = (float)I[position];
			sumf += f;
			//if (debug) 
			sum_dE_debug(dEdp, dEdq, counter, c, s, R, f);
			 //sum_dE(dEdp, dEdq, c, s, R, f);
		}
	}
	
	
	float volume = pi * (((R + 1.0f) * (R + 1.0f) * (zmax - zmin)) - ((1.0f / 3.0f) * (powf((zmax - c.z), 3.0f) + powf((c.z - zmin), 3.0f))));
	//if (debug) printf("volume_sphere=%f and volume=%f\n", volume_sphere, volume);
	//if (debug) printf("sampleNum=%u and (float)counter= %f \n", sampleNum, (float)counter);
	
	dEdp = dEdp * volume / (float)counter;
	dEdq = dEdq * volume / (float)counter;
	dEdp = dEdp / (8.0f * R3);
	dEdq = dEdq / (8.0f * R3);
}
// this function calculate gradient of energy with respect to two point p and q using Monte Carlo
__host__ __device__ void snake_Engrad_MC_parallel(point<float>&dEdp, point<float>&dEdq, int &counter, sphere snake, float* I, point<float> sample, size_t w, size_t h, size_t d, bool debug = false) {
	float radius = snake.r();					// radius of outer snake
	point<float> c = snake.c();					// center of snake
	float tempXmin = floor(c.x - radius - 1);						//calculate a bounding box around the sphere
	float tempXmax = ceil(c.x + radius + 1);
	float tempYmin = floor(c.y - radius - 1);
	float tempYmax = ceil(c.y + radius + 1);
	float tempZmin = floor(c.z - radius - 1);
	float tempZmax = ceil(c.z + radius + 1);
	float xmin = max((float)tempXmin, (float) 0.0);						//clsamples(amp the bounding box to the image edges
	float xmax = min((float)tempXmax, (float)(w - 1.0));
	float ymin = max((float)tempYmin, (float)0.0);
	float ymax = min((float)tempYmax, (float)(h - 1.0));
	float zmin = max((float)tempZmin, (float)0.0);
	float zmax = min((float)tempZmax, (float)(d - 1.0));
	if ((xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)) {
		if (debug) printf("(xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)");
		return;
	}
	float R = radius;																//simplify radius to R
	float sumf = 0.0;
	//for (int i = 0; i < sampleNum; i++) {
	float sx = sample.x;
	float sy = sample.y;
	float sz = sample.z;
	float x = (R + 1.0f) * sx + c.x;
	float y = (R + 1.0f) * sy + c.y;
	float z = (R + 1.0f) * sz + c.z;
	int xi = (int)round(x);
	int yi = (int)round(y);
	int zi = (int)round(z);
	point<float> s(xi, yi, zi);													// a sample inside the contour
	float f;																	// image value in given position	
	int position = (int)((w * h * zi) + (xi * h + yi));
	if (position < (w * h * d) && xi >= xmin && xi <= xmax && yi >= ymin && yi <= ymax && zi >= zmin && zi <= zmax) {						//  && d1< (R + 1)
		f = (float)I[position];
		sumf += f;
		sum_dE_debug(dEdp, dEdq, counter, c, s, R, f);
		//printf("dEdp.x=%f and dEdq.x=%f \t dEdp.y=%f and dEdq.y=%f \t dEdp.z=%f and dEdq.z=%f", dEdp.x, dEdq.x, dEdp.y, dEdq.y, dEdp.z, dEdq.z);
	}
	
}
void snake_evolve(sphere &snakes, float* I, int w, int h, int d, float dt, int itr, point<float>* samples, size_t sampleNum, bool MC, bool debug = false) {
	point<float> dEdp(0.0, 0.0, 0.0);	    // energy gradient wrt p
	point<float> dEdq(0.0, 0.0, 0.0);		// energy gradient wrt q
	for (int numItr = 0; numItr < itr; numItr++) {
		if (MC)
			snake_Engrad_MC(dEdp, dEdq, snakes, I, samples, sampleNum, w, h, d, debug);
		else
		snake_Engrad(dEdp, dEdq, snakes, I, w, h, d, debug);
		if (debug) printf("dEdp.x=%f \t dEdq.x=%f \n dEdp.y=%f \t dEdp.z=%f \n\n", dEdp.x, dEdq.x, dEdp.y, dEdp.z);
		float factor = sqrt(float(numItr + 1));											// step size in gradient descent decreasing by number of iterations
		snakes.update(dEdp, dEdq, dt / factor);
	}
}
//-------------------------------------------Kernels--------------------------------------------------------------------------
