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format files to ANSI C style with coolformat

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change the download channels to oclchannles()
fix bugs of arithm functions
perf fix of bilateral
bug fix of split test case
add build_warps functions
This commit is contained in:
niko
2012-10-11 16:22:47 +08:00
parent 69fbc6102c
commit 97156897b2
78 changed files with 15433 additions and 12118 deletions
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231
modules/ocl/src/surf.cpp
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@@ -44,7 +44,7 @@
//M*/
#include <iomanip>
#include "precomp.hpp"
#include "opencv2/highgui/highgui.hpp"
//#include "opencv2/highgui/highgui.hpp"
using namespace cv;
using namespace cv::ocl;
@@ -52,25 +52,65 @@ using namespace std;
#if !defined (HAVE_OPENCL)
cv::ocl::SURF_OCL::SURF_OCL() { throw_nogpu(); }
cv::ocl::SURF_OCL::SURF_OCL(double, int, int, bool, float, bool) { throw_nogpu(); }
int cv::ocl::SURF_OCL::descriptorSize() const { throw_nogpu(); return 0;}
void cv::ocl::SURF_OCL::uploadKeypoints(const vector<KeyPoint>&, oclMat&) { throw_nogpu(); }
void cv::ocl::SURF_OCL::downloadKeypoints(const oclMat&, vector<KeyPoint>&) { throw_nogpu(); }
void cv::ocl::SURF_OCL::downloadDescriptors(const oclMat&, vector<float>&) { throw_nogpu(); }
void cv::ocl::SURF_OCL::operator()(const oclMat&, const oclMat&, oclMat&) { throw_nogpu(); }
void cv::ocl::SURF_OCL::operator()(const oclMat&, const oclMat&, oclMat&, oclMat&, bool) { throw_nogpu(); }
void cv::ocl::SURF_OCL::operator()(const oclMat&, const oclMat&, vector<KeyPoint>&) { throw_nogpu(); }
void cv::ocl::SURF_OCL::operator()(const oclMat&, const oclMat&, vector<KeyPoint>&, oclMat&, bool) { throw_nogpu(); }
void cv::ocl::SURF_OCL::operator()(const oclMat&, const oclMat&, vector<KeyPoint>&, vector<float>&, bool) { throw_nogpu(); }
void cv::ocl::SURF_OCL::releaseMemory() { throw_nogpu(); }
cv::ocl::SURF_OCL::SURF_OCL()
{
throw_nogpu();
}
cv::ocl::SURF_OCL::SURF_OCL(double, int, int, bool, float, bool)
{
throw_nogpu();
}
int cv::ocl::SURF_OCL::descriptorSize() const
{
throw_nogpu();
return 0;
}
void cv::ocl::SURF_OCL::uploadKeypoints(const vector<KeyPoint> &, oclMat &)
{
throw_nogpu();
}
void cv::ocl::SURF_OCL::downloadKeypoints(const oclMat &, vector<KeyPoint> &)
{
throw_nogpu();
}
void cv::ocl::SURF_OCL::downloadDescriptors(const oclMat &, vector<float> &)
{
throw_nogpu();
}
void cv::ocl::SURF_OCL::operator()(const oclMat &, const oclMat &, oclMat &)
{
throw_nogpu();
}
void cv::ocl::SURF_OCL::operator()(const oclMat &, const oclMat &, oclMat &, oclMat &, bool)
{
throw_nogpu();
}
void cv::ocl::SURF_OCL::operator()(const oclMat &, const oclMat &, vector<KeyPoint> &)
{
throw_nogpu();
}
void cv::ocl::SURF_OCL::operator()(const oclMat &, const oclMat &, vector<KeyPoint> &, oclMat &, bool)
{
throw_nogpu();
}
void cv::ocl::SURF_OCL::operator()(const oclMat &, const oclMat &, vector<KeyPoint> &, vector<float> &, bool)
{
throw_nogpu();
}
