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Commit d7ff3ad0 authored by Vladislav Vinogradov's avatar Vladislav Vinogradov
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refactored cornerHarris and cornerMinEigenVal 

* converted it into Algorithm
parent ad4d6bed
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Showing with 142 additions and 83 deletions
modules/gpuimgproc/include/opencv2/gpuimgproc.hpp
View file @ d7ff3ad0
...@@ -362,17 +362,37 @@ public: ...@@ -362,17 +362,37 @@ public:
////////////////////////// Corners Detection /////////////////////////// ////////////////////////// Corners Detection ///////////////////////////
class CV_EXPORTS CornernessCriteria : public Algorithm
{
public:
virtual void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null()) = 0;
};
//! computes Harris cornerness criteria at each image pixel //! computes Harris cornerness criteria at each image pixel
CV_EXPORTS void cornerHarris(const GpuMat& src, GpuMat& dst, int blockSize, int ksize, double k, int borderType = BORDER_REFLECT101); CV_EXPORTS Ptr<CornernessCriteria> createHarrisCorner(int srcType, int blockSize, int ksize, double k, int borderType = BORDER_REFLECT101);
CV_EXPORTS void cornerHarris(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, int blockSize, int ksize, double k, int borderType = BORDER_REFLECT101);
CV_EXPORTS void cornerHarris(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, double k,
int borderType = BORDER_REFLECT101, Stream& stream = Stream::Null());
//! computes minimum eigen value of 2x2 derivative covariation matrix at each pixel - the cornerness criteria //! computes minimum eigen value of 2x2 derivative covariation matrix at each pixel - the cornerness criteria
CV_EXPORTS void cornerMinEigenVal(const GpuMat& src, GpuMat& dst, int blockSize, int ksize, int borderType=BORDER_REFLECT101); CV_EXPORTS Ptr<CornernessCriteria> createMinEigenValCorner(int srcType, int blockSize, int ksize, int borderType = BORDER_REFLECT101);
CV_EXPORTS void cornerMinEigenVal(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, int blockSize, int ksize, int borderType=BORDER_REFLECT101);
CV_EXPORTS void cornerMinEigenVal(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, // obsolete
int borderType=BORDER_REFLECT101, Stream& stream = Stream::Null());
__OPENCV_GPUIMGPROC_DEPR_BEFORE__ void cornerHarris(InputArray src, OutputArray dst,
int blockSize, int ksize, double k, int borderType = BORDER_REFLECT101,
Stream& stream = Stream::Null()) __OPENCV_GPUIMGPROC_DEPR_AFTER__;
inline void cornerHarris(InputArray src, OutputArray dst, int blockSize, int ksize, double k, int borderType, Stream& stream)
{
gpu::createHarrisCorner(src.type(), blockSize, ksize, k, borderType)->compute(src, dst, stream);
}
__OPENCV_GPUIMGPROC_DEPR_BEFORE__ void cornerMinEigenVal(InputArray src, OutputArray dst,
int blockSize, int ksize, int borderType = BORDER_REFLECT101,
Stream& stream = Stream::Null()) __OPENCV_GPUIMGPROC_DEPR_AFTER__;
inline void cornerMinEigenVal(InputArray src, OutputArray dst, int blockSize, int ksize, int borderType, Stream& stream)
{
gpu::createMinEigenValCorner(src.type(), blockSize, ksize, borderType)->compute(src, dst, stream);
}
////////////////////////// Feature Detection /////////////////////////// ////////////////////////// Feature Detection ///////////////////////////
......