//__global__ void kernel_snake_evolve_MC(sphere * snakes, float* I, point<float>* samples, int sampleNum, size_t snakeNum, size_t w, size_t h, size_t d, int itr, float dt, bool debug = false) {
//
//	int idx = blockDim.x * blockIdx.x + threadIdx.x;
//
//	if (idx >= snakeNum)             // return if the number of threads is more than snakes
//		return;
//
//
//	if (idx == 0)
//		printf("\n\n \t\t=============>>>>we are in the MC kernel\n\n");
//	point<float> dEdp(0.0, 0.0, 0.0);	    // energy gradient wrt p
//	point<float> dEdq(0.0, 0.0, 0.0);		// energy gradient wrt q
//	sphere s = snakes[idx];
//
//	for (int i = 0; i < itr; i++) {
//		if (debug) printf("\n\n---------------->> iteration %u\n", i);
//		snake_Engrad_MC(dEdp, dEdq, s, I, samples, sampleNum, w, h, d, debug);
//		float factor = sqrtf(float(i + 1));
//		if (debug)
//			printf("dEdp.x=%f and dEdp.y=%f and dEdp.z=%f and dEdq.x=%f\n", dEdp.x, dEdp.y, dEdp.z, dEdq.x);
//		s.update(dEdp, dEdq, dt / factor);
//
//	}
//
//	snakes[idx] = s;
//
//
//}
__global__ void kernel_snake_evolve_MC_parallel(sphere * snakes, float* I, point<float>* samples, int sampleNum, size_t snakeNum, size_t threads, size_t w, size_t h, size_t d, int itr, float dt, bool debug = false) {
	extern __shared__ float sharedPtr[];										// define shared memory to save result of each thread there
	int n = floorf(sampleNum / threads) ;											//# given sample points to one thread
	int idx = blockDim.x * blockIdx.x + threadIdx.x;
	if (idx >= (snakeNum * threads))												// return if the number of threads is more than snakes
		return;
	float threshold = ((1 + cubeRoot2) / (cubeRoot2 - 1))*(deltar / pow(2.0f, (2.0f / 3.0f)));	//snake cannot be smaller than threshold
	/*if (idx == 0) {
		printf("\n\n \t\t=============>>>>we are in the MC kernel\n\n");
		printf("number of samples per thread=%d\n", n);
		printf("idx=%d\n", (snakeNum * threads));
		printf("blockdim.x=%d and threads=%u \n", blockDim.x, threads);
	}*/
	
	point<float> thread_sample;													//sample goes to the thread
																//sum_counter is real number of samples inside the contour averaged. some points of samples may round out of contour and did not contribute in averaging
	for (int i = 0; i < itr; i++) {
		//check the snake, if it pass the threshold 
		
		if (snakes[blockIdx.x].r() < threshold) {
			if (debug) printf("\t RADIUS IS OUT OF RANGE\n");
			return;
		}
		float radius = snakes[blockIdx.x].r();					// radius of outer snake
		point<float> c = snakes[blockIdx.x].c();					// center of snake
		float tempXmin = floor(c.x - radius - 1);						//calculate a bounding box around the sphere
		float tempXmax = ceil(c.x + radius + 1);
		float tempYmin = floor(c.y - radius - 1);
		float tempYmax = ceil(c.y + radius + 1);
		float tempZmin = floor(c.z - radius - 1);
		float tempZmax = ceil(c.z + radius + 1);
		float xmin = max((float)tempXmin, (float) 0.0);						//clsamples(amp the bounding box to the image edges
		float xmax = min((float)tempXmax, (float)(w - 1.0));
		float ymin = max((float)tempYmin, (float)0.0);
		float ymax = min((float)tempYmax, (float)(h - 1.0));
		float zmin = max((float)tempZmin, (float)0.0);
		float zmax = min((float)tempZmax, (float)(d - 1.0));
		if ((xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)) {
			if (debug) printf("(xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)");
			return;
		}
		if (debug) printf("\n\n---------------->> iteration %u\n", i);
		int counter = 0;
		point<float> dEdp(0.0f, 0.0f, 0.0f);	    // energy gradient wrt p