void cv::ocl::SURF_OCL::releaseMemory()
{
throw_nogpu();
}
#else /* !defined (HAVE_OPENCL) */
namespace cv { namespace ocl
namespace cv
{
///////////////////////////OpenCL kernel strings///////////////////////////
extern const char * nonfree_surf;
}}
namespace ocl
{
///////////////////////////OpenCL kernel strings///////////////////////////
extern const char *nonfree_surf;
}
}
static inline int divUp(int total, int grain)
@@ -96,28 +136,28 @@ class SURF_OCL_Invoker
{
public:
// facilities
void bindImgTex(const oclMat& img, cl_mem & texture);
void bindImgTex(const oclMat &img, cl_mem &texture);
//void loadGlobalConstants(int maxCandidates, int maxFeatures, int img_rows, int img_cols, int nOctaveLayers, float hessianThreshold);
//void loadOctaveConstants(int octave, int layer_rows, int layer_cols);
// kernel callers declearations
void icvCalcLayerDetAndTrace_gpu(oclMat& det, oclMat& trace, int octave, int nOctaveLayers, int layer_rows);
void icvCalcLayerDetAndTrace_gpu(oclMat &det, oclMat &trace, int octave, int nOctaveLayers, int layer_rows);
void icvFindMaximaInLayer_gpu(const oclMat& det, const oclMat& trace, oclMat& maxPosBuffer, oclMat& maxCounter, int counterOffset,
int octave, bool use_mask, int nLayers, int layer_rows, int layer_cols);
void icvFindMaximaInLayer_gpu(const oclMat &det, const oclMat &trace, oclMat &maxPosBuffer, oclMat &maxCounter, int counterOffset,
int octave, bool use_mask, int nLayers, int layer_rows, int layer_cols);
void icvInterpolateKeypoint_gpu(const oclMat& det, const oclMat& maxPosBuffer, unsigned int maxCounter,
oclMat& keypoints, oclMat& counters, int octave, int layer_rows, int maxFeatures);
void icvInterpolateKeypoint_gpu(const oclMat &det, const oclMat &maxPosBuffer, unsigned int maxCounter,
oclMat &keypoints, oclMat &counters, int octave, int layer_rows, int maxFeatures);
void icvCalcOrientation_gpu(const oclMat& keypoints, int nFeatures);
void icvCalcOrientation_gpu(const oclMat &keypoints, int nFeatures);
void compute_descriptors_gpu(const oclMat& descriptors, const oclMat& keypoints, int nFeatures);
void compute_descriptors_gpu(const oclMat &descriptors, const oclMat &keypoints, int nFeatures);
// end of kernel callers declearations
SURF_OCL_Invoker(SURF_OCL& surf, const oclMat& img, const oclMat& mask) :
surf_(surf),
SURF_OCL_Invoker(SURF_OCL &surf, const oclMat &img, const oclMat &mask) :
surf_(surf),
img_cols(img.cols), img_rows(img.rows),
use_mask(!mask.empty()),
imgTex(NULL), sumTex(NULL), maskSumTex(NULL)
@@ -159,13 +199,13 @@ public:
// temp fix for missing min overload
oclMat temp(mask.size(), mask.type());
temp.setTo(Scalar::all(1.0));
//cv::ocl::min(mask, temp, surf_.mask1); ///////// disable this
//cv::ocl::min(mask, temp, surf_.mask1); ///////// disable this
integral(surf_.mask1, surf_.maskSum);
bindImgTex(surf_.maskSum, maskSumTex);
}
}
void detectKeypoints(oclMat& keypoints)
void detectKeypoints(oclMat &keypoints)
{
// create image pyramid buffers
// different layers have same sized buffers, but they are sampled from gaussin kernel.
