opencv/modules/gpuimgproc/src/match_template.cpp

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#include "precomp.hpp"

using namespace cv;
using namespace cv::gpu;

#if !defined (HAVE_CUDA) || !defined (HAVE_OPENCV_GPUARITHM) || defined (CUDA_DISABLER)

void cv::gpu::matchTemplate(const GpuMat&, const GpuMat&, GpuMat&, int, Stream&) { throw_no_cuda(); }

#else

namespace cv { namespace gpu { namespace cudev
{
    namespace match_template
    {
        void matchTemplateNaive_CCORR_8U(const PtrStepSzb image, const PtrStepSzb templ, PtrStepSzf result, int cn, cudaStream_t stream);
        void matchTemplateNaive_CCORR_32F(const PtrStepSzb image, const PtrStepSzb templ, PtrStepSzf result, int cn, cudaStream_t stream);

        void matchTemplateNaive_SQDIFF_8U(const PtrStepSzb image, const PtrStepSzb templ, PtrStepSzf result, int cn, cudaStream_t stream);
        void matchTemplateNaive_SQDIFF_32F(const PtrStepSzb image, const PtrStepSzb templ, PtrStepSzf result, int cn, cudaStream_t stream);

        void matchTemplatePrepared_SQDIFF_8U(int w, int h, const PtrStepSz<unsigned long long> image_sqsum, unsigned long long templ_sqsum, PtrStepSzf result,
            int cn, cudaStream_t stream);

        void matchTemplatePrepared_SQDIFF_NORMED_8U(int w, int h, const PtrStepSz<unsigned long long> image_sqsum, unsigned long long templ_sqsum, PtrStepSzf result,
            int cn, cudaStream_t stream);

        void matchTemplatePrepared_CCOFF_8U(int w, int h, const PtrStepSz<unsigned int> image_sum, unsigned int templ_sum, PtrStepSzf result, cudaStream_t stream);
        void matchTemplatePrepared_CCOFF_8UC2(
            int w, int h,
            const PtrStepSz<unsigned int> image_sum_r,
            const PtrStepSz<unsigned int> image_sum_g,
            unsigned int templ_sum_r,
            unsigned int templ_sum_g,
            PtrStepSzf result, cudaStream_t stream);
        void matchTemplatePrepared_CCOFF_8UC3(
                int w, int h,
                const PtrStepSz<unsigned int> image_sum_r,
                const PtrStepSz<unsigned int> image_sum_g,
                const PtrStepSz<unsigned int> image_sum_b,
                unsigned int templ_sum_r,
                unsigned int templ_sum_g,
                unsigned int templ_sum_b,
                PtrStepSzf result, cudaStream_t stream);
        void matchTemplatePrepared_CCOFF_8UC4(
                int w, int h,
                const PtrStepSz<unsigned int> image_sum_r,
                const PtrStepSz<unsigned int> image_sum_g,
                const PtrStepSz<unsigned int> image_sum_b,
                const PtrStepSz<unsigned int> image_sum_a,
                unsigned int templ_sum_r,
                unsigned int templ_sum_g,
                unsigned int templ_sum_b,
                unsigned int templ_sum_a,
                PtrStepSzf result, cudaStream_t stream);


        void matchTemplatePrepared_CCOFF_NORMED_8U(
                int w, int h, const PtrStepSz<unsigned int> image_sum,
                const PtrStepSz<unsigned long long> image_sqsum,
                unsigned int templ_sum, unsigned long long templ_sqsum,
                PtrStepSzf result, cudaStream_t stream);
        void matchTemplatePrepared_CCOFF_NORMED_8UC2(
                int w, int h,
                const PtrStepSz<unsigned int> image_sum_r, const PtrStepSz<unsigned long long> image_sqsum_r,
                const PtrStepSz<unsigned int> image_sum_g, const PtrStepSz<unsigned long long> image_sqsum_g,
                unsigned int templ_sum_r, unsigned long long templ_sqsum_r,
                unsigned int templ_sum_g, unsigned long long templ_sqsum_g,
                PtrStepSzf result, cudaStream_t stream);
        void matchTemplatePrepared_CCOFF_NORMED_8UC3(
                int w, int h,
                const PtrStepSz<unsigned int> image_sum_r, const PtrStepSz<unsigned long long> image_sqsum_r,
                const PtrStepSz<unsigned int> image_sum_g, const PtrStepSz<unsigned long long> image_sqsum_g,
                const PtrStepSz<unsigned int> image_sum_b, const PtrStepSz<unsigned long long> image_sqsum_b,
                unsigned int templ_sum_r, unsigned long long templ_sqsum_r,
                unsigned int templ_sum_g, unsigned long long templ_sqsum_g,
                unsigned int templ_sum_b, unsigned long long templ_sqsum_b,
                PtrStepSzf result, cudaStream_t stream);
        void matchTemplatePrepared_CCOFF_NORMED_8UC4(
                int w, int h,
                const PtrStepSz<unsigned int> image_sum_r, const PtrStepSz<unsigned long long> image_sqsum_r,
                const PtrStepSz<unsigned int> image_sum_g, const PtrStepSz<unsigned long long> image_sqsum_g,
                const PtrStepSz<unsigned int> image_sum_b, const PtrStepSz<unsigned long long> image_sqsum_b,
                const PtrStepSz<unsigned int> image_sum_a, const PtrStepSz<unsigned long long> image_sqsum_a,
                unsigned int templ_sum_r, unsigned long long templ_sqsum_r,
                unsigned int templ_sum_g, unsigned long long templ_sqsum_g,
                unsigned int templ_sum_b, unsigned long long templ_sqsum_b,
                unsigned int templ_sum_a, unsigned long long templ_sqsum_a,
                PtrStepSzf result, cudaStream_t stream);