		point<float> dEdq(0.0f, 0.0f, 0.0f);		// energy gradient wrt q
		for (int j = 0; j < n; j++) {
			//sphere single_snake = snakes[blockIdx.x];									// each block is assigned to one snake. all threads in a block are working for that snake
			thread_sample = samples[threadIdx.x * n + j];
			snake_Engrad_MC_parallel(dEdp, dEdq, counter, snakes[blockIdx.x], I, thread_sample, w, h, d, debug);
		}
		/*if (idx == 0) {
			printf("points in the contour for thread0=%d\n", counter);
			printf("dEdp.x=%f and dEdq.x=%f \t dEdp.y=%f and dEdq.y=%f \t dEdp.z=%f and dEdq.z=%f", dEdp.x, dEdq.x, dEdp.y, dEdq.y, dEdp.z, dEdq.z);
		}
*/
		//copy the result of each thread in shared memory
		sharedPtr[threadIdx.x * 7 + 0] = dEdp.x;
		sharedPtr[threadIdx.x * 7 + 1] = dEdp.y;
		sharedPtr[threadIdx.x * 7 + 2] = dEdp.z;
		sharedPtr[threadIdx.x * 7 + 3] = dEdq.x;
		sharedPtr[threadIdx.x * 7 + 4] = dEdq.y;
		sharedPtr[threadIdx.x * 7 + 5] = dEdq.z;
		sharedPtr[threadIdx.x * 7 + 6] = counter;
		__syncthreads();
		//combine threads
		dEdp = point<float>(0.0f, 0.0f, 0.0f);	    // energy gradient wrt p
		dEdq = point<float>(0.0f, 0.0f, 0.0f);
		counter = 0;
		if (threadIdx.x == 0) {
			float R = snakes[blockIdx.x].r();				     	 // radius of outer snake
			float R3 = R * R * R;							//calculate R^3 (radius cube)
			point<float> c = snakes[blockIdx.x].c();			   // center of snake
			for (int i = 0; i < threads; i++) {
				dEdp.x += sharedPtr[i * 7 + 0];
				dEdp.y += sharedPtr[i * 7 + 1];
				dEdp.z += sharedPtr[i * 7 + 2];
				dEdq.x += sharedPtr[i * 7 + 3];
				dEdq.y += sharedPtr[i * 7 + 4];
				dEdq.z += sharedPtr[i * 7 + 5];
				counter += sharedPtr[i * 7 + 6];
			}
			float volume = pi * (((R + 1.0f) * (R + 1.0f) * (zmax - zmin)) - ((1.0f / 3.0f) * (powf((zmax - c.z), 3.0f) + powf((c.z - zmin), 3.0f))));
			//float volume = (4.0f / 3.0f) * pi * (R + 1.0f)*(R + 1.0f)*(R + 1.0f); //(4.0f / 3.0f) * pi * powf((R + 1), 3.0f);
			dEdp = dEdp * volume / (float)counter;
			dEdq = dEdq * volume / (float)counter;
			dEdp = dEdp / (8.0f * R3);
			dEdq = dEdq / (8.0f * R3);
			//if (idx == 0)
				//printf("dEdp.x=%f and dEdq.x=%f \t dEdp.y=%f and dEdq.y=%f \t dEdp.z=%f and dEdq.z=%f", dEdp.x, dEdq.x, dEdp.y, dEdq.y, dEdp.z, dEdq.z);
			float factor = sqrtf(float(i + 1));
			snakes[blockIdx.x].update(dEdp, dEdq, dt / factor);
			
			//printf("snakes[blockIdx.x].p.x=%f and snakes[blockIdx.x].p.y=%f \n snakes[blockIdx.x].q.x=%f and snakes[blockIdx.x].q.y=%f\n\n", snakes[blockIdx.x].p.x, snakes[blockIdx.x].p.y, snakes[blockIdx.x].q.x, snakes[blockIdx.x].q.y);
		}
		__syncthreads();
	}
}
__global__ void kernel_snake_evolve(sphere* snakes, float *I, size_t snakeNum, size_t w, size_t h, size_t d, int itr, float dt, bool debug = false) {
	//__launch_bounds__(1024, 1);
	int idx = blockDim.x * blockIdx.x + threadIdx.x;
	if (idx >= snakeNum)             // return if the number of threads is more than snakes
		return;
	if (idx == 0)
		printf("\n\n \t\t=============>>>>we are in the kernel\n\n");
	point<float> dEdp(0.0, 0.0, 0.0);	    // energy gradient wrt p
	point<float> dEdq(0.0, 0.0, 0.0);		// energy gradient wrt q
	sphere s = snakes[idx];
	for (int i = 0; i < itr; i++) {
		snake_Engrad(dEdp, dEdq, s, I, w, h, d, debug);
		if (debug)
			printf("dEdp.x=%f and dEdp.y=%f and dEdp.z=%f and dEdq.x=%f\n", dEdp.x, dEdp.y, dEdp.z, dEdq.x);
		float factor = sqrtf(float(i + 1));
		s.update(dEdp, dEdq, dt / factor);
	}
	snakes[idx] = s;
}
// -----------------------------------Energy computaion and compare hypersnakes------------------------------------------------------------------------
