generic-library/opencv
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do not use the large "score" buffer; now without non-max suppression OpenCL FAST is pretty efficient

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This commit is contained in:
Vadim Pisarevsky
2014-03-07 18:55:45 +04:00
parent 06c138bd64
commit efdfca7a11
2 changed files with 22 additions and 28 deletions
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20
modules/features2d/src/fast.cpp
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@@ -268,23 +268,13 @@ static bool ocl_FAST( InputArray _img, std::vector<KeyPoint>& keypoints,
if (fastKptKernel.empty())
return false;
UMat kp1(1, maxKeypoints*2+1, CV_32S), score;
UMat kp1(1, maxKeypoints*2+1, CV_32S);
UMat ucounter1(kp1, Rect(0,0,1,1));
ucounter1.setTo(Scalar::all(0));
if( nonmax_suppression )
{
score.create(img.size(), CV_8U);
score.setTo(Scalar::all(0));
}
else
score = img; // initialize score with some non-empty value
if( !fastKptKernel.args(ocl::KernelArg::ReadOnly(img),
ocl::KernelArg::WriteOnlyNoSize(score),
ocl::KernelArg::PtrReadWrite(kp1),
nonmax_suppression ? 1 : 0,
maxKeypoints, threshold).run(2, globalsize, 0, true))
return false;
@@ -319,7 +309,7 @@ static bool ocl_FAST( InputArray _img, std::vector<KeyPoint>& keypoints,
size_t globalsize_nms[] = { counter };
if( !fastNMSKernel.args(ocl::KernelArg::PtrReadOnly(kp1),
ocl::KernelArg::PtrReadWrite(kp2),
ocl::KernelArg::ReadOnlyNoSize(score),
ocl::KernelArg::ReadOnly(img),
counter, counter).run(1, globalsize_nms, 0, true))
return false;
@@ -340,9 +330,10 @@ 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)
{
if( ocl::useOpenCL() && _img.isUMat() && type == FastFeatureDetector::TYPE_9_16 &&
double t = (double)getTickCount();
if( ocl::useOpenCL() && /*_img.isUMat() &&*/ type == FastFeatureDetector::TYPE_9_16 &&
ocl_FAST(_img, keypoints, threshold, nonmax_suppression, 10000))
return;
;
switch(type) {
case FastFeatureDetector::TYPE_5_8:
@@ -359,6 +350,7 @@ 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());
}