opencv/modules/gpu/src/cuda/match_template.cu

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#include <cufft.h>
#include "internal_shared.hpp"

using namespace cv::gpu;

namespace cv { namespace gpu { namespace imgproc {

texture<unsigned char, 2> imageTex_8U_CCORR;
texture<unsigned char, 2> templTex_8U_CCORR;


__global__ void matchTemplateNaiveKernel_8U_CCORR(int w, int h, 
                                                  DevMem2Df result)
{
    int x = blockDim.x * blockIdx.x + threadIdx.x;
    int y = blockDim.y * blockIdx.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        float sum = 0.f;

        for (int i = 0; i < h; ++i)
            for (int j = 0; j < w; ++j)
                sum += (float)tex2D(imageTex_8U_CCORR, x + j, y + i) * 
                       (float)tex2D(templTex_8U_CCORR, j, i);

        result.ptr(y)[x] = sum;
    }
}


void matchTemplateNaive_8U_CCORR(const DevMem2D image, const DevMem2D templ,
                                 DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(image.cols - templ.cols + 1, threads.x), 
              divUp(image.rows - templ.rows + 1, threads.y));

    cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
    cudaBindTexture2D(0, imageTex_8U_CCORR, image.data, desc, image.cols, image.rows, image.step);
    cudaBindTexture2D(0, templTex_8U_CCORR, templ.data, desc, templ.cols, templ.rows, templ.step);
    imageTex_8U_CCORR.filterMode = cudaFilterModePoint;
    templTex_8U_CCORR.filterMode = cudaFilterModePoint;

    matchTemplateNaiveKernel_8U_CCORR<<<grid, threads>>>(templ.cols, templ.rows, result);
    cudaSafeCall(cudaThreadSynchronize());
    cudaSafeCall(cudaUnbindTexture(imageTex_8U_CCORR));
    cudaSafeCall(cudaUnbindTexture(templTex_8U_CCORR));
}


texture<float, 2> imageTex_32F_CCORR;
texture<float, 2> templTex_32F_CCORR;


__global__ void matchTemplateNaiveKernel_32F_CCORR(int w, int h, 
                                                   DevMem2Df result)
{
    int x = blockDim.x * blockIdx.x + threadIdx.x;
    int y = blockDim.y * blockIdx.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        float sum = 0.f;

        for (int i = 0; i < h; ++i)
            for (int j = 0; j < w; ++j)
                sum += tex2D(imageTex_32F_CCORR, x + j, y + i) * 
                       tex2D(templTex_32F_CCORR, j, i);

        result.ptr(y)[x] = sum;
    }
}


void matchTemplateNaive_32F_CCORR(const DevMem2D image, const DevMem2D templ,
                                  DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(image.cols - templ.cols + 1, threads.x), 
              divUp(image.rows - templ.rows + 1, threads.y));

    cudaChannelFormatDesc desc = cudaCreateChannelDesc<float>();
    cudaBindTexture2D(0, imageTex_32F_CCORR, image.data, desc, image.cols, image.rows, image.step);
    cudaBindTexture2D(0, templTex_32F_CCORR, templ.data, desc, templ.cols, templ.rows, templ.step);
    imageTex_32F_CCORR.filterMode = cudaFilterModePoint;
    templTex_32F_CCORR.filterMode = cudaFilterModePoint;

    matchTemplateNaiveKernel_32F_CCORR<<<grid, threads>>>(templ.cols, templ.rows, result);
    cudaSafeCall(cudaThreadSynchronize());
    cudaSafeCall(cudaUnbindTexture(imageTex_32F_CCORR));
    cudaSafeCall(cudaUnbindTexture(templTex_32F_CCORR));
}


texture<unsigned char, 2> imageTex_8U_SQDIFF;
texture<unsigned char, 2> templTex_8U_SQDIFF;


__global__ void matchTemplateNaiveKernel_8U_SQDIFF(int w, int h, 
                                                   DevMem2Df result)
{
    int x = blockDim.x * blockIdx.x + threadIdx.x;
    int y = blockDim.y * blockIdx.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        float sum = 0.f;
        float delta;

        for (int i = 0; i < h; ++i)
        {
            for (int j = 0; j < w; ++j)
            {
                delta = (float)tex2D(imageTex_8U_SQDIFF, x + j, y + i) - 
                        (float)tex2D(templTex_8U_SQDIFF, j, i);
                sum += delta * delta;
            }
        }

        result.ptr(y)[x] = sum;
    }
}


void matchTemplateNaive_8U_SQDIFF(const DevMem2D image, const DevMem2D templ,
                                  DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(image.cols - templ.cols + 1, threads.x), 
              divUp(image.rows - templ.rows + 1, threads.y));

    cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
    cudaBindTexture2D(0, imageTex_8U_SQDIFF, image.data, desc, image.cols, image.rows, image.step);
    cudaBindTexture2D(0, templTex_8U_SQDIFF, templ.data, desc, templ.cols, templ.rows, templ.step);
    imageTex_8U_SQDIFF.filterMode = cudaFilterModePoint;
    templTex_8U_SQDIFF.filterMode = cudaFilterModePoint;

    matchTemplateNaiveKernel_8U_SQDIFF<<<grid, threads>>>(templ.cols, templ.rows, result);
    cudaSafeCall(cudaThreadSynchronize());
    cudaSafeCall(cudaUnbindTexture(imageTex_8U_SQDIFF));
    cudaSafeCall(cudaUnbindTexture(templTex_8U_SQDIFF));
}


texture<float, 2> imageTex_32F_SQDIFF;
texture<float, 2> templTex_32F_SQDIFF;