@@ -186,7 +226,7 @@ public:
icvCalcLayerDetAndTrace_gpu(surf_.det, surf_.trace, octave, surf_.nOctaveLayers, layer_rows);
icvFindMaximaInLayer_gpu(surf_.det, surf_.trace, surf_.maxPosBuffer, counters, 1 + octave,
octave, use_mask, surf_.nOctaveLayers, layer_rows, layer_cols);
octave, use_mask, surf_.nOctaveLayers, layer_rows, layer_cols);
unsigned int maxCounter = Mat(counters).at<unsigned int>(1 + octave);
maxCounter = std::min(maxCounter, static_cast<unsigned int>(maxCandidates));
@@ -194,7 +234,7 @@ public:
if (maxCounter > 0)
{
icvInterpolateKeypoint_gpu(surf_.det, surf_.maxPosBuffer, maxCounter,
keypoints, counters, octave, layer_rows, maxFeatures);
keypoints, counters, octave, layer_rows, maxFeatures);
}
}
unsigned int featureCounter = Mat(counters).at<unsigned int>(0);
@@ -208,7 +248,7 @@ public:
findOrientation(keypoints);
}
void findOrientation(oclMat& keypoints)
void findOrientation(oclMat &keypoints)
{
const int nFeatures = keypoints.cols;
if (nFeatures > 0)
@@ -217,7 +257,7 @@ public:
}
}
void computeDescriptors(const oclMat& keypoints, oclMat& descriptors, int descriptorSize)
void computeDescriptors(const oclMat &keypoints, oclMat &descriptors, int descriptorSize)
{
const int nFeatures = keypoints.cols;
if (nFeatures > 0)
@@ -239,7 +279,7 @@ public:
}
private:
SURF_OCL& surf_;
SURF_OCL &surf_;
int img_cols, img_rows;
@@ -257,8 +297,8 @@ private:
oclMat additioalParamBuffer;
SURF_OCL_Invoker& operator= (const SURF_OCL_Invoker& right)
{
SURF_OCL_Invoker &operator= (const SURF_OCL_Invoker &right)
{
(*this) = right;
return *this;
} // remove warning C4512
@@ -289,7 +329,7 @@ int cv::ocl::SURF_OCL::descriptorSize() const
return extended ? 128 : 64;
}
void cv::ocl::SURF_OCL::uploadKeypoints(const vector<KeyPoint>& keypoints, oclMat& keypointsGPU)
void cv::ocl::SURF_OCL::uploadKeypoints(const vector<KeyPoint> &keypoints, oclMat &keypointsGPU)
{
if (keypoints.empty())
keypointsGPU.release();
@@ -297,17 +337,17 @@ void cv::ocl::SURF_OCL::uploadKeypoints(const vector<KeyPoint>& keypoints, oclMa
{
Mat keypointsCPU(SURF_OCL::ROWS_COUNT, static_cast<int>(keypoints.size()), CV_32FC1);
float* kp_x = keypointsCPU.ptr<float>(SURF_OCL::X_ROW);
float* kp_y = keypointsCPU.ptr<float>(SURF_OCL::Y_ROW);
int* kp_laplacian = keypointsCPU.ptr<int>(SURF_OCL::LAPLACIAN_ROW);
int* kp_octave = keypointsCPU.ptr<int>(SURF_OCL::OCTAVE_ROW);
float* kp_size = keypointsCPU.ptr<float>(SURF_OCL::SIZE_ROW);
float* kp_dir = keypointsCPU.ptr<float>(SURF_OCL::ANGLE_ROW);
float* kp_hessian = keypointsCPU.ptr<float>(SURF_OCL::HESSIAN_ROW);
float *kp_x = keypointsCPU.ptr<float>(SURF_OCL::X_ROW);
float *kp_y = keypointsCPU.ptr<float>(SURF_OCL::Y_ROW);
int *kp_laplacian = keypointsCPU.ptr<int>(SURF_OCL::LAPLACIAN_ROW);
int *kp_octave = keypointsCPU.ptr<int>(SURF_OCL::OCTAVE_ROW);
float *kp_size = keypointsCPU.ptr<float>(SURF_OCL::SIZE_ROW);
float *kp_dir = keypointsCPU.ptr<float>(SURF_OCL::ANGLE_ROW);
float *kp_hessian = keypointsCPU.ptr<float>(SURF_OCL::HESSIAN_ROW);
for (size_t i = 0, size = keypoints.size(); i < size; ++i)
{
const KeyPoint& kp = keypoints[i];
const KeyPoint &kp = keypoints[i];
kp_x[i] = kp.pt.x;
kp_y[i] = kp.pt.y;
kp_octave[i] = kp.octave;
