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replaced global memory reads with texture memory reads in GPU's corner detectors

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This commit is contained in:
Alexey Spizhevoy
2010-12-03 13:11:14 +00:00
parent 85dd3fbe30
commit e75ca4b662
1 changed files with 34 additions and 15 deletions
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49
modules/gpu/src/cuda/imgproc.cu
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@@ -495,10 +495,12 @@ namespace cv { namespace gpu { namespace imgproc
/////////////////////////////////////////// Corner Harris ///////////////////////////////////////////////// /////////////////////////////////////////// Corner Harris /////////////////////////////////////////////////
texture<float, 2> harrisDxTex;
texture<float, 2> harrisDyTex;
template <typename B> template <typename B>
__global__ void cornerHarris_kernel(const int cols, const int rows, const int block_size, const float k, __global__ void cornerHarris_kernel(const int cols, const int rows, const int block_size, const float k,
const PtrStep Dx, const PtrStep Dy, PtrStep dst, B border_row, PtrStep dst, B border_row, B border_col)
B border_col)
{ {
const unsigned int x = blockIdx.x * blockDim.x + threadIdx.x; const unsigned int x = blockIdx.x * blockDim.x + threadIdx.x;
const unsigned int y = blockIdx.y * blockDim.y + threadIdx.y; const unsigned int y = blockIdx.y * blockDim.y + threadIdx.y;
@@ -517,13 +519,11 @@ namespace cv { namespace gpu { namespace imgproc
for (int i = ibegin; i < iend; ++i) for (int i = ibegin; i < iend; ++i)
{ {
int y = border_col.idx(i); int y = border_col.idx(i);
const float* dx_row = (const float*)Dx.ptr(y);
const float* dy_row = (const float*)Dy.ptr(y);
for (int j = jbegin; j < jend; ++j) for (int j = jbegin; j < jend; ++j)
{ {
int x = border_row.idx(j); int x = border_row.idx(j);
float dx = dx_row[x]; float dx = tex2D(harrisDxTex, x, y);
float dy = dy_row[x]; float dy = tex2D(harrisDyTex, x, y);
a += dx * dx; a += dx * dx;
b += dx * dy; b += dx * dy;
c += dy * dy; c += dy * dy;
@@ -543,22 +543,33 @@ namespace cv { namespace gpu { namespace imgproc
dim3 threads(32, 8); dim3 threads(32, 8);
dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y)); dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
cudaChannelFormatDesc desc = cudaCreateChannelDesc<float>();
cudaBindTexture2D(0, harrisDxTex, Dx.data, desc, Dx.cols, Dx.rows, Dx.step);
cudaBindTexture2D(0, harrisDyTex, Dy.data, desc, Dy.cols, Dy.rows, Dy.step);
harrisDxTex.filterMode = cudaFilterModePoint;
harrisDyTex.filterMode = cudaFilterModePoint;
switch (border_type) switch (border_type)
{ {
case BORDER_REFLECT101: case BORDER_REFLECT101:
cornerHarris_kernel<<<grid, threads>>>( cornerHarris_kernel<<<grid, threads>>>(
cols, rows, block_size, k, Dx, Dy, dst, cols, rows, block_size, k, dst, BrdReflect101(cols), BrdReflect101(rows));
BrdReflect101(cols), BrdReflect101(rows));
break; break;
} }
cudaSafeCall(cudaThreadSynchronize()); cudaSafeCall(cudaThreadSynchronize());
cudaSafeCall(cudaUnbindTexture(harrisDxTex));
cudaSafeCall(cudaUnbindTexture(harrisDyTex));
} }
/////////////////////////////////////////// Corner Min Eigen Val ///////////////////////////////////////////////// /////////////////////////////////////////// Corner Min Eigen Val /////////////////////////////////////////////////
texture<float, 2> minEigenValDxTex;
texture<float, 2> minEigenValDyTex;
template <typename B> template <typename B>
__global__ void cornerMinEigenVal_kernel(const int cols, const int rows, const int block_size, const PtrStep Dx, __global__ void cornerMinEigenVal_kernel(const int cols, const int rows, const int block_size,
const PtrStep Dy, PtrStep dst, B border_row, B border_col) PtrStep dst, B border_row, B border_col)
{ {
const unsigned int x = blockIdx.x * blockDim.x + threadIdx.x; const unsigned int x = blockIdx.x * blockDim.x + threadIdx.x;
const unsigned int y = blockIdx.y * blockDim.y + threadIdx.y; const unsigned int y = blockIdx.y * blockDim.y + threadIdx.y;
@@ -577,13 +588,11 @@ namespace cv { namespace gpu { namespace imgproc
for (int i = ibegin; i < iend; ++i) for (int i = ibegin; i < iend; ++i)
{ {
int y = border_col.idx(i); int y = border_col.idx(i);
const float* dx_row = (const float*)Dx.ptr(y);
const float* dy_row = (const float*)Dy.ptr(y);
for (int j = jbegin; j < jend; ++j) for (int j = jbegin; j < jend; ++j)
{ {
int x = border_row.idx(j); int x = border_row.idx(j);
float dx = dx_row[x]; float dx = tex2D(minEigenValDxTex, x, y);
float dy = dy_row[x]; float dy = tex2D(minEigenValDyTex, x, y);
a += dx * dx; a += dx * dx;
b += dx * dy; b += dx * dy;
c += dy * dy; c += dy * dy;
@@ -605,14 +614,24 @@ namespace cv { namespace gpu { namespace imgproc
dim3 threads(32, 8); dim3 threads(32, 8);
dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y)); dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
cudaChannelFormatDesc desc = cudaCreateChannelDesc<float>();
cudaBindTexture2D(0, minEigenValDxTex, Dx.data, desc, Dx.cols, Dx.rows, Dx.step);
cudaBindTexture2D(0, minEigenValDyTex, Dy.data, desc, Dy.cols, Dy.rows, Dy.step);
minEigenValDxTex.filterMode = cudaFilterModePoint;
minEigenValDyTex.filterMode = cudaFilterModePoint;
switch (border_type) switch (border_type)
{ {
case BORDER_REFLECT101: case BORDER_REFLECT101:
cornerMinEigenVal_kernel<<<grid, threads>>>( cornerMinEigenVal_kernel<<<grid, threads>>>(
cols, rows, block_size, Dx, Dy, dst, cols, rows, block_size, dst,
BrdReflect101(cols), BrdReflect101(rows)); BrdReflect101(cols), BrdReflect101(rows));
break; break;
} }
cudaSafeCall(cudaThreadSynchronize()); cudaSafeCall(cudaThreadSynchronize());
cudaSafeCall(cudaUnbindTexture(minEigenValDxTex));
cudaSafeCall(cudaUnbindTexture(minEigenValDyTex));
} }
}}} }}}