__host__ __device__ void sum_E(float& E, point<float> c, point<float> s, float R, float f) {
	float r = R / cubeRoot2;				// radius of inner snake
	float dz2 = (s.z - c.z)*(s.z - c.z);
	float dy2 = (s.y - c.y)*(s.y - c.y);
	float dx2 = (s.x - c.x)*(s.x - c.x);
	float d = sqrt(dz2 + dy2 + dx2);											//distance bw given sample and center of contour
	if (d < (r - 0.5f*deltar)) 													// mouth of snake
		E -= f;
	else if (d < (r + 0.5f*deltar)) {											// throat of snake
		float S = (2.0f / deltar) *  (d - r);										// weight function value in the given point
		E += (S * f);
	}
	else if (d < (R - 0.5f*deltaR)) 											// coil of snake
		E += f;
	else if (d < (R + 0.5f*deltaR)) {											// fangs of snake
		float S = -(1.0f / deltaR) * (d - (R + deltaR / 2.0f));
		E += (S * f);
	}
}
__host__ __device__ void snake_energy(float &energy, sphere snake, float* I, size_t w, size_t h, size_t d) {
	float radius = snake.r();					// radius of outer snake
	point<float> c = snake.c();					// center of snake
	float threshold = ((1 + cubeRoot2) / (cubeRoot2 - 1))*(deltar / pow(2.0f, (2.0f / 3.0f)));
	if (radius < threshold) {
		//printf("radius is out of range\n");
		return;
	}
	float tempXmin = floor(c.x - radius - 1);						//calculate a bounding box around the sphere
	float tempXmax = ceil(c.x + radius + 1);
	float tempYmin = floor(c.y - radius - 1);
	float tempYmax = ceil(c.y + radius + 1);
	float tempZmin = floor(c.z - radius - 1);
	float tempZmax = ceil(c.z + radius + 1);
	float xmin = max((float)tempXmin, (float) 0.0);						//clamp the bounding box to the image edges
	float xmax = min((float)tempXmax, (float)(w - 1));
	float ymin = max((float)tempYmin, (float)0);
	float ymax = min((float)tempYmax, (float)(h - 1));
	float zmin = max((float)tempZmin, (float)0);
	float zmax = min((float)tempZmax, (float)(d - 1));
	if ((xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)) {
		//printf("(xmax <= xmin) || (ymax <= ymin) || (zmax <= zmin)");
		return;
	}
	float E = 0.0f;
	float R = radius;																//simplify radius to R
	float R3 = R * R * R;																//calculate R^2 (radius squared)
	for (unsigned int z = (unsigned int)zmin; z <= (unsigned int)zmax; z++) {				// for each section
		for (unsigned int y = (unsigned int)ymin; y <= (unsigned int)ymax; y++) {			//for each row of section in the bounding box
			for (unsigned int x = (unsigned int)xmin; x <= (unsigned int)xmax; x++) {		//for each pixel p in the row
				point<float> s(x, y, z);													// a sample inside the contour
				float f;																	// image value in given position
				int position = (int)((w * h * z) + (x * h + y));
				if (position < (w * h * d)) {
					f = I[position];
					if (!f == 0)
						sum_E(E, c, s, R, f);
				}
			}
		}
	}
	energy = E / (8 * R3);
}
//compute energy of snakes
__global__ void kernel_snake_energy(float* energy, sphere* snakes, float* I, size_t snakeNum, size_t w, size_t h, size_t d) {
	size_t i = blockDim.x * blockIdx.x + threadIdx.x;
	if (i >= snakeNum) return;              // return if the number of threads is more than snakes
	if (i == 0) {
		printf("we are in energy kernel\n");
	}
	float energy_temp;
	snake_energy(energy_temp, snakes[i], I, w, h, d);
	energy[i] = energy_temp;
}
// returns a set of snake indices that meet specific criteria(to be determined and refined by Mahsa)
std::vector<size_t> DetectValidSnakes_GPU(sphere* snakes, size_t snakeNum, float* I, size_t w, size_t h, size_t d, size_t threads, float energy_th) {
	////calculate energy
	float *gpu_energy;