@@ -321,7 +361,7 @@ void cv::ocl::SURF_OCL::uploadKeypoints(const vector<KeyPoint>& keypoints, oclMa
}
}
void cv::ocl::SURF_OCL::downloadKeypoints(const oclMat& keypointsGPU, vector<KeyPoint>& keypoints)
void cv::ocl::SURF_OCL::downloadKeypoints(const oclMat &keypointsGPU, vector<KeyPoint> &keypoints)
{
const int nFeatures = keypointsGPU.cols;
@@ -335,17 +375,17 @@ void cv::ocl::SURF_OCL::downloadKeypoints(const oclMat& keypointsGPU, vector<Key
keypoints.resize(nFeatures);
float* kp_x = keypointsCPU.ptr<float>(SURF_OCL::X_ROW);
float* kp_y = keypointsCPU.ptr<float>(SURF_OCL::Y_ROW);
int* kp_laplacian = keypointsCPU.ptr<int>(SURF_OCL::LAPLACIAN_ROW);
int* kp_octave = keypointsCPU.ptr<int>(SURF_OCL::OCTAVE_ROW);
float* kp_size = keypointsCPU.ptr<float>(SURF_OCL::SIZE_ROW);
float* kp_dir = keypointsCPU.ptr<float>(SURF_OCL::ANGLE_ROW);
float* kp_hessian = keypointsCPU.ptr<float>(SURF_OCL::HESSIAN_ROW);
float *kp_x = keypointsCPU.ptr<float>(SURF_OCL::X_ROW);
float *kp_y = keypointsCPU.ptr<float>(SURF_OCL::Y_ROW);
int *kp_laplacian = keypointsCPU.ptr<int>(SURF_OCL::LAPLACIAN_ROW);
int *kp_octave = keypointsCPU.ptr<int>(SURF_OCL::OCTAVE_ROW);
float *kp_size = keypointsCPU.ptr<float>(SURF_OCL::SIZE_ROW);
float *kp_dir = keypointsCPU.ptr<float>(SURF_OCL::ANGLE_ROW);
float *kp_hessian = keypointsCPU.ptr<float>(SURF_OCL::HESSIAN_ROW);
for (int i = 0; i < nFeatures; ++i)
{
KeyPoint& kp = keypoints[i];
KeyPoint &kp = keypoints[i];
kp.pt.x = kp_x[i];
kp.pt.y = kp_y[i];
kp.class_id = kp_laplacian[i];
@@ -357,7 +397,7 @@ void cv::ocl::SURF_OCL::downloadKeypoints(const oclMat& keypointsGPU, vector<Key
}
}
void cv::ocl::SURF_OCL::downloadDescriptors(const oclMat& descriptorsGPU, vector<float>& descriptors)
void cv::ocl::SURF_OCL::downloadDescriptors(const oclMat &descriptorsGPU, vector<float> &descriptors)
{
if (descriptorsGPU.empty())
descriptors.clear();
@@ -371,7 +411,7 @@ void cv::ocl::SURF_OCL::downloadDescriptors(const oclMat& descriptorsGPU, vector
}
}
void cv::ocl::SURF_OCL::operator()(const oclMat& img, const oclMat& mask, oclMat& keypoints)
void cv::ocl::SURF_OCL::operator()(const oclMat &img, const oclMat &mask, oclMat &keypoints)
{
if (!img.empty())
{
@@ -381,8 +421,8 @@ void cv::ocl::SURF_OCL::operator()(const oclMat& img, const oclMat& mask, oclMat
}
}
void cv::ocl::SURF_OCL::operator()(const oclMat& img, const oclMat& mask, oclMat& keypoints, oclMat& descriptors,
bool useProvidedKeypoints)
void cv::ocl::SURF_OCL::operator()(const oclMat &img, const oclMat &mask, oclMat &keypoints, oclMat &descriptors,
bool useProvidedKeypoints)
{
if (!img.empty())
{
@@ -399,7 +439,7 @@ void cv::ocl::SURF_OCL::operator()(const oclMat& img, const oclMat& mask, oclMat
}
}
void cv::ocl::SURF_OCL::operator()(const oclMat& img, const oclMat& mask, vector<KeyPoint>& keypoints)
void cv::ocl::SURF_OCL::operator()(const oclMat &img, const oclMat &mask, vector<KeyPoint> &keypoints)
{
oclMat keypointsGPU;
@@ -408,8 +448,8 @@ void cv::ocl::SURF_OCL::operator()(const oclMat& img, const oclMat& mask, vector
downloadKeypoints(keypointsGPU, keypoints);
}
void cv::ocl::SURF_OCL::operator()(const oclMat& img, const oclMat& mask, vector<KeyPoint>& keypoints,
