1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #include "precomp.hpp" 44 45 using namespace cv; 46 using namespace cv::cuda; 47 48 #if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) || !defined(HAVE_OPENCV_CUDAFILTERS) 49 50 Ptr<cuda::CornernessCriteria> cv::cuda::createHarrisCorner(int, int, int, double, int) { throw_no_cuda(); return Ptr<cuda::CornernessCriteria>(); } 51 Ptr<cuda::CornernessCriteria> cv::cuda::createMinEigenValCorner(int, int, int, int) { throw_no_cuda(); return Ptr<cuda::CornernessCriteria>(); } 52 53 #else /* !defined (HAVE_CUDA) */ 54 55 namespace cv { namespace cuda { namespace device 56 { 57 namespace imgproc 58 { 59 void cornerHarris_gpu(int block_size, float k, PtrStepSzf Dx, PtrStepSzf Dy, PtrStepSzf dst, int border_type, cudaStream_t stream); 60 void cornerMinEigenVal_gpu(int block_size, PtrStepSzf Dx, PtrStepSzf Dy, PtrStepSzf dst, int border_type, cudaStream_t stream); 61 } 62 }}} 63 64 namespace 65 { 66 class CornerBase : public CornernessCriteria 67 { 68 protected: 69 CornerBase(int srcType, int blockSize, int ksize, int borderType); 70 71 void extractCovData(const GpuMat& src, Stream& stream); 72 73 int srcType_; 74 int blockSize_; 75 int ksize_; 76 int borderType_; 77 GpuMat Dx_, Dy_; 78 79 private: 80 Ptr<cuda::Filter> filterDx_, filterDy_; 81 }; 82 83 CornerBase::CornerBase(int srcType, int blockSize, int ksize, int borderType) : 84 srcType_(srcType), blockSize_(blockSize), ksize_(ksize), borderType_(borderType) 85 { 86 CV_Assert( borderType_ == BORDER_REFLECT101 || borderType_ == BORDER_REPLICATE || borderType_ == BORDER_REFLECT ); 87 88 const int sdepth = CV_MAT_DEPTH(srcType_); 89 const int cn = CV_MAT_CN(srcType_); 90 91 CV_Assert( cn == 1 ); 92 93 double scale = static_cast<double>(1 << ((ksize_ > 0 ? ksize_ : 3) - 1)) * blockSize_; 94 95 if (ksize_ < 0) 96 scale *= 2.; 97 98 if (sdepth == CV_8U) 99 scale *= 255.; 100 101 scale = 1./scale; 102 103 if (ksize_ > 0) 104 { 105 filterDx_ = cuda::createSobelFilter(srcType, CV_32F, 1, 0, ksize_, scale, borderType_); 106 filterDy_ = cuda::createSobelFilter(srcType, CV_32F, 0, 1, ksize_, scale, borderType_); 107 } 108 else 109 { 110 filterDx_ = cuda::createScharrFilter(srcType, CV_32F, 1, 0, scale, borderType_); 111 filterDy_ = cuda::createScharrFilter(srcType, CV_32F, 0, 1, scale, borderType_); 112 } 113 } 114 115 void CornerBase::extractCovData(const GpuMat& src, Stream& stream) 116 { 117 CV_Assert( src.type() == srcType_ ); 118 filterDx_->apply(src, Dx_, stream); 119 filterDy_->apply(src, Dy_, stream); 120 } 121 122 class Harris : public CornerBase 123 { 124 public: 125 Harris(int srcType, int blockSize, int ksize, double k, int borderType) : 126 CornerBase(srcType, blockSize, ksize, borderType), k_(static_cast<float>(k)) 127 { 128 } 129 130 void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null()); 131 132 private: 133 float k_; 134 }; 135 136 void Harris::compute(InputArray _src, OutputArray _dst, Stream& stream) 137 { 138 using namespace cv::cuda::device::imgproc; 139 140 GpuMat src = _src.getGpuMat(); 141 142 extractCovData(src, stream); 143 144 _dst.create(src.size(), CV_32FC1); 145 GpuMat dst = _dst.getGpuMat(); 146 147 cornerHarris_gpu(blockSize_, k_, Dx_, Dy_, dst, borderType_, StreamAccessor::getStream(stream)); 148 } 149 150 class MinEigenVal : public CornerBase 151 { 152 public: 153 MinEigenVal(int srcType, int blockSize, int ksize, int borderType) : 154 CornerBase(srcType, blockSize, ksize, borderType) 155 { 156 } 157 158 void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null()); 159 160 private: 161 float k_; 162 }; 163 164 void MinEigenVal::compute(InputArray _src, OutputArray _dst, Stream& stream) 165 { 166 using namespace cv::cuda::device::imgproc; 167 168 GpuMat src = _src.getGpuMat(); 169 170 extractCovData(src, stream); 171 172 _dst.create(src.size(), CV_32FC1); 173 GpuMat dst = _dst.getGpuMat(); 174 175 cornerMinEigenVal_gpu(blockSize_, Dx_, Dy_, dst, borderType_, StreamAccessor::getStream(stream)); 176 } 177 } 178 179 Ptr<cuda::CornernessCriteria> cv::cuda::createHarrisCorner(int srcType, int blockSize, int ksize, double k, int borderType) 180 { 181 return makePtr<Harris>(srcType, blockSize, ksize, k, borderType); 182 } 183 184 Ptr<cuda::CornernessCriteria> cv::cuda::createMinEigenValCorner(int srcType, int blockSize, int ksize, int borderType) 185 { 186 return makePtr<MinEigenVal>(srcType, blockSize, ksize, borderType); 187 } 188 189 #endif /* !defined (HAVE_CUDA) */ 190