modules/gpuimgproc/perf/perf_corners.cpp
View file @ d7ff3ad0
...@@ -75,11 +75,10 @@ PERF_TEST_P(Image_Type_Border_BlockSz_ApertureSz, CornerHarris, ...@@ -75,11 +75,10 @@ PERF_TEST_P(Image_Type_Border_BlockSz_ApertureSz, CornerHarris,
{ {
const cv::gpu::GpuMat d_img(img); const cv::gpu::GpuMat d_img(img);
cv::gpu::GpuMat dst; cv::gpu::GpuMat dst;
cv::gpu::GpuMat d_Dx;
cv::gpu::GpuMat d_Dy;
cv::gpu::GpuMat d_buf;
TEST_CYCLE() cv::gpu::cornerHarris(d_img, dst, d_Dx, d_Dy, d_buf, blockSize, apertureSize, k, borderMode); cv::Ptr<cv::gpu::CornernessCriteria> harris = cv::gpu::createHarrisCorner(img.type(), blockSize, apertureSize, k, borderMode);
TEST_CYCLE() harris->compute(d_img, dst);
GPU_SANITY_CHECK(dst, 1e-4); GPU_SANITY_CHECK(dst, 1e-4);
} }
...@@ -118,11 +117,10 @@ PERF_TEST_P(Image_Type_Border_BlockSz_ApertureSz, CornerMinEigenVal, ...@@ -118,11 +117,10 @@ PERF_TEST_P(Image_Type_Border_BlockSz_ApertureSz, CornerMinEigenVal,
{ {
const cv::gpu::GpuMat d_img(img); const cv::gpu::GpuMat d_img(img);
cv::gpu::GpuMat dst; cv::gpu::GpuMat dst;
cv::gpu::GpuMat d_Dx;
cv::gpu::GpuMat d_Dy;
cv::gpu::GpuMat d_buf;
TEST_CYCLE() cv::gpu::cornerMinEigenVal(d_img, dst, d_Dx, d_Dy, d_buf, blockSize, apertureSize, borderMode); cv::Ptr<cv::gpu::CornernessCriteria> minEigenVal = cv::gpu::createMinEigenValCorner(img.type(), blockSize, apertureSize, borderMode);
TEST_CYCLE() minEigenVal->compute(d_img, dst);
GPU_SANITY_CHECK(dst, 1e-4); GPU_SANITY_CHECK(dst, 1e-4);
} }
......
modules/gpuimgproc/src/corners.cpp
View file @ d7ff3ad0
...@@ -47,13 +47,8 @@ using namespace cv::gpu; ...@@ -47,13 +47,8 @@ using namespace cv::gpu;
#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) #if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
void cv::gpu::cornerHarris(const GpuMat&, GpuMat&, int, int, double, int) { throw_no_cuda(); } Ptr<gpu::CornernessCriteria> cv::gpu::createHarrisCorner(int, int, int, double, int) { throw_no_cuda(); return Ptr<gpu::CornernessCriteria>(); }
void cv::gpu::cornerHarris(const GpuMat&, GpuMat&, GpuMat&, GpuMat&, int, int, double, int) { throw_no_cuda(); } Ptr<gpu::CornernessCriteria> cv::gpu::createMinEigenValCorner(int, int, int, int) { throw_no_cuda(); return Ptr<gpu::CornernessCriteria>(); }
void cv::gpu::cornerHarris(const GpuMat&, GpuMat&, GpuMat&, GpuMat&, GpuMat&, int, int, double, int, Stream&) { throw_no_cuda(); }
void cv::gpu::cornerMinEigenVal(const GpuMat&, GpuMat&, int, int, int) { throw_no_cuda(); }
void cv::gpu::cornerMinEigenVal(const GpuMat&, GpuMat&, GpuMat&, GpuMat&, int, int, int) { throw_no_cuda(); }
void cv::gpu::cornerMinEigenVal(const GpuMat&, GpuMat&, GpuMat&, GpuMat&, GpuMat&, int, int, int, Stream&) { throw_no_cuda(); }
#else /* !defined (HAVE_CUDA) */ #else /* !defined (HAVE_CUDA) */
...@@ -68,89 +63,127 @@ namespace cv { namespace gpu { namespace cudev ...@@ -68,89 +63,127 @@ namespace cv { namespace gpu { namespace cudev
namespace namespace
{ {
void extractCovData(const GpuMat& src, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, int borderType, Stream& stream) 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<gpu::Filter> filterDx_, filterDy_;
};
CornerBase::CornerBase(int srcType, int blockSize, int ksize, int borderType) :
srcType_(srcType), blockSize_(blockSize), ksize_(ksize), borderType_(borderType)
{ {
(void) buf; CV_Assert( borderType_ == BORDER_REFLECT101 || borderType_ == BORDER_REPLICATE || borderType_ == BORDER_REFLECT );
double scale = static_cast<double>(1 << ((ksize > 0 ? ksize : 3) - 1)) * blockSize; const int sdepth = CV_MAT_DEPTH(srcType_);
const int cn = CV_MAT_CN(srcType_);
if (ksize < 0) CV_Assert( cn == 1 );
double scale = static_cast<double>(1 << ((ksize_ > 0 ? ksize_ : 3) - 1)) * blockSize_;
if (ksize_ < 0)
scale *= 2.; scale *= 2.;
if (src.depth() == CV_8U) if (sdepth == CV_8U)
scale *= 255.; scale *= 255.;
scale = 1./scale; scale = 1./scale;
Dx.create(src.size(), CV_32F); if (ksize_ > 0)
Dy.create(src.size(), CV_32F);
Ptr<gpu::Filter> filterDx, filterDy;
if (ksize > 0)
{ {
filterDx = gpu::createSobelFilter(src.type(), CV_32F, 1, 0, ksize, scale, borderType); filterDx_ = gpu::createSobelFilter(srcType, CV_32F, 1, 0, ksize_, scale, borderType_);
filterDy = gpu::createSobelFilter(src.type(), CV_32F, 0, 1, ksize, scale, borderType); filterDy_ = gpu::createSobelFilter(srcType, CV_32F, 0, 1, ksize_, scale, borderType_);
} }
else else