oclMat& descriptors, bool useProvidedKeypoints)
void cv::ocl::SURF_OCL::operator()(const oclMat &img, const oclMat &mask, vector<KeyPoint> &keypoints,
oclMat &descriptors, bool useProvidedKeypoints)
{
oclMat keypointsGPU;
@@ -421,8 +461,8 @@ void cv::ocl::SURF_OCL::operator()(const oclMat& img, const oclMat& mask, vector
downloadKeypoints(keypointsGPU, keypoints);
}
void cv::ocl::SURF_OCL::operator()(const oclMat& img, const oclMat& mask, vector<KeyPoint>& keypoints,
vector<float>& descriptors, bool useProvidedKeypoints)
void cv::ocl::SURF_OCL::operator()(const oclMat &img, const oclMat &mask, vector<KeyPoint> &keypoints,
vector<float> &descriptors, bool useProvidedKeypoints)
{
oclMat descriptorsGPU;
@@ -444,7 +484,7 @@ void cv::ocl::SURF_OCL::releaseMemory()
// bind source buffer to image oject.
void SURF_OCL_Invoker::bindImgTex(const oclMat& img, cl_mem& texture)
void SURF_OCL_Invoker::bindImgTex(const oclMat &img, cl_mem &texture)
{
cl_image_format format;
int err;
@@ -494,31 +534,31 @@ void SURF_OCL_Invoker::bindImgTex(const oclMat& img, cl_mem& texture)
desc.image_depth = 0;
desc.image_array_size = 1;
desc.image_row_pitch = 0;
desc.image_slice_pitch= 0;
desc.image_slice_pitch = 0;
desc.buffer = NULL;
desc.num_mip_levels = 0;
desc.num_samples = 0;
texture = clCreateImage(Context::getContext()->impl->clContext, CL_MEM_READ_WRITE, &format, &desc, NULL, &err);
texture = clCreateImage(Context::getContext()->impl->clContext, CL_MEM_READ_WRITE, &format, &desc, NULL, &err);
#else
texture = clCreateImage2D(
Context::getContext()->impl->clContext,
CL_MEM_READ_WRITE,
&format,
img.step / img.elemSize(),
img.rows,
0,
NULL,
&err);
Context::getContext()->impl->clContext,
CL_MEM_READ_WRITE,
&format,
img.step / img.elemSize(),
img.rows,
0,
NULL,
&err);
#endif
size_t origin[] = { 0, 0, 0 };
size_t region[] = { img.step/img.elemSize(), img.rows, 1 };
size_t origin[] = { 0, 0, 0 };
size_t region[] = { img.step / img.elemSize(), img.rows, 1 };
clEnqueueCopyBufferToImage(img.clCxt->impl->clCmdQueue, (cl_mem)img.data, texture, 0, origin, region, 0, NULL, 0);
openCLSafeCall(err);
}
////////////////////////////
// kernel caller definitions
void SURF_OCL_Invoker::icvCalcLayerDetAndTrace_gpu(oclMat& det, oclMat& trace, int octave, int nOctaveLayers, int c_layer_rows)
void SURF_OCL_Invoker::icvCalcLayerDetAndTrace_gpu(oclMat &det, oclMat &trace, int octave, int nOctaveLayers, int c_layer_rows)
{
const int min_size = calcSize(octave, 0);
const int max_samples_i = 1 + ((img_rows - min_size) >> octave);
@@ -540,15 +580,17 @@ void SURF_OCL_Invoker::icvCalcLayerDetAndTrace_gpu(oclMat& det, oclMat& trace, i
args.push_back( make_pair( sizeof(cl_int), (void *)&c_layer_rows));
size_t localThreads[3] = {16, 16, 1};
size_t globalThreads[3] = {
divUp(max_samples_j, localThreads[0]) * localThreads[0],
divUp(max_samples_i, localThreads[1]) * localThreads[1] * (nOctaveLayers + 2),
1};
openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
size_t globalThreads[3] =
{
divUp(max_samples_j, localThreads[0]) *localThreads[0],
divUp(max_samples_i, localThreads[1]) *localThreads[1] *(nOctaveLayers + 2),
1
};
openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