	HANDLE_ERROR(cudaMalloc(&gpu_energy, snakeNum * sizeof(float)));
	size_t blocks = snakeNum / threads + 1;
	//// allocate memory and copy snakes to the device
	sphere* gpu_snakes = new sphere[snakeNum];
	HANDLE_ERROR(cudaMalloc(&gpu_snakes, snakeNum * sizeof(sphere)));
	HANDLE_ERROR(cudaMemcpy(gpu_snakes, snakes, snakeNum * sizeof(sphere), cudaMemcpyHostToDevice));
	//// allocate memory and copy image to device
	float  *gpu_I;
	HANDLE_ERROR(cudaMalloc(&gpu_I, w * h * d * sizeof(float)));
	HANDLE_ERROR(cudaMemcpy(gpu_I, I, w * h * d * sizeof(float), cudaMemcpyHostToDevice));
	//create an array to store the snake energies' on cpu
	float *energy;
	energy = (float*)malloc(snakeNum * sizeof(float));
	//memset(energy, 0, snakeNum * sizeof(float));
	kernel_snake_energy << < (unsigned int)blocks, (unsigned int)threads >> > (gpu_energy, gpu_snakes, gpu_I, snakeNum, w, h, d);
	HANDLE_ERROR(cudaMemcpy(energy, gpu_energy, snakeNum * sizeof(float), cudaMemcpyDeviceToHost));
	//std::ofstream outfile("energy.txt");										//open a file for writing
	//for (size_t i = 0; i < snakeNum; i++) {
	//	outfile << energy[i] << std::endl;		//output the energy
	//}
	//outfile.close();
	cudaFree(gpu_energy);
	cudaFree(gpu_I);
	cudaFree(gpu_snakes);
	// compare snakes in possible overlaps
	std::vector<size_t> id;														//store indices of snakes which have overlaps with snake i
	std::vector<size_t> idx;														//create a vector to store indices of snakes which must be deleted. 
	float threshold = ((1 + cubeRoot2) / (cubeRoot2 - 1))*(deltar / pow(2.0f, (2.0f / 3.0f)));
	for (size_t i = 0; i < snakeNum; i++) {
		if (snakes[i].r() < threshold)
			idx.push_back(i);
		if (std::find(idx.begin(), idx.end(), i) == idx.end()) {              // check if snake is already deleted
			id.clear();
			for (size_t j = 0; j < snakeNum; j++) {
				if (j != i) {
					if (snakes[j].c().x > snakes[i].c().x - 2 * snakes[i].r() && snakes[j].c().x < snakes[i].c().x + 2 * snakes[i].r() && snakes[j].c().y > snakes[i].c().y - 2 * snakes[i].r() && snakes[j].c().y < snakes[i].c().y + 2 * snakes[i].r()) {
						if (snakes[j].r() < threshold)
							idx.push_back(j);
						if (std::find(idx.begin(), idx.end(), j) == idx.end()) {
							float centerDistance_x = snakes[i].c().x - snakes[j].c().x;				// centers distance of snakes i and j- in x direction 
							float centerDistance_y = snakes[i].c().y - snakes[j].c().y;				// centers distance of snakes i and j- in y direction
							float centerDistance_z = snakes[i].c().z - snakes[j].c().z;				// centers distance of snakes i and j- in z direction
							float centerDistance = sqrt((centerDistance_x * centerDistance_x) + (centerDistance_y * centerDistance_y) + 4 * (centerDistance_z * centerDistance_z)); // euclidean  distance bw center snakes i and j
							float maxRadius = max(snakes[i].r(), snakes[j].r());					// maximum of radius of snake i and snake j
							if (centerDistance < (maxRadius / cubeRoot2))
								id.push_back(j);													//  store indices of overlapped snakes with snake i 
						}
					}
				}
			}
			if (!id.empty()) {
				id.push_back(i);
				float smallest = energy[id[0]];
				size_t smallest_id = id[0];												// index of snake should be kept
				for (int k = 0; k < id.size(); k++) {                                  // find snake with smallest energy among id vector
					if (energy[id[k]] < smallest) {
						smallest = energy[id[k]];
						smallest_id = id[k];
					}
				}
				for (int m = 0; m < id.size(); m++) {
					if (id[m] != smallest_id)									// among snakes with overlaps, the one with smallest energy survies. 
