diff --git a/modules/gpu/src/cuda/match_template.cu b/modules/gpu/src/cuda/match_template.cu index 176572418..71eaa23f1 100644 --- a/modules/gpu/src/cuda/match_template.cu +++ b/modules/gpu/src/cuda/match_template.cu @@ -560,7 +560,7 @@ __global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8U( (image_sqsum.ptr(y + h)[x + w] - image_sqsum.ptr(y)[x + w]) - (image_sqsum.ptr(y + h)[x] - image_sqsum.ptr(y)[x])); result.ptr(y)[x] = min(1.f, (ccorr - image_sum_ * templ_sum_scale) * - rsqrtf(templ_sqsum_scale * (image_sqsum_ - weight * image_sum_ * image_sum_ + 1.f))); + rsqrtf(templ_sqsum_scale * max(1.f, image_sqsum_ - weight * image_sum_ * image_sum_))); } } @@ -610,8 +610,8 @@ __global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8UC2( (image_sqsum_g.ptr(y + h)[x + w] - image_sqsum_g.ptr(y)[x + w]) - (image_sqsum_g.ptr(y + h)[x] - image_sqsum_g.ptr(y)[x])); float ccorr = result.ptr(y)[x]; - float rdenom = rsqrtf(templ_sqsum_scale * (image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ - + image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_ + 1.f)); + float rdenom = rsqrtf(templ_sqsum_scale * max(1.f, image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ + + image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_)); result.ptr(y)[x] = min(1.f, (ccorr - image_sum_r_ * templ_sum_scale_r - image_sum_g_ * templ_sum_scale_g) * rdenom); } @@ -678,9 +678,9 @@ __global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8UC3( (image_sqsum_b.ptr(y + h)[x + w] - image_sqsum_b.ptr(y)[x + w]) - (image_sqsum_b.ptr(y + h)[x] - image_sqsum_b.ptr(y)[x])); float ccorr = result.ptr(y)[x]; - float rdenom = rsqrtf(templ_sqsum_scale * (image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ - + image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_ - + image_sqsum_b_ - weight * image_sum_b_ * image_sum_b_ + 1.f)); + float rdenom = rsqrtf(templ_sqsum_scale * max(1.f, image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ + + image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_ + + image_sqsum_b_ - weight * image_sum_b_ * image_sum_b_)); result.ptr(y)[x] = min(1.f, (ccorr - image_sum_r_ * templ_sum_scale_r - image_sum_g_ * templ_sum_scale_g - image_sum_b_ * templ_sum_scale_b) * rdenom); @@ -760,10 +760,10 @@ __global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8UC4( (image_sqsum_a.ptr(y + h)[x + w] - image_sqsum_a.ptr(y)[x + w]) - (image_sqsum_a.ptr(y + h)[x] - image_sqsum_a.ptr(y)[x])); float ccorr = result.ptr(y)[x]; - float rdenom = rsqrtf(templ_sqsum_scale * (image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ - + image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_ - + image_sqsum_b_ - weight * image_sum_b_ * image_sum_b_ - + image_sqsum_a_ - weight * image_sum_a_ * image_sum_a_ + 1.f)); + float rdenom = rsqrtf(templ_sqsum_scale * max(1.f, image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ + + image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_ + + image_sqsum_b_ - weight * image_sum_b_ * image_sum_b_ + + image_sqsum_a_ - weight * image_sum_a_ * image_sum_a_)); result.ptr(y)[x] = min(1.f, (ccorr - image_sum_r_ * templ_sum_scale_r - image_sum_g_ * templ_sum_scale_g - image_sum_b_ * templ_sum_scale_b @@ -822,7 +822,7 @@ __global__ void normalizeKernel_8U( float image_sqsum_ = (float)( (image_sqsum.ptr(y + h)[(x + w) * cn] - image_sqsum.ptr(y)[(x + w) * cn]) - (image_sqsum.ptr(y + h)[x * cn] - image_sqsum.ptr(y)[x * cn])); - result.ptr(y)[x] = min(1.f, result.ptr(y)[x] * rsqrtf((image_sqsum_ + 1.f) * templ_sqsum)); + result.ptr(y)[x] = min(1.f, result.ptr(y)[x] * rsqrtf(max(1.f, image_sqsum_) * templ_sqsum)); } }