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BruteForceMatcher

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This commit is contained in:
Vladislav Vinogradov 2012-11-12 12:46:49 +04:00
parent 7a1874b2cc
commit 05db02fbc8
4 changed files with 108 additions and 33 deletions
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10
modules/gpu/include/opencv2/gpu/device/vec_distance.hpp
View File

@ -43,7 +43,7 @@
#ifndef __OPENCV_GPU_VEC_DISTANCE_HPP__
#define __OPENCV_GPU_VEC_DISTANCE_HPP__
#include "utility.hpp"
#include "reduce.hpp"
#include "functional.hpp"
#include "detail/vec_distance_detail.hpp"
@ -63,7 +63,7 @@ namespace cv { namespace gpu { namespace device
template <int THREAD_DIM> __device__ __forceinline__ void reduceAll(int* smem, int tid)
{
reduce_old<THREAD_DIM>(smem, mySum, tid, plus<volatile int>());
reduce<THREAD_DIM>(smem, mySum, tid, plus<int>());
}
__device__ __forceinline__ operator int() const
@ -87,7 +87,7 @@ namespace cv { namespace gpu { namespace device
template <int THREAD_DIM> __device__ __forceinline__ void reduceAll(float* smem, int tid)
{
reduce_old<THREAD_DIM>(smem, mySum, tid, plus<volatile float>());
reduce<THREAD_DIM>(smem, mySum, tid, plus<float>());
}
__device__ __forceinline__ operator float() const
@ -113,7 +113,7 @@ namespace cv { namespace gpu { namespace device
template <int THREAD_DIM> __device__ __forceinline__ void reduceAll(float* smem, int tid)
{
reduce_old<THREAD_DIM>(smem, mySum, tid, plus<volatile float>());
reduce<THREAD_DIM>(smem, mySum, tid, plus<float>());
}
__device__ __forceinline__ operator float() const
@ -138,7 +138,7 @@ namespace cv { namespace gpu { namespace device
template <int THREAD_DIM> __device__ __forceinline__ void reduceAll(int* smem, int tid)
{
reduce_old<THREAD_DIM>(smem, mySum, tid, plus<volatile int>());
reduce<THREAD_DIM>(smem, mySum, tid, plus<int>());
}
__device__ __forceinline__ operator int() const