						idx.push_back(id[m]);									// idx stores snakes which should be deleted
				}
			}
		}
	}
	std::vector<size_t> th_idx;										//create a vector to store final indices exclusive idx (indices of snakes with large energy) and the ones with energy higher than threshold
	for (size_t c = 0; c < snakeNum; c++) {
		if (std::find(idx.begin(), idx.end(), c) == idx.end()) {
			if (energy[c] < energy_th)
				th_idx.push_back(c);							 //if the snake exceeds the energy threshold, store the index
		}
	}
	free(energy);
	return th_idx;																					//return the indices of valid snakes
}
///..................................................................main function.............................................................................................
void advertise() {
	std::cout << "this is Hypersnakuscule implementation" << std::endl;
	std::cout << "reference papre for 2D is (Snakuscules by Philippe Thévenaz and Michael Unser)" << std::endl;
	std::cout << "implemented by Mahsa Lotfollahi" << std::endl << std::endl;
	std::cout << "Usage:  snakuscules input_image [options]" << std::endl;
}
int main(int argc, char* argv[]) {
	stim::arglist args; // create an argument list
	args.add("help", "prints this help");
	args.add("iter", "number of iteration for evolving contour", "400", "positive value");
	args.add("radius", "initial radius", "15", "real positive value");
	args.add("size", "specify size of image in 3 dimension", "", "[w h d]");
	args.add("dt", "gradient descend stepsize", "10", "real positive value");
	args.add("cuda", "specify the device used for CUDA calculations", "0", "device ID, -1 for CPU");
	args.add("mc", "specify using Monte Carlo sampling", "", "MC=1 for Monte Carlo sampling and 0 for original integration");
	args.add("single", "specify a single contour to evolve", "", "[x y z r]");
	args.add("filter", "specify filter type for preprocessing like log", "", "name of filter");
	args.add("energy_th", "specify energy threshold, snakes with energies less than that survive", "-1", "small negative value");
	args.add("debug", "output debugging information");
	args.parse(argc, argv);
	if (args["help"].is_set()) {						//output help if requested by the user
		advertise();
		std::cout << args.str() << std::endl;
		return 1;
	}
	if (args.nargs() < 1) {
		std::cout << "ERROR: no input file specified" << std::endl;
		return 1;
	}
	std::string output_file = "output.txt";						//set the default output file name to "output.txt"
	if (args.nargs() >= 2) output_file = args.arg(1);			//if an output is specified by the user, use that instead
	int itr = args["iter"].as_int();					//get input parameters and set variables
	float radius = (float)args["radius"].as_float();
	if (!args["size"]) {								//get size of image
		std::cout << "you should specify size of image in 3 dimension" << std::endl;
		return 1;
	}
	int w = args["size"].as_int(0);
	int h = args["size"].as_int(1);
	int d = args["size"].as_int(2);
	float energy_th = (float)args["energy_th"].as_float();
	float dt = (float)args["dt"].as_float();
	int cuda_device = args["cuda"].as_int();		//get the desired CUDA device
	bool MC = false;
	int sampleNum;
	if (args["mc"]) MC = true;
	sampleNum = 20000;
	if (args["mc"].nargs() > 0)
		sampleNum = args["mc"].as_int();
	bool swarm = true;
	if (args["single"])	swarm = false;				//if the user specifies a single snake parameter, don't use the swarm algorithm
	bool Filter = false;
	std::string filter_name;
	int kernel_size;											// kernel size
	if (args["filter"]) {