        void normalize_8U(int w, int h, const PtrStepSz<unsigned long long> image_sqsum,
                          unsigned long long templ_sqsum, PtrStepSzf result, int cn, cudaStream_t stream);

        void extractFirstChannel_32F(const PtrStepSzb image, PtrStepSzf result, int cn, cudaStream_t stream);
    }
}}}

using namespace ::cv::gpu::cudev::match_template;

namespace
{

    // Evaluates optimal template's area threshold. If
    // template's area is less  than the threshold, we use naive match
    // template version, otherwise FFT-based (if available)
    int getTemplateThreshold(int method, int depth)
    {
        switch (method)
        {
        case cv::TM_CCORR:
            if (depth == CV_32F) return 250;
            if (depth == CV_8U) return 300;
            break;
        case cv::TM_SQDIFF:
            if (depth == CV_8U) return 300;
            break;
        }
        CV_Error(cv::Error::StsBadArg, "getTemplateThreshold: unsupported match template mode");
        return 0;
    }


    void matchTemplate_CCORR_32F(
            const GpuMat& image, const GpuMat& templ, GpuMat& result, MatchTemplateBuf &buf, Stream& stream)
    {
        result.create(image.rows - templ.rows + 1, image.cols - templ.cols + 1, CV_32F);
        if (templ.size().area() < getTemplateThreshold(cv::TM_CCORR, CV_32F))
        {
            matchTemplateNaive_CCORR_32F(image, templ, result, image.channels(), StreamAccessor::getStream(stream));
            return;
        }

        Ptr<gpu::Convolution> conv = gpu::createConvolution(buf.user_block_size);

        if (image.channels() == 1)
        {
            conv->convolve(image.reshape(1), templ.reshape(1), result, true, stream);
        }
        else
        {
            GpuMat result_;
            conv->convolve(image.reshape(1), templ.reshape(1), result_, true, stream);
            extractFirstChannel_32F(result_, result, image.channels(), StreamAccessor::getStream(stream));
        }
    }


    void matchTemplate_CCORR_8U(
            const GpuMat& image, const GpuMat& templ, GpuMat& result, MatchTemplateBuf &buf, Stream& stream)
    {
        if (templ.size().area() < getTemplateThreshold(cv::TM_CCORR, CV_8U))
        {
            result.create(image.rows - templ.rows + 1, image.cols - templ.cols + 1, CV_32F);
            matchTemplateNaive_CCORR_8U(image, templ, result, image.channels(), StreamAccessor::getStream(stream));
            return;
        }

        image.convertTo(buf.imagef, CV_32F, stream);
        templ.convertTo(buf.templf, CV_32F, stream);

        matchTemplate_CCORR_32F(buf.imagef, buf.templf, result, buf, stream);
    }


    void matchTemplate_CCORR_NORMED_8U(
            const GpuMat& image, const GpuMat& templ, GpuMat& result, MatchTemplateBuf &buf, Stream& stream)
    {
        matchTemplate_CCORR_8U(image, templ, result, buf, stream);

        buf.image_sqsums.resize(1);
        gpu::sqrIntegral(image.reshape(1), buf.image_sqsums[0], stream);

        unsigned long long templ_sqsum = (unsigned long long)gpu::sqrSum(templ.reshape(1))[0];
        normalize_8U(templ.cols, templ.rows, buf.image_sqsums[0], templ_sqsum, result, image.channels(), StreamAccessor::getStream(stream));
    }