97
modules/gpu/src/cuda/bf_knnmatch.cu
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@ -42,10 +42,13 @@
#if !defined CUDA_DISABLER
#include "internal_shared.hpp"
#include "opencv2/gpu/device/common.hpp"
#include "opencv2/gpu/device/utility.hpp"
#include "opencv2/gpu/device/reduce.hpp"
#include "opencv2/gpu/device/limits.hpp"
#include "opencv2/gpu/device/vec_distance.hpp"
#include "opencv2/gpu/device/datamov_utils.hpp"
#include "opencv2/gpu/device/warp_shuffle.hpp"
namespace cv { namespace gpu { namespace device
{
@ -59,6 +62,45 @@ namespace cv { namespace gpu { namespace device
int& bestTrainIdx1, int& bestTrainIdx2,
float* s_distance, int* s_trainIdx)
{
#if __CUDA_ARCH__ >= 300
(void) s_distance;
(void) s_trainIdx;
float d1, d2;
int i1, i2;
#pragma unroll
for (int i = BLOCK_SIZE / 2; i >= 1; i /= 2)
{
d1 = shfl_down(bestDistance1, i, BLOCK_SIZE);
d2 = shfl_down(bestDistance2, i, BLOCK_SIZE);
i1 = shfl_down(bestTrainIdx1, i, BLOCK_SIZE);
i2 = shfl_down(bestTrainIdx2, i, BLOCK_SIZE);
if (bestDistance1 < d1)
{
if (d1 < bestDistance2)
{
bestDistance2 = d1;
bestTrainIdx2 = i1;
}
}
else
{
bestDistance2 = bestDistance1;
bestTrainIdx2 = bestTrainIdx1;
bestDistance1 = d1;
bestTrainIdx1 = i1;
if (d2 < bestDistance2)
{
bestDistance2 = d2;
bestTrainIdx2 = i2;
}
}
}
#else
float myBestDistance1 = numeric_limits<float>::max();
float myBestDistance2 = numeric_limits<float>::max();
int myBestTrainIdx1 = -1;
@ -122,6 +164,7 @@ namespace cv { namespace gpu { namespace device
bestTrainIdx1 = myBestTrainIdx1;
bestTrainIdx2 = myBestTrainIdx2;
#endif
}
template <int BLOCK_SIZE>
@ -130,6 +173,53 @@ namespace cv { namespace gpu { namespace device
int& bestImgIdx1, int& bestImgIdx2,
float* s_distance, int* s_trainIdx, int* s_imgIdx)
{
#if __CUDA_ARCH__ >= 300
(void) s_distance;
(void) s_trainIdx;
(void) s_imgIdx;
float d1, d2;
int i1, i2;
int j1, j2;
#pragma unroll
for (int i = BLOCK_SIZE / 2; i >= 1; i /= 2)
{
d1 = shfl_down(bestDistance1, i, BLOCK_SIZE);
d2 = shfl_down(bestDistance2, i, BLOCK_SIZE);
i1 = shfl_down(bestTrainIdx1, i, BLOCK_SIZE);
i2 = shfl_down(bestTrainIdx2, i, BLOCK_SIZE);
j1 = shfl_down(bestImgIdx1, i, BLOCK_SIZE);
j2 = shfl_down(bestImgIdx2, i, BLOCK_SIZE);
if (bestDistance1 < d1)
{
if (d1 < bestDistance2)
{
bestDistance2 = d1;
bestTrainIdx2 = i1;
bestImgIdx2 = j1;
}
}
else
{
bestDistance2 = bestDistance1;
bestTrainIdx2 = bestTrainIdx1;
bestImgIdx2 = bestImgIdx1;
bestDistance1 = d1;
bestTrainIdx1 = i1;
bestImgIdx1 = j1;
if (d2 < bestDistance2)
{
bestDistance2 = d2;
bestTrainIdx2 = i2;
bestImgIdx2 = j2;
}
}
}
#else
float myBestDistance1 = numeric_limits<float>::max();
float myBestDistance2 = numeric_limits<float>::max();
int myBestTrainIdx1 = -1;
@ -205,6 +295,7 @@ namespace cv { namespace gpu { namespace device
bestImgIdx1 = myBestImgIdx1;
bestImgIdx2 = myBestImgIdx2;
#endif
}
///////////////////////////////////////////////////////////////////////////////
@ -1005,7 +1096,7 @@ namespace cv { namespace gpu { namespace device
s_trainIdx[threadIdx.x] = bestIdx;
__syncthreads();
reducePredVal<BLOCK_SIZE>(s_dist, dist, s_trainIdx, bestIdx, threadIdx.x, less<volatile float>());
reduceKeyVal<BLOCK_SIZE>(s_dist, dist, s_trainIdx, bestIdx, threadIdx.x, less<float>());
if (threadIdx.x == 0)
{
@ -1164,4 +1255,4 @@ namespace cv { namespace gpu { namespace device
}}} // namespace cv { namespace gpu { namespace device {
#endif /* CUDA_DISABLER */
#endif /* CUDA_DISABLER */