		Filter = true;
		filter_name = "log";
		kernel_size = 5;
		if (args["filter"].nargs() > 0)
			filter_name = args["filter"].as_string(0);
		if (args["filter"].nargs() > 1)
			kernel_size = args["filter"].as_int(1);
	}
	//allocate memory in cpu for input image
	size_t bytes = w * h * d * sizeof(float);		//number of bytes needed to store image
	float* I = (float*)malloc(bytes);
	// load input image+
	std::ifstream inputfile(args.arg(0), std::ios::in | std::ios::binary);
	if (!inputfile) {
		std::cout << "cannot open specified input file" << std::endl;
		return;
	}
	inputfile.read((char*)I, bytes);
	inputfile.close();
	size_t N = w * h * d;							// number of pixels (# array elements)
	float* I_original = (float*)malloc(bytes);		// keep the original image without pre-processing
	memcpy(I_original, I, bytes);
	stretch(I_original, N, 0, 255);
	stretch(I, N, 0, 255);
	if (Filter) {									// compute log of image
		if (filter_name == "log") {
			for (int i = 0; i < N; i++)
				I[i] = log(I[i] + 1);
		}
		if (filter_name == "median") {								// apply median filter on each section
			float* I_2D = (float*)malloc(w*h * sizeof(float));		// allocate memory to 2_D sections
			cv::Mat t_I_2D_mat(w, h, CV_32F);								//image is stored column major but open cv read and write row major---matrix is transposed 					
			cv::Mat I2d_blurred(w, h, CV_32F);								//allocate memory for blured image	
			for (int zz = 0; zz < d; zz++) {
				memcpy(I_2D, I_original + (zz * w *h), w * h * sizeof(float));	// copy each section of 3D image(I) in an array		
				cv::Mat I_2D_mat(h, w, CV_32F, I_2D);							// create a Mat to copy data to that and be able to use open cv median filter
				cv::transpose(I_2D_mat, t_I_2D_mat);
				cv::medianBlur(t_I_2D_mat, I2d_blurred, kernel_size);						// apply median filter
				cv::transpose(I2d_blurred, I_2D_mat);							// transpose to be transfered to array
				I_2D = (float *)I_2D_mat.data;
				memcpy(I + (zz * w *h), I_2D, w * h * sizeof(float));
			}
			free(I_2D);
			t_I_2D_mat.release();
			I2d_blurred.release();
		}
	}
	stretch(I, N, 0, 255);
	size_t snakeNum;
	if (swarm) {
		int D = int(sqrt(1.5)*radius);			//distance between hypersnakes
		snakeNum = w * h * d / (D * D * D );		// approximate number of hypersnakes lying on image
	}
	else
		snakeNum = 1;
	sphere* snakes = new sphere[snakeNum];		//create an array of spheres.(one for each snake)
	memset(snakes, 0, snakeNum * sizeof(sphere));
	if (swarm) {
		initialSwarmSnake(snakes, snakeNum, w, h, d, radius);
		std::cout << "number of snakes=" << snakeNum << std::endl;
	}
	else {
		point<float> center;
		center.x = (float)args["single"].as_float(0);
		center.y = (float)args["single"].as_float(1);
		center.z = (float)args["single"].as_float(2);
		//cout << "number of args" << args["single"].nargs() << endl;
		if (args["single"].nargs() >= 4)
			radius = (float)args["single"].as_float(3);
		snakes[0].p.x = center.x - radius;					// define p and q 
		snakes[0].q.x = center.x + radius;
		snakes[0].p.y = snakes[0].q.y = center.y;
		snakes[0].p.z = snakes[0].q.z = center.z;
	}
	point<float>* samples = (point<float>*)malloc(sampleNum * sizeof(point<float>));
	memset(samples, 0, sampleNum * sizeof(point<float>));
	if (MC) {
		if (args["debug"]) {
			randGenerator_cube(samples, sampleNum, true);
		}
		else randGenerator_cube(samples, sampleNum);
	}
	std::cout << "energy_th=" << energy_th << std::endl;
	std::cout << "initial radius=" << radius << std::endl;