__global__ void matchTemplateNaiveKernel_32F_SQDIFF(int w, int h, 
                                                    DevMem2Df result)
{
    int x = blockDim.x * blockIdx.x + threadIdx.x;
    int y = blockDim.y * blockIdx.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        float sum = 0.f;
        float delta;

        for (int i = 0; i < h; ++i)
        {
            for (int j = 0; j < w; ++j)
            {
                delta = tex2D(imageTex_32F_SQDIFF, x + j, y + i) - 
                        tex2D(templTex_32F_SQDIFF, j, i);
                sum += delta * delta;
            }
        }

        result.ptr(y)[x] = sum;
    }
}


void matchTemplateNaive_32F_SQDIFF(const DevMem2D image, const DevMem2D templ,
                                   DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(image.cols - templ.cols + 1, threads.x), 
              divUp(image.rows - templ.rows + 1, threads.y));

    cudaChannelFormatDesc desc = cudaCreateChannelDesc<float>();
    cudaBindTexture2D(0, imageTex_32F_SQDIFF, image.data, desc, image.cols, image.rows, image.step);
    cudaBindTexture2D(0, templTex_32F_SQDIFF, templ.data, desc, templ.cols, templ.rows, templ.step);
    imageTex_8U_SQDIFF.filterMode = cudaFilterModePoint;
    templTex_8U_SQDIFF.filterMode = cudaFilterModePoint;

    matchTemplateNaiveKernel_32F_SQDIFF<<<grid, threads>>>(templ.cols, templ.rows, result);
    cudaSafeCall(cudaThreadSynchronize());
    cudaSafeCall(cudaUnbindTexture(imageTex_32F_SQDIFF));
    cudaSafeCall(cudaUnbindTexture(templTex_32F_SQDIFF));
}


__global__ void multiplyAndNormalizeSpectsKernel(
        int n, float scale, const cufftComplex* a, 
        const cufftComplex* b, cufftComplex* c)
{
    int x = blockIdx.x * blockDim.x + threadIdx.x;    
    if (x < n) 
    {
        cufftComplex v = cuCmulf(a[x], cuConjf(b[x]));
        c[x] = make_cuFloatComplex(cuCrealf(v) * scale, cuCimagf(v) * scale);
    }
}


void multiplyAndNormalizeSpects(int n, float scale, const cufftComplex* a, 
                                const cufftComplex* b, cufftComplex* c)
{
    dim3 threads(256);
    dim3 grid(divUp(n, threads.x));
    multiplyAndNormalizeSpectsKernel<<<grid, threads>>>(n, scale, a, b, c);
    cudaSafeCall(cudaThreadSynchronize());
}


__global__ void matchTemplatePreparedKernel_8U_SQDIFF(
        int w, int h, const PtrStep_<unsigned long long> image_sqsum, 
        unsigned int templ_sqsum, DevMem2Df result)
{
    const int x = blockIdx.x * blockDim.x + threadIdx.x;
    const int y = blockIdx.y * blockDim.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        float image_sqsum_ = (float)(
                (image_sqsum.ptr(y + h)[x + w] - image_sqsum.ptr(y)[x + w]) -
                (image_sqsum.ptr(y + h)[x] - image_sqsum.ptr(y)[x]));
        float ccorr = result.ptr(y)[x];
        result.ptr(y)[x] = image_sqsum_ - 2.f * ccorr + templ_sqsum;
    }
}


void matchTemplatePrepared_8U_SQDIFF(
        int w, int h, const DevMem2D_<unsigned long long> image_sqsum, 
        unsigned int templ_sqsum, DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    matchTemplatePreparedKernel_8U_SQDIFF<<<grid, threads>>>(
            w, h, image_sqsum, templ_sqsum, result);
    cudaSafeCall(cudaThreadSynchronize());
}