{ {
filterDx = gpu::createScharrFilter(src.type(), CV_32F, 1, 0, scale, borderType); filterDx_ = gpu::createScharrFilter(srcType, CV_32F, 1, 0, scale, borderType_);
filterDy = gpu::createScharrFilter(src.type(), CV_32F, 0, 1, scale, borderType); filterDy_ = gpu::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);
} }
filterDx->apply(src, Dx); class Harris : public CornerBase
filterDy->apply(src, Dy); {
public:
Harris(int srcType, int blockSize, int ksize, double k, int borderType) :
CornerBase(srcType, blockSize, ksize, borderType), k_(static_cast<float>(k))
{
} }
}
void cv::gpu::cornerHarris(const GpuMat& src, GpuMat& dst, int blockSize, int ksize, double k, int borderType) void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null());
{
GpuMat Dx, Dy;
cornerHarris(src, dst, Dx, Dy, blockSize, ksize, k, borderType);
}
void cv::gpu::cornerHarris(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, int blockSize, int ksize, double k, int borderType) private:
{ float k_;
GpuMat buf; };
cornerHarris(src, dst, Dx, Dy, buf, blockSize, ksize, k, borderType);
}
void cv::gpu::cornerHarris(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, double k, int borderType, Stream& stream) void Harris::compute(InputArray _src, OutputArray _dst, Stream& stream)
{ {
using namespace cv::gpu::cudev::imgproc; using namespace cv::gpu::cudev::imgproc;
CV_Assert(borderType == cv::BORDER_REFLECT101 || borderType == cv::BORDER_REPLICATE || borderType == cv::BORDER_REFLECT); GpuMat src = _src.getGpuMat();
extractCovData(src, Dx, Dy, buf, blockSize, ksize, borderType, stream); extractCovData(src, stream);
dst.create(src.size(), CV_32F); _dst.create(src.size(), CV_32FC1);
GpuMat dst = _dst.getGpuMat();
cornerHarris_gpu(blockSize, static_cast<float>(k), Dx, Dy, dst, borderType, StreamAccessor::getStream(stream)); cornerHarris_gpu(blockSize_, k_, Dx_, Dy_, dst, borderType_, StreamAccessor::getStream(stream));
} }
void cv::gpu::cornerMinEigenVal(const GpuMat& src, GpuMat& dst, int blockSize, int ksize, int borderType) class MinEigenVal : public CornerBase
{ {
GpuMat Dx, Dy; public:
cornerMinEigenVal(src, dst, Dx, Dy, blockSize, ksize, borderType); MinEigenVal(int srcType, int blockSize, int ksize, int borderType) :
} CornerBase(srcType, blockSize, ksize, borderType)
{
}
void cv::gpu::cornerMinEigenVal(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, int blockSize, int ksize, int borderType) void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null());
{
GpuMat buf;
cornerMinEigenVal(src, dst, Dx, Dy, buf, blockSize, ksize, borderType);
}
void cv::gpu::cornerMinEigenVal(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, int borderType, Stream& stream) private:
{ float k_;
using namespace ::cv::gpu::cudev::imgproc; };
CV_Assert(borderType == cv::BORDER_REFLECT101 || borderType == cv::BORDER_REPLICATE || borderType == cv::BORDER_REFLECT); void MinEigenVal::compute(InputArray _src, OutputArray _dst, Stream& stream)
{
using namespace cv::gpu::cudev::imgproc;
GpuMat src = _src.getGpuMat();
extractCovData(src, stream);
_dst.create(src.size(), CV_32FC1);
GpuMat dst = _dst.getGpuMat();
extractCovData(src, Dx, Dy, buf, blockSize, ksize, borderType, stream); cornerMinEigenVal_gpu(blockSize_, Dx_, Dy_, dst, borderType_, StreamAccessor::getStream(stream));
}
}
dst.create(src.size(), CV_32F); Ptr<gpu::CornernessCriteria> cv::gpu::createHarrisCorner(int srcType, int blockSize, int ksize, double k, int borderType)
{
return new Harris(srcType, blockSize, ksize, k, borderType);
}
cornerMinEigenVal_gpu(blockSize, Dx, Dy, dst, borderType, StreamAccessor::getStream(stream)); Ptr<gpu::CornernessCriteria> cv::gpu::createMinEigenValCorner(int srcType, int blockSize, int ksize, int borderType)
{
return new MinEigenVal(srcType, blockSize, ksize, borderType);
} }
#endif /* !defined (HAVE_CUDA) */ #endif /* !defined (HAVE_CUDA) */
modules/gpuimgproc/src/gftt.cpp
View file @ d7ff3ad0
...@@ -75,10 +75,12 @@ void cv::gpu::GoodFeaturesToTrackDetector_GPU::operator ()(const GpuMat& image, ...@@ -75,10 +75,12 @@ void cv::gpu::GoodFeaturesToTrackDetector_GPU::operator ()(const GpuMat& image,
ensureSizeIsEnough(image.size(), CV_32F, eig_); ensureSizeIsEnough(image.size(), CV_32F, eig_);
if (useHarrisDetector) Ptr<gpu::CornernessCriteria> cornerCriteria =
cornerHarris(image, eig_, Dx_, Dy_, buf_, blockSize, 3, harrisK); useHarrisDetector ?
