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Commit fcff1260 authored by Vladislav Vinogradov's avatar Vladislav Vinogradov
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fixed some warnings in surf.cu

parent 6c2cdb67
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Showing with 66 additions and 85 deletions
modules/gpu/src/cuda/surf.cu
View file @ fcff1260
......@@ -47,6 +47,7 @@
#include "internal_shared.hpp"
#include "opencv2/gpu/device/limits_gpu.hpp"
#include "opencv2/gpu/device/saturate_cast.hpp"
using namespace cv::gpu;
using namespace cv::gpu::device;
......@@ -85,14 +86,14 @@ namespace cv { namespace gpu { namespace surf
texture<unsigned int, 2, cudaReadModeElementType> maskSumTex(0, cudaFilterModePoint, cudaAddressModeClamp);
template <int N> __device__ float icvCalcHaarPatternSum(const float src[][5], int oldSize, int newSize, int y, int x)
{
#if defined (__CUDA_ARCH__) && __CUDA_ARCH__ >= 200
{
#if defined (__CUDA_ARCH__) && __CUDA_ARCH__ >= 200
typedef double real_t;
#else
typedef float real_t;
#endif
float ratio = (float)newSize / oldSize;
float ratio = (float)newSize / oldSize;
real_t d = 0;
......@@ -202,30 +203,24 @@ namespace cv { namespace gpu { namespace surf
{
static __device__ bool check(int sum_i, int sum_j, int size)
{
#if defined (__CUDA_ARCH__) && __CUDA_ARCH__ >= 200
typedef double real_t;
#else
typedef float real_t;
#endif
float ratio = (float)size / 9.0f;
real_t d = 0;
int dx1 = __float2int_rn(ratio * c_DM[0]);
int dy1 = __float2int_rn(ratio * c_DM[1]);
int dx2 = __float2int_rn(ratio * c_DM[2]);
int dy2 = __float2int_rn(ratio * c_DM[3]);
real_t t = 0;
t += tex2D(maskSumTex, sum_j + dx1, sum_i + dy1);
t -= tex2D(maskSumTex, sum_j + dx1, sum_i + dy2);
t -= tex2D(maskSumTex, sum_j + dx2, sum_i + dy1);
t += tex2D(maskSumTex, sum_j + dx2, sum_i + dy2);
d += t * c_DM[4] / ((dx2 - dx1) * (dy2 - dy1));
return (d >= 0.5);
float ratio = (float)size / 9.0f;
float d = 0;
int dx1 = __float2int_rn(ratio * c_DM[0]);
int dy1 = __float2int_rn(ratio * c_DM[1]);
int dx2 = __float2int_rn(ratio * c_DM[2]);
int dy2 = __float2int_rn(ratio * c_DM[3]);
float t = 0;
t += tex2D(maskSumTex, sum_j + dx1, sum_i + dy1);
t -= tex2D(maskSumTex, sum_j + dx1, sum_i + dy2);
t -= tex2D(maskSumTex, sum_j + dx2, sum_i + dy1);
t += tex2D(maskSumTex, sum_j + dx2, sum_i + dy2);
d += t * c_DM[4] / ((dx2 - dx1) * (dy2 - dy1));
return (d >= 0.5f);
}
};
......@@ -727,27 +722,16 @@ namespace cv { namespace gpu { namespace surf
3.695352233989979e-006f, 8.444558261544444e-006f, 1.760426494001877e-005f, 3.34794785885606e-005f, 5.808438800158911e-005f, 9.193058212986216e-005f, 0.0001327334757661447f, 0.0001748319627949968f, 0.0002100782439811155f, 0.0002302826324012131f, 0.0002302826324012131f, 0.0002100782439811155f, 0.0001748319627949968f, 0.0001327334757661447f, 9.193058212986216e-005f, 5.808438800158911e-005f, 3.34794785885606e-005f, 1.760426494001877e-005f, 8.444558261544444e-006f, 3.695352233989979e-006f
};
__device__ void calcPATCH(float s_PATCH[6][6], float s_pt[5], int i1, int j1, int i2, int j2)
__device__ unsigned char calcWin(int i, int j, float centerX, float centerY, float win_offset, float cos_dir, float sin_dir)
{
const float centerX = s_pt[SF_X];
const float centerY = s_pt[SF_Y];
const float size = s_pt[SF_SIZE];
const float descriptor_dir = s_pt[SF_DIR] * (float)(CV_PI / 180);
/* The sampling intervals and wavelet sized for selecting an orientation
and building the keypoint descriptor are defined relative to 's' */
const float s = size * 1.2f / 9.0f;
