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finished OpenCL port of ORB

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This commit is contained in:
Vadim Pisarevsky
2014-03-13 22:56:53 +04:00
parent efdfca7a11
commit 3e854fa6e5
4 changed files with 744 additions and 313 deletions
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18
modules/features2d/src/fast.cpp
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@@ -330,8 +330,7 @@ static bool ocl_FAST( InputArray _img, std::vector<KeyPoint>& keypoints,
void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression, int type)
{
double t = (double)getTickCount();
if( ocl::useOpenCL() && /*_img.isUMat() &&*/ type == FastFeatureDetector::TYPE_9_16 &&
if( ocl::useOpenCL() && _img.isUMat() && type == FastFeatureDetector::TYPE_9_16 &&
ocl_FAST(_img, keypoints, threshold, nonmax_suppression, 10000))
;
@@ -350,7 +349,6 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
FAST_t<16>(_img, keypoints, threshold, nonmax_suppression);
break;
}
printf("time=%.2fms\n", ((double)getTickCount() - t)*1000./getTickFrequency());
}
@@ -371,10 +369,16 @@ FastFeatureDetector::FastFeatureDetector( int _threshold, bool _nonmaxSuppressio
void FastFeatureDetector::detectImpl( InputArray _image, std::vector<KeyPoint>& keypoints, InputArray _mask ) const
{
Mat image = _image.getMat(), mask = _mask.getMat(), grayImage = image;
if( image.type() != CV_8U )
cvtColor( image, grayImage, COLOR_BGR2GRAY );
FAST( grayImage, keypoints, threshold, nonmaxSuppression, type );
Mat mask = _mask.getMat(), grayImage;
UMat ugrayImage;
_InputArray gray = _image;
if( _image.type() != CV_8U )
{
_OutputArray ogray = _image.isUMat() ? _OutputArray(ugrayImage) : _OutputArray(grayImage);
cvtColor( _image, ogray, COLOR_BGR2GRAY );
gray = ogray;
}
FAST( gray, keypoints, threshold, nonmaxSuppression, type );
KeyPointsFilter::runByPixelsMask( keypoints, mask );
}