21
modules/gpu/src/cuda/bf_match.cu
View File

@ -42,7 +42,9 @@
#if !defined CUDA_DISABLER
#include "internal_shared.hpp"
#include "opencv2/gpu/device/common.hpp"
#include "opencv2/gpu/device/utility.hpp"
#include "opencv2/gpu/device/reduce.hpp"
#include "opencv2/gpu/device/limits.hpp"
#include "opencv2/gpu/device/vec_distance.hpp"
#include "opencv2/gpu/device/datamov_utils.hpp"
@ -60,12 +62,7 @@ namespace cv { namespace gpu { namespace device
s_distance += threadIdx.y * BLOCK_SIZE;
s_trainIdx += threadIdx.y * BLOCK_SIZE;
s_distance[threadIdx.x] = bestDistance;
s_trainIdx[threadIdx.x] = bestTrainIdx;
__syncthreads();
reducePredVal<BLOCK_SIZE>(s_distance, bestDistance, s_trainIdx, bestTrainIdx, threadIdx.x, less<volatile float>());
reduceKeyVal<BLOCK_SIZE>(s_distance, bestDistance, s_trainIdx, bestTrainIdx, threadIdx.x, less<float>());
}
template <int BLOCK_SIZE>
@ -75,13 +72,7 @@ namespace cv { namespace gpu { namespace device
s_trainIdx += threadIdx.y * BLOCK_SIZE;
s_imgIdx += threadIdx.y * BLOCK_SIZE;
s_distance[threadIdx.x] = bestDistance;
s_trainIdx[threadIdx.x] = bestTrainIdx;
s_imgIdx [threadIdx.x] = bestImgIdx;
__syncthreads();
reducePredVal2<BLOCK_SIZE>(s_distance, bestDistance, s_trainIdx, bestTrainIdx, s_imgIdx, bestImgIdx, threadIdx.x, less<volatile float>());
reduceKeyVal<BLOCK_SIZE>(s_distance, bestDistance, smem_tuple(s_trainIdx, s_imgIdx), thrust::tie(bestTrainIdx, bestImgIdx), threadIdx.x, less<float>());
}
///////////////////////////////////////////////////////////////////////////////
@ -782,4 +773,4 @@ namespace cv { namespace gpu { namespace device
}}} // namespace cv { namespace gpu { namespace device {
#endif /* CUDA_DISABLER */
#endif /* CUDA_DISABLER */

13
modules/gpu/src/cuda/bf_radius_match.cu
View File

@ -42,7 +42,8 @@
#if !defined CUDA_DISABLER
#include "internal_shared.hpp"
#include "opencv2/gpu/device/common.hpp"
#include "opencv2/gpu/device/utility.hpp"
#include "opencv2/gpu/device/limits.hpp"
#include "opencv2/gpu/device/vec_distance.hpp"
#include "opencv2/gpu/device/datamov_utils.hpp"
@ -58,8 +59,6 @@ namespace cv { namespace gpu { namespace device
__global__ void matchUnrolled(const PtrStepSz<T> query, int imgIdx, const PtrStepSz<T> train, float maxDistance, const Mask mask,
PtrStepi bestTrainIdx, PtrStepi bestImgIdx, PtrStepf bestDistance, unsigned int* nMatches, int maxCount)
{
#if defined(__CUDA_ARCH__) && (__CUDA_ARCH__ >= 110)
extern __shared__ int smem[];
const int queryIdx = blockIdx.y * BLOCK_SIZE + threadIdx.y;
@ -110,8 +109,6 @@ namespace cv { namespace gpu { namespace device
bestDistance.ptr(queryIdx)[ind] = distVal;
}
}
#endif
}
template <int BLOCK_SIZE, int MAX_DESC_LEN, typename Dist, typename T, typename Mask>
@ -170,8 +167,6 @@ namespace cv { namespace gpu { namespace device
__global__ void match(const PtrStepSz<T> query, int imgIdx, const PtrStepSz<T> train, float maxDistance, const Mask mask,
PtrStepi bestTrainIdx, PtrStepi bestImgIdx, PtrStepf bestDistance, unsigned int* nMatches, int maxCount)
{
#if defined(__CUDA_ARCH__) && (__CUDA_ARCH__ >= 110)
extern __shared__ int smem[];
const int queryIdx = blockIdx.y * BLOCK_SIZE + threadIdx.y;
@ -221,8 +216,6 @@ namespace cv { namespace gpu { namespace device
bestDistance.ptr(queryIdx)[ind] = distVal;
}
}
#endif
}
template <int BLOCK_SIZE, typename Dist, typename T, typename Mask>
@ -469,4 +462,4 @@ namespace cv { namespace gpu { namespace device
}}} // namespace cv { namespace gpu { namespace device
#endif /* CUDA_DISABLER */
#endif /* CUDA_DISABLER */