/* Extract a window of pixels around the keypoint of size 20s */
const int win_size = (int)((PATCH_SZ + 1) * s);
float sin_dir;
float cos_dir;
sincosf(descriptor_dir, &sin_dir, &cos_dir);
float pixel_x = centerX + (win_offset + j) * cos_dir + (win_offset + i) * sin_dir;
float pixel_y = centerY - (win_offset + j) * sin_dir + (win_offset + i) * cos_dir;
/* Nearest neighbour version (faster) */
const float win_offset = -(float)(win_size - 1) / 2;
return tex2D(imgTex, pixel_x, pixel_y);
}
__device__ unsigned char calcPATCH(int i1, int j1, float centerX, float centerY, float win_offset, float cos_dir, float sin_dir, int win_size)
{
/* Scale the window to size PATCH_SZ so each pixel's size is s. This
makes calculating the gradients with wavelets of size 2s easy */
const float icoo = ((float)i1 / (PATCH_SZ + 1)) * win_size;
......@@ -756,38 +740,42 @@ namespace cv { namespace gpu { namespace surf
const int i = __float2int_rd(icoo);
const int j = __float2int_rd(jcoo);
float pixel_x = centerX + (win_offset + j) * cos_dir + (win_offset + i) * sin_dir;
float pixel_y = centerY - (win_offset + j) * sin_dir + (win_offset + i) * cos_dir;
float res = calcWin(i, j, centerX, centerY, win_offset, cos_dir, sin_dir) * (i + 1 - icoo) * (j + 1 - jcoo);
res += calcWin(i + 1, j, centerX, centerY, win_offset, cos_dir, sin_dir) * (icoo - i) * (j + 1 - jcoo);
res += calcWin(i + 1, j + 1, centerX, centerY, win_offset, cos_dir, sin_dir) * (icoo - i) * (jcoo - j);
res += calcWin(i, j + 1, centerX, centerY, win_offset, cos_dir, sin_dir) * (i + 1 - icoo) * (jcoo - j);
float res = tex2D(imgTex, pixel_x, pixel_y) * (i + 1 - icoo) * (j + 1 - jcoo);
return saturate_cast<unsigned char>(res);
}
pixel_x = centerX + (win_offset + j) * cos_dir + (win_offset + i + 1) * sin_dir;
pixel_y = centerY - (win_offset + j) * sin_dir + (win_offset + i + 1) * cos_dir;
__device__ void calc_dx_dy(float s_dx_bin[25], float s_dy_bin[25], const KeyPoint_GPU* keypoints, int tid)
{
__shared__ float s_PATCH[6][6];
res += tex2D(imgTex, pixel_x, pixel_y) * (icoo - i) * (j + 1 - jcoo);
// get the interest point parameters (x, y, size, response, angle)
__shared__ float s_pt[5];
if (threadIdx.y == 0)
s_pt[threadIdx.x] = ((float*)(&keypoints[blockIdx.x]))[threadIdx.x];
__syncthreads();
pixel_x = centerX + (win_offset + j + 1) * cos_dir + (win_offset + i + 1) * sin_dir;
pixel_y = centerY - (win_offset + j + 1) * sin_dir + (win_offset + i + 1) * cos_dir;
const float centerX = s_pt[SF_X];
const float centerY = s_pt[SF_Y];
const float size = s_pt[SF_SIZE];
const float descriptor_dir = s_pt[SF_DIR] * (float)(CV_PI / 180);
res += tex2D(imgTex, pixel_x, pixel_y) * (icoo - i) * (jcoo - j);
pixel_x = centerX + (win_offset + j + 1) * cos_dir + (win_offset + i) * sin_dir;
pixel_y = centerY - (win_offset + j + 1) * sin_dir + (win_offset + i) * cos_dir;
/* The sampling intervals and wavelet sized for selecting an orientation
and building the keypoint descriptor are defined relative to 's' */
const float s = size * 1.2f / 9.0f;
res += tex2D(imgTex, pixel_x, pixel_y) * (i + 1 - icoo) * (jcoo - j);
/* Extract a window of pixels around the keypoint of size 20s */
const int win_size = (int)((PATCH_SZ + 1) * s);
s_PATCH[i2][j2] = (unsigned char)res;
}
float sin_dir;
float cos_dir;
sincosf(descriptor_dir, &sin_dir, &cos_dir);
__device__ void calc_dx_dy(float s_PATCH[6][6], float s_dx_bin[25], float s_dy_bin[25], const KeyPoint_GPU* keypoints, int tid)
{
// get the interest point parameters (x, y, size, response, angle)
__shared__ float s_pt[5];
if (tid < 5)
{
s_pt[tid] = ((float*)(&keypoints[blockIdx.x]))[tid];
