added FAST_GPU and ORB_GPU classes
This commit is contained in:
Vladislav Vinogradov
171
modules/gpu/src/fast.cpp
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171
modules/gpu/src/fast.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other GpuMaterials provided with the distribution.
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// * The name of the copyright holders may not be used to endorse or promote products
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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using namespace cv;
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using namespace cv::gpu;
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using namespace std;
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#if !defined (HAVE_CUDA)
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cv::gpu::FAST_GPU::FAST_GPU(int, bool, double) { throw_nogpu(); }
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void cv::gpu::FAST_GPU::operator ()(const GpuMat&, const GpuMat&, GpuMat&) { throw_nogpu(); }
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void cv::gpu::FAST_GPU::operator ()(const GpuMat&, const GpuMat&, std::vector<KeyPoint>&) { throw_nogpu(); }
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void cv::gpu::FAST_GPU::downloadKeypoints(const GpuMat&, std::vector<KeyPoint>&) { throw_nogpu(); }
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void cv::gpu::FAST_GPU::convertKeypoints(const Mat&, std::vector<KeyPoint>&) { throw_nogpu(); }
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void cv::gpu::FAST_GPU::release() { throw_nogpu(); }
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int cv::gpu::FAST_GPU::calcKeyPointsLocation(const GpuMat&, const GpuMat&) { throw_nogpu(); return 0; }
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int cv::gpu::FAST_GPU::getKeyPoints(GpuMat&) { throw_nogpu(); return 0; }
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#else /* !defined (HAVE_CUDA) */
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cv::gpu::FAST_GPU::FAST_GPU(int _threshold, bool _nonmaxSupression, double _keypointsRatio) :
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nonmaxSupression(_nonmaxSupression), threshold(_threshold), keypointsRatio(_keypointsRatio), count_(0)
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{
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}
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void cv::gpu::FAST_GPU::operator ()(const GpuMat& image, const GpuMat& mask, std::vector<KeyPoint>& keypoints)
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{
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if (image.empty())
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return;
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(*this)(image, mask, d_keypoints_);
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downloadKeypoints(d_keypoints_, keypoints);
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}
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void cv::gpu::FAST_GPU::downloadKeypoints(const GpuMat& d_keypoints, std::vector<KeyPoint>& keypoints)
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{
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if (d_keypoints.empty())
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return;
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Mat h_keypoints(d_keypoints);
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convertKeypoints(h_keypoints, keypoints);
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}
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void cv::gpu::FAST_GPU::convertKeypoints(const Mat& h_keypoints, std::vector<KeyPoint>& keypoints)
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{
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if (h_keypoints.empty())
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return;
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CV_Assert(h_keypoints.rows == ROWS_COUNT && h_keypoints.elemSize() == 4);
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int npoints = h_keypoints.cols;
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keypoints.resize(npoints);
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const short2* loc_row = h_keypoints.ptr<short2>(LOCATION_ROW);
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const float* response_row = h_keypoints.ptr<float>(RESPONSE_ROW);
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for (int i = 0; i < npoints; ++i)
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{
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KeyPoint kp(loc_row[i].x, loc_row[i].y, static_cast<float>(FEATURE_SIZE), -1, response_row[i]);
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keypoints[i] = kp;
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}
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}
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void cv::gpu::FAST_GPU::operator ()(const GpuMat& img, const GpuMat& mask, GpuMat& keypoints)
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{
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calcKeyPointsLocation(img, mask);
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keypoints.cols = getKeyPoints(keypoints);
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}
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namespace cv { namespace gpu { namespace device
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{
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namespace fast
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{
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int calcKeypoints_gpu(DevMem2Db img, DevMem2Db mask, short2* kpLoc, int maxKeypoints, DevMem2Di score, int threshold);
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int nonmaxSupression_gpu(const short2* kpLoc, int count, DevMem2Di score, short2* loc, float* response);
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}
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}}}
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int cv::gpu::FAST_GPU::calcKeyPointsLocation(const GpuMat& img, const GpuMat& mask)
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{
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using namespace cv::gpu::device::fast;
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CV_Assert(img.type() == CV_8UC1);
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CV_Assert(mask.empty() || (mask.type() == CV_8UC1 && mask.size() == img.size()));
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int maxKeypoints = static_cast<int>(keypointsRatio * img.size().area());
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ensureSizeIsEnough(1, maxKeypoints, CV_16SC2, kpLoc_);
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if (nonmaxSupression)
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{
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ensureSizeIsEnough(img.size(), CV_32SC1, score_);
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score_.setTo(Scalar::all(0));
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}
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count_ = calcKeypoints_gpu(img, mask, kpLoc_.ptr<short2>(), maxKeypoints, nonmaxSupression ? score_ : DevMem2Di(), threshold);
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count_ = std::min(count_, maxKeypoints);
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return count_;
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}
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int cv::gpu::FAST_GPU::getKeyPoints(GpuMat& keypoints)
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{
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using namespace cv::gpu::device::fast;
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if (count_ == 0)
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return 0;
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ensureSizeIsEnough(ROWS_COUNT, count_, CV_32FC1, keypoints);
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if (nonmaxSupression)
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return nonmaxSupression_gpu(kpLoc_.ptr<short2>(), count_, score_, keypoints.ptr<short2>(LOCATION_ROW), keypoints.ptr<float>(RESPONSE_ROW));
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GpuMat locRow(1, count_, kpLoc_.type(), keypoints.ptr(0));
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kpLoc_.colRange(0, count_).copyTo(locRow);
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keypoints.row(1).setTo(Scalar::all(0));
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return count_;
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}
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void cv::gpu::FAST_GPU::release()
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{
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kpLoc_.release();
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score_.release();
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d_keypoints_.release();
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}
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#endif /* !defined (HAVE_CUDA) */
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