    void matchTemplate_SQDIFF_32F(
            const GpuMat& image, const GpuMat& templ, GpuMat& result, MatchTemplateBuf &buf, Stream& stream)
    {
        (void)buf;
        result.create(image.rows - templ.rows + 1, image.cols - templ.cols + 1, CV_32F);
        matchTemplateNaive_SQDIFF_32F(image, templ, result, image.channels(), StreamAccessor::getStream(stream));
    }


    void matchTemplate_SQDIFF_8U(
            const GpuMat& image, const GpuMat& templ, GpuMat& result, MatchTemplateBuf &buf, Stream& stream)
    {
        if (templ.size().area() < getTemplateThreshold(cv::TM_SQDIFF, CV_8U))
        {
            result.create(image.rows - templ.rows + 1, image.cols - templ.cols + 1, CV_32F);
            matchTemplateNaive_SQDIFF_8U(image, templ, result, image.channels(), StreamAccessor::getStream(stream));
            return;
        }

        buf.image_sqsums.resize(1);
        gpu::sqrIntegral(image.reshape(1), buf.image_sqsums[0], stream);

        unsigned long long templ_sqsum = (unsigned long long)gpu::sqrSum(templ.reshape(1))[0];

        matchTemplate_CCORR_8U(image, templ, result, buf, stream);
        matchTemplatePrepared_SQDIFF_8U(templ.cols, templ.rows, buf.image_sqsums[0], templ_sqsum, result, image.channels(), StreamAccessor::getStream(stream));
    }


    void matchTemplate_SQDIFF_NORMED_8U(
            const GpuMat& image, const GpuMat& templ, GpuMat& result, MatchTemplateBuf &buf, Stream& stream)
    {
        buf.image_sqsums.resize(1);
        gpu::sqrIntegral(image.reshape(1), buf.image_sqsums[0], stream);

        unsigned long long templ_sqsum = (unsigned long long)gpu::sqrSum(templ.reshape(1))[0];

        matchTemplate_CCORR_8U(image, templ, result, buf, stream);
        matchTemplatePrepared_SQDIFF_NORMED_8U(templ.cols, templ.rows, buf.image_sqsums[0], templ_sqsum, result, image.channels(), StreamAccessor::getStream(stream));
    }


    void matchTemplate_CCOFF_8U(
            const GpuMat& image, const GpuMat& templ, GpuMat& result, MatchTemplateBuf &buf, Stream& stream)
    {
        matchTemplate_CCORR_8U(image, templ, result, buf, stream);

        if (image.channels() == 1)
        {
            buf.image_sums.resize(1);
            gpu::integral(image, buf.image_sums[0], stream);

            unsigned int templ_sum = (unsigned int)gpu::sum(templ)[0];
            matchTemplatePrepared_CCOFF_8U(templ.cols, templ.rows, buf.image_sums[0], templ_sum, result, StreamAccessor::getStream(stream));
        }
        else
        {
            gpu::split(image, buf.images);
            buf.image_sums.resize(buf.images.size());
            for (int i = 0; i < image.channels(); ++i)
                gpu::integral(buf.images[i], buf.image_sums[i], stream);

            Scalar templ_sum = gpu::sum(templ);

            switch (image.channels())
            {
            case 2:
                matchTemplatePrepared_CCOFF_8UC2(
                        templ.cols, templ.rows, buf.image_sums[0], buf.image_sums[1],
                        (unsigned int)templ_sum[0], (unsigned int)templ_sum[1],
                        result, StreamAccessor::getStream(stream));
                break;
            case 3:
                matchTemplatePrepared_CCOFF_8UC3(
                        templ.cols, templ.rows, buf.image_sums[0], buf.image_sums[1], buf.image_sums[2],
                        (unsigned int)templ_sum[0], (unsigned int)templ_sum[1], (unsigned int)templ_sum[2],
                        result, StreamAccessor::getStream(stream));
                break;
            case 4:
                matchTemplatePrepared_CCOFF_8UC4(
                        templ.cols, templ.rows, buf.image_sums[0], buf.image_sums[1], buf.image_sums[2], buf.image_sums[3],
                        (unsigned int)templ_sum[0], (unsigned int)templ_sum[1], (unsigned int)templ_sum[2],
                        (unsigned int)templ_sum[3], result, StreamAccessor::getStream(stream));
                break;
            default:
                CV_Error(cv::Error::StsBadArg, "matchTemplate: unsupported number of channels");
            }
        }
    }


    void matchTemplate_CCOFF_NORMED_8U(
            const GpuMat& image, const GpuMat& templ, GpuMat& result, MatchTemplateBuf &buf, Stream& stream)
    {
        image.convertTo(buf.imagef, CV_32F, stream);
        templ.convertTo(buf.templf, CV_32F, stream);

        matchTemplate_CCORR_32