}
void SURF_OCL_Invoker::icvFindMaximaInLayer_gpu(const oclMat& det, const oclMat& trace, oclMat& maxPosBuffer, oclMat& maxCounter, int counterOffset,
int octave, bool use_mask, int nLayers, int layer_rows, int layer_cols)
void SURF_OCL_Invoker::icvFindMaximaInLayer_gpu(const oclMat &det, const oclMat &trace, oclMat &maxPosBuffer, oclMat &maxCounter, int counterOffset,
int octave, bool use_mask, int nLayers, int layer_rows, int layer_cols)
{
const int min_margin = ((calcSize(octave, 2) >> 1) >> octave) + 1;
@@ -578,15 +620,16 @@ void SURF_OCL_Invoker::icvFindMaximaInLayer_gpu(const oclMat& det, const oclMat&
}
size_t localThreads[3] = {16, 16, 1};
size_t globalThreads[3] = {divUp(layer_cols - 2 * min_margin, localThreads[0] - 2) * localThreads[0],
divUp(layer_rows - 2 * min_margin, localThreads[1] - 2) * nLayers * localThreads[1],
1};
size_t globalThreads[3] = {divUp(layer_cols - 2 * min_margin, localThreads[0] - 2) *localThreads[0],
divUp(layer_rows - 2 * min_margin, localThreads[1] - 2) *nLayers *localThreads[1],
1
};
openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
}
void SURF_OCL_Invoker::icvInterpolateKeypoint_gpu(const oclMat& det, const oclMat& maxPosBuffer, unsigned int maxCounter,
oclMat& keypoints, oclMat& counters, int octave, int layer_rows, int maxFeatures)
void SURF_OCL_Invoker::icvInterpolateKeypoint_gpu(const oclMat &det, const oclMat &maxPosBuffer, unsigned int maxCounter,
oclMat &keypoints, oclMat &counters, int octave, int layer_rows, int maxFeatures)
{
Context *clCxt = det.clCxt;
string kernelName = "icvInterpolateKeypoint";
@@ -605,14 +648,14 @@ void SURF_OCL_Invoker::icvInterpolateKeypoint_gpu(const oclMat& det, const oclMa
args.push_back( make_pair( sizeof(cl_int), (void *)&maxFeatures));
size_t localThreads[3] = {3, 3, 3};
size_t globalThreads[3] = {maxCounter * localThreads[0], localThreads[1], 1};
size_t globalThreads[3] = {maxCounter *localThreads[0], localThreads[1], 1};
openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
}
void SURF_OCL_Invoker::icvCalcOrientation_gpu(const oclMat& keypoints, int nFeatures)
void SURF_OCL_Invoker::icvCalcOrientation_gpu(const oclMat &keypoints, int nFeatures)
{
Context * clCxt = counters.clCxt;
Context *clCxt = counters.clCxt;
string kernelName = "icvCalcOrientation";
vector< pair<size_t, const void *> > args;
@@ -624,12 +667,12 @@ void SURF_OCL_Invoker::icvCalcOrientation_gpu(const oclMat& keypoints, int nFeat
args.push_back( make_pair( sizeof(cl_int), (void *)&img_cols));
size_t localThreads[3] = {32, 4, 1};
size_t globalThreads[3] = {nFeatures * localThreads[0], localThreads[1], 1};
size_t globalThreads[3] = {nFeatures *localThreads[0], localThreads[1], 1};
openCLExecuteKernel(clCxt, &nonfree_surf, kernelName, globalThreads, localThreads, args, -1, -1);
}
void SURF_OCL_Invoker::compute_descriptors_gpu(const oclMat& descriptors, const oclMat& keypoints, int nFeatures)
void SURF_OCL_Invoker::compute_descriptors_gpu(const oclMat &descriptors, const oclMat &keypoints, int nFeatures)
{
// compute unnormalized descriptors, then normalize them - odd indexing since grid must be 2D
Context *clCxt = descriptors.clCxt;