else gpu::createHarrisCorner(image.type(), blockSize, 3, harrisK) :
cornerMinEigenVal(image, eig_, Dx_, Dy_, buf_, blockSize, 3); gpu::createMinEigenValCorner(image.type(), blockSize, 3);
cornerCriteria->compute(image, eig_);
double maxVal = 0; double maxVal = 0;
gpu::minMax(eig_, 0, &maxVal, GpuMat(), minMaxbuf_); gpu::minMax(eig_, 0, &maxVal, GpuMat(), minMaxbuf_);
......
modules/gpuimgproc/test/test_corners.cpp
View file @ d7ff3ad0
...@@ -82,8 +82,10 @@ GPU_TEST_P(CornerHarris, Accuracy) ...@@ -82,8 +82,10 @@ GPU_TEST_P(CornerHarris, Accuracy)
double k = randomDouble(0.1, 0.9); double k = randomDouble(0.1, 0.9);
cv::Ptr<cv::gpu::CornernessCriteria> harris = cv::gpu::createHarrisCorner(src.type(), blockSize, apertureSize, k, borderType);
cv::gpu::GpuMat dst; cv::gpu::GpuMat dst;
cv::gpu::cornerHarris(loadMat(src), dst, blockSize, apertureSize, k, borderType); harris->compute(loadMat(src), dst);
cv::Mat dst_gold; cv::Mat dst_gold;
cv::cornerHarris(src, dst_gold, blockSize, apertureSize, k, borderType); cv::cornerHarris(src, dst_gold, blockSize, apertureSize, k, borderType);
...@@ -126,8 +128,10 @@ GPU_TEST_P(CornerMinEigen, Accuracy) ...@@ -126,8 +128,10 @@ GPU_TEST_P(CornerMinEigen, Accuracy)
cv::Mat src = readImageType("stereobm/aloe-L.png", type); cv::Mat src = readImageType("stereobm/aloe-L.png", type);
ASSERT_FALSE(src.empty()); ASSERT_FALSE(src.empty());
cv::Ptr<cv::gpu::CornernessCriteria> minEigenVal = cv::gpu::createMinEigenValCorner(src.type(), blockSize, apertureSize, borderType);
cv::gpu::GpuMat dst; cv::gpu::GpuMat dst;
cv::gpu::cornerMinEigenVal(loadMat(src), dst, blockSize, apertureSize, borderType); minEigenVal->compute(loadMat(src), dst);
cv::Mat dst_gold; cv::Mat dst_gold;
cv::cornerMinEigenVal(src, dst_gold, blockSize, apertureSize, borderType); cv::cornerMinEigenVal(src, dst_gold, blockSize, apertureSize, borderType);
......
samples/gpu/performance/tests.cpp
View file @ d7ff3ad0
...@@ -176,10 +176,12 @@ TEST(cornerHarris) ...@@ -176,10 +176,12 @@ TEST(cornerHarris)
d_src.upload(src); d_src.upload(src);
gpu::cornerHarris(d_src, d_dst, 5, 7, 0.1, BORDER_REFLECT101); Ptr<gpu::CornernessCriteria> harris = gpu::createHarrisCorner(src.type(), 5, 7, 0.1, BORDER_REFLECT101);
harris->compute(d_src, d_dst);
GPU_ON; GPU_ON;
gpu::cornerHarris(d_src, d_dst, 5, 7, 0.1, BORDER_REFLECT101); harris->compute(d_src, d_dst);
GPU_OFF; GPU_OFF;
} }
} }
......
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