}
__syncthreads();
/* Nearest neighbour version (faster) */
const float win_offset = -(float)(win_size - 1) / 2;
// Compute sampling points
// since grids are 2D, need to compute xBlock and yBlock indices
......@@ -796,13 +784,13 @@ namespace cv { namespace gpu { namespace surf
const int xIndex = xBlock * blockDim.x + threadIdx.x;
const int yIndex = yBlock * blockDim.y + threadIdx.y;
calcPATCH(s_PATCH, s_pt, yIndex, xIndex, threadIdx.y, threadIdx.x);
s_PATCH[threadIdx.y][threadIdx.x] = calcPATCH(yIndex, xIndex, centerX, centerY, win_offset, cos_dir, sin_dir, win_size);
if (threadIdx.x == 0)
calcPATCH(s_PATCH, s_pt, yIndex, xBlock * blockDim.x + 5, threadIdx.y, 5);
s_PATCH[threadIdx.y][5] = calcPATCH(yIndex, xBlock * blockDim.x + 5, centerX, centerY, win_offset, cos_dir, sin_dir, win_size);
if (threadIdx.y == 0)
calcPATCH(s_PATCH, s_pt, yBlock * blockDim.y + 5, xIndex, 5, threadIdx.x);
s_PATCH[5][threadIdx.x] = calcPATCH(yBlock * blockDim.y + 5, xIndex, centerX, centerY, win_offset, cos_dir, sin_dir, win_size);
if (threadIdx.x == 0 && threadIdx.y == 0)
calcPATCH(s_PATCH, s_pt, xBlock * blockDim.x + 5, yBlock * blockDim.y + 5, 5, 5);
s_PATCH[5][5] = calcPATCH(yBlock * blockDim.y + 5, xBlock * blockDim.x + 5, centerX, centerY, win_offset, cos_dir, sin_dir, win_size);
__syncthreads();
const float dw = c_DW[yIndex * PATCH_SZ + xIndex];
......@@ -814,8 +802,7 @@ namespace cv { namespace gpu { namespace surf
s_dy_bin[tid] = vy;
}
__device__ void reduce_sum25(volatile float* sdata1, volatile float* sdata2,
volatile float* sdata3, volatile float* sdata4, int tid)
__device__ void reduce_sum25(volatile float* sdata1, volatile float* sdata2, volatile float* sdata3, volatile float* sdata4, int tid)
{
// first step is to reduce from 25 to 16
if (tid < 9) // use 9 threads
......@@ -851,12 +838,9 @@ namespace cv { namespace gpu { namespace surf
}
}
// Spawn 16 blocks per interest point
// - computes unnormalized 64 dimensional descriptor, puts it into d_descriptors in the correct location
__global__ void compute_descriptors64(PtrStepf descriptors, const KeyPoint_GPU* features)
__global__ void compute_descriptors64(PtrStepf descriptors, const KeyPoint_GPU* features)
{
// 2 floats (dx,dy) for each thread (5x5 sample points in each sub-region)
__shared__ float s_PATCH[6][6];
__shared__ float sdx[25];
__shared__ float sdy[25];
__shared__ float sdxabs[25];
......@@ -864,7 +848,7 @@ namespace cv { namespace gpu { namespace surf
const int tid = threadIdx.y * blockDim.x + threadIdx.x;
calc_dx_dy(s_PATCH, sdx, sdy, features, tid);
calc_dx_dy(sdx, sdy, features, tid);
__syncthreads();
sdxabs[tid] = fabs(sdx[tid]); // |dx| array
......@@ -886,12 +870,9 @@ namespace cv { namespace gpu { namespace surf
}
}
// Spawn 16 blocks per interest point
// - computes unnormalized 128 dimensional descriptor, puts it into d_descriptors in the correct location
__global__ void compute_descriptors128(PtrStepf descriptors, const KeyPoint_GPU* features)
__global__ void compute_descriptors128(PtrStepf descriptors, const KeyPoint_GPU* features)
{
// 2 floats (dx,dy) for each thread (5x5 sample points in each sub-region)
__shared__ float s_PATCH[6][6];
__shared__ float sdx[25];
__shared__ float sdy[25];
......@@ -903,7 +884,7 @@ namespace cv { namespace gpu { namespace surf
const int tid = threadIdx.y * blockDim.x + threadIdx.x;
calc_dx_dy(s_PATCH, sdx, sdy, features, tid);
calc_dx_dy(sdx, sdy, features, tid);
__syncthreads();
if (sdy[tid] >= 0)
......
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