__global__ void matchTemplatePreparedKernel_8U_SQDIFF_NORMED(
        int w, int h, const PtrStep_<unsigned long long> image_sqsum, 
        unsigned int templ_sqsum, DevMem2Df result)
{
    const int x = blockIdx.x * blockDim.x + threadIdx.x;
    const int y = blockIdx.y * blockDim.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        float image_sqsum_ = (float)(
                (image_sqsum.ptr(y + h)[x + w] - image_sqsum.ptr(y)[x + w]) -
                (image_sqsum.ptr(y + h)[x] - image_sqsum.ptr(y)[x]));
        float ccorr = result.ptr(y)[x];
        result.ptr(y)[x] = (image_sqsum_ - 2.f * ccorr + templ_sqsum) * 
                           rsqrtf(image_sqsum_ * templ_sqsum);
    }
}


void matchTemplatePrepared_8U_SQDIFF_NORMED(
        int w, int h, const DevMem2D_<unsigned long long> image_sqsum, 
        unsigned int templ_sqsum, DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    matchTemplatePreparedKernel_8U_SQDIFF_NORMED<<<grid, threads>>>(
            w, h, image_sqsum, templ_sqsum, result);
    cudaSafeCall(cudaThreadSynchronize());
}


__global__ void matchTemplatePreparedKernel_8U_CCOEFF(
        int w, int h, float templ_sum_scale, 
        const PtrStep_<unsigned int> image_sum, DevMem2Df result)
{
    const int x = blockIdx.x * blockDim.x + threadIdx.x;
    const int y = blockIdx.y * blockDim.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        float ccorr = result.ptr(y)[x];
        float image_sum_ = (float)(
                (image_sum.ptr(y + h)[x + w] - image_sum.ptr(y)[x + w]) -
                (image_sum.ptr(y + h)[x] - image_sum.ptr(y)[x]));
        result.ptr(y)[x] = ccorr - image_sum_ * templ_sum_scale;
    }
}


void matchTemplatePrepared_8U_CCOEFF(
        int w, int h, const DevMem2D_<unsigned int> image_sum,
        unsigned int templ_sum, DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    matchTemplatePreparedKernel_8U_CCOEFF<<<grid, threads>>>(
            w, h, (float)templ_sum / (w * h), image_sum, result);
    cudaSafeCall(cudaThreadSynchronize());
}


__global__ void matchTemplatePreparedKernel_8U_CCOEFF_NORMED(
        int w, int h, float weight, 
        float templ_sum_scale, float templ_sqsum_scale,
        const PtrStep_<unsigned int> image_sum, 
        const PtrStep_<unsigned long long> image_sqsum,
        DevMem2Df result)
{
    const int x = blockIdx.x * blockDim.x + threadIdx.x;
    const int y = blockIdx.y * blockDim.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        float ccorr = result.ptr(y)[x];
        float image_sum_ = (float)(
                (image_sum.ptr(y + h)[x + w] - image_sum.ptr(y)[x + w]) -
                (image_sum.ptr(y + h)[x] - image_sum.ptr(y)[x]));
        float image_sqsum_ = (float)(
                (image_sqsum.ptr(y + h)[x + w] - image_sqsum.ptr(y)[x + w]) -
                (image_sqsum.ptr(y + h)[x] - image_sqsum.ptr(y)[x]));
        result.ptr(y)[x] = (ccorr - image_sum_ * templ_sum_scale) * 
                           rsqrtf(templ_sqsum_scale * (image_sqsum_ - weight * image_sum_ * image_sum_));
    }
}


void matchTemplatePrepared_8U_CCOEFF_NORMED(
            int w, int h, const DevMem2D_<unsigned int> image_sum, 
            const DevMem2D_<unsigned long long> image_sqsum,
            unsigned int templ_sum, unsigned int templ_sqsum,
            DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));

    float weight = 1.f / (w * h);
    float templ_sum_scale = templ_sum * weight;
    float templ_sqsum_scale = templ_sqsum - templ_sum * templ_sum * weight;
    matchTemplatePreparedKernel_8U_CCOEFF_NORMED<<<grid, threads>>>(
            w, h, weight, templ_sum_scale, templ_sqsum_scale, 
            image_sum, image_sqsum, result);
    cudaSafeCall(cudaThreadSynchronize());
}


__global__ void normalizeKernel_8U(
        int w, int h, const PtrStep_<unsigned long long> image_sqsum, 
        unsigned int templ_sqsum, DevMem2Df result)
{
    const int x = blockIdx.x * blockDim.x + threadIdx.x;
    const int y = blockIdx.y * blockDim.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        float image_sqsum_ = (float)(
                (image_sqsum.ptr(y + h)[x + w] - image_sqsum.ptr(y)[x + w]) -
                (image_sqsum.ptr(y + h)[x] - image_sqsum.ptr(y)[x]));
        result.ptr(y)[x] *= rsqrtf(image_sqsum_ * templ_sqsum);
    }
}


void normalize_8U(int w, int h, const DevMem2D_<unsigned long long> image_sqsum, 
                  unsigned int templ_sqsum, DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    normalizeKernel_8U<<<grid, threads>>>(w, h, image_sqsum, templ_sqsum, result);
    cudaSafeCall(cudaThreadSynchronize());
}


}}}