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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
using namespace cv;
using namespace cv::cuda;
#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) || !defined(HAVE_OPENCV_CUDAFILTERS)
Ptr<cuda::CornernessCriteria> cv::cuda::createHarrisCorner(int, int, int, double, int) { throw_no_cuda(); return Ptr<cuda::CornernessCriteria>(); }
Ptr<cuda::CornernessCriteria> cv::cuda::createMinEigenValCorner(int, int, int, int) { throw_no_cuda(); return Ptr<cuda::CornernessCriteria>(); }
#else /* !defined (HAVE_CUDA) */
namespace cv { namespace cuda { namespace device
{
namespace imgproc
{
void cornerHarris_gpu(int block_size, float k, PtrStepSzf Dx, PtrStepSzf Dy, PtrStepSzf dst, int border_type, cudaStream_t stream);
void cornerMinEigenVal_gpu(int block_size, PtrStepSzf Dx, PtrStepSzf Dy, PtrStepSzf dst, int border_type, cudaStream_t stream);
}
}}}
namespace
{
class CornerBase : public CornernessCriteria
{
protected:
CornerBase(int srcType, int blockSize, int ksize, int borderType);
void extractCovData(const GpuMat& src, Stream& stream);
int srcType_;
int blockSize_;
int ksize_;
int borderType_;
GpuMat Dx_, Dy_;
private:
Ptr<cuda::Filter> filterDx_, filterDy_;
};
CornerBase::CornerBase(int srcType, int blockSize, int ksize, int borderType) :
srcType_(srcType), blockSize_(blockSize), ksize_(ksize), borderType_(borderType)
{
CV_Assert( borderType_ == BORDER_REFLECT101 || borderType_ == BORDER_REPLICATE || borderType_ == BORDER_REFLECT );
const int sdepth = CV_MAT_DEPTH(srcType_);
const int cn = CV_MAT_CN(srcType_);
CV_Assert( cn == 1 );
double scale = static_cast<double>(1 << ((ksize_ > 0 ? ksize_ : 3) - 1)) * blockSize_;
if (ksize_ < 0)
scale *= 2.;
if (sdepth == CV_8U)
scale *= 255.;
scale = 1./scale;
if (ksize_ > 0)
{
filterDx_ = cuda::createSobelFilter(srcType, CV_32F, 1, 0, ksize_, scale, borderType_);
filterDy_ = cuda::createSobelFilter(srcType, CV_32F, 0, 1, ksize_, scale, borderType_);
}
else
{
filterDx_ = cuda::createScharrFilter(srcType, CV_32F, 1, 0, scale, borderType_);
filterDy_ = cuda::createScharrFilter(srcType, CV_32F, 0, 1, scale, borderType_);
}
}
void CornerBase::extractCovData(const GpuMat& src, Stream& stream)
{
CV_Assert( src.type() == srcType_ );
filterDx_->apply(src, Dx_, stream);
filterDy_->apply(src, Dy_, stream);
}
class Harris : public CornerBase
{
public:
Harris(int srcType, int blockSize, int ksize, double k, int borderType) :
CornerBase(srcType, blockSize, ksize, borderType), k_(static_cast<float>(k))
{
}
void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null());
private:
float k_;
};
void Harris::compute(InputArray _src, OutputArray _dst, Stream& stream)
{
using namespace cv::cuda::device::imgproc;
GpuMat src = _src.getGpuMat();
extractCovData(src, stream);
_dst.create(src.size(), CV_32FC1);
GpuMat dst = _dst.getGpuMat();
cornerHarris_gpu(blockSize_, k_, Dx_, Dy_, dst, borderType_, StreamAccessor::getStream(stream));
}
class MinEigenVal : public CornerBase
{
public:
MinEigenVal(int srcType, int blockSize, int ksize, int borderType) :
CornerBase(srcType, blockSize, ksize, borderType)
{
}
void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null());
private:
float k_;
};
void MinEigenVal::compute(InputArray _src, OutputArray _dst, Stream& stream)
{
using namespace cv::cuda::device::imgproc;
GpuMat src = _src.getGpuMat();
extractCovData(src, stream);
_dst.create(src.size(), CV_32FC1);
GpuMat dst = _dst.getGpuMat();
cornerMinEigenVal_gpu(blockSize_, Dx_, Dy_, dst, borderType_, StreamAccessor::getStream(stream));
}
}
Ptr<cuda::CornernessCriteria> cv::cuda::createHarrisCorner(int srcType, int blockSize, int ksize, double k, int borderType)
{
return makePtr<Harris>(srcType, blockSize, ksize, k, borderType);
}
Ptr<cuda::CornernessCriteria> cv::cuda::createMinEigenValCorner(int srcType, int blockSize, int ksize, int borderType)
{
return makePtr<MinEigenVal>(srcType, blockSize, ksize, borderType);
}
#endif /* !defined (HAVE_CUDA) */