	//-----------------------------------GPU implementation----------------------------------------------------------------------------
	if (cuda_device >= 0) {
		cudaDeviceProp prop;
		HANDLE_ERROR(cudaGetDeviceProperties(&prop, 0));
		size_t threads = (size_t)prop.maxThreadsPerBlock;
		size_t blocks = snakeNum;
		size_t nbyte_shared = 7 * 4 * threads;
		// allocate memory to snakes and copy them to device
		sphere* gpu_snakes;
		HANDLE_ERROR(cudaMalloc(&gpu_snakes, snakeNum * sizeof(sphere)));
		HANDLE_ERROR(cudaMemcpy(gpu_snakes, snakes, snakeNum * sizeof(sphere), cudaMemcpyHostToDevice));
		//allocate memory to image in device and copy from cpu to device
		float* gpu_I;
		HANDLE_ERROR(cudaMalloc(&gpu_I, bytes));
		HANDLE_ERROR(cudaMemcpy(gpu_I, I, bytes, cudaMemcpyHostToDevice));
		stim::gpuStartTimer();
		if (MC) {
			// allocate memory to random samples on device
			point<float>* G_samples;
			HANDLE_ERROR(cudaMalloc(&G_samples, sampleNum * sizeof(point<float>)));
			HANDLE_ERROR(cudaMemset(G_samples, 0, sampleNum * sizeof(point<float>)));
			HANDLE_ERROR(cudaMemcpy(G_samples, samples, sampleNum * sizeof(point<float>), cudaMemcpyHostToDevice));
			if (args["debug"])
				kernel_snake_evolve_MC_parallel << < blocks, threads, nbyte_shared >> > (gpu_snakes, gpu_I, G_samples, sampleNum, snakeNum, threads, w, h, d, itr, dt, true);
			else
				kernel_snake_evolve_MC_parallel << < blocks, threads, nbyte_shared >> > (gpu_snakes, gpu_I, G_samples, sampleNum, snakeNum, threads, w, h, d, itr, dt);
		}
		else {
			if (args["debug"])
				kernel_snake_evolve << <blocks, threads >> > (gpu_snakes, gpu_I, snakeNum, w, h, d, itr, dt, true);
			else
				kernel_snake_evolve << <blocks, threads >> > (gpu_snakes, gpu_I, snakeNum, w, h, d, itr, dt);
		}
		std::cout << "gpuruntime = " << stim::gpuStopTimer() << " ms" << std::endl;
		HANDLE_ERROR(cudaMemcpy(snakes, gpu_snakes, snakeNum * sizeof(sphere), cudaMemcpyDeviceToHost));
		cudaFree(gpu_I);
		cudaFree(gpu_snakes);
		std::vector<size_t> idx = DetectValidSnakes_GPU(snakes, snakeNum, I_original, w, h, d, threads, energy_th);
		SaveSnakes(output_file, snakes, idx);
	}
	//--------------------------------------------CPU implementation----------------------------------------------------------------------------
	else {
		unsigned int start = time(NULL);
		std::cout << "it is running on CPU" << std::endl;
		for (int i = 0; i < snakeNum; i++) {
			//printf("\n\n---------------->> iteration %u", numItr);
			if (args["debug"])
				snake_evolve(snakes[i], I, w, h, d, dt, itr, samples, sampleNum, MC, true);
			else
				snake_evolve(snakes[i], I, w, h, d, dt, itr, samples, sampleNum, MC);
			std::cout << "Output Snakes------------------" << std::endl;
			std::cout << snakes[i].str() << std::endl;
		}
		unsigned int end = time(NULL);
		std::cout << "cpuRunTime=" << end - start << "s" << std::endl;
		std::vector<size_t> idx = DetectValidSnakes_GPU(snakes, snakeNum, I_original, w, h, d, 512, energy_th);
		SaveSnakes(output_file, snakes, idx);
	}
	free(I);
	free(I_original);
	if (args["debug"]) {
		std::vector<size_t> idx(snakeNum);
		std::iota(idx.begin(), idx.end(), 0);
		//SaveSnakes(debug_file, snakes, idx);										//saves the snakes to an output file
		std::cout << "Output Snakes------------------" << std::endl;
		for (size_t i = 0; i < idx.size(); i++) {									//for each snake
			std::cout << snakes[idx[i]].str() << std::endl;
		}
	}
	std::vector<size_t> idx(snakeNum);
	std::iota(idx.begin(), idx.end(), 0);
	SaveSnakes("no-delete.txt", snakes, idx);										//saves the snakes to an output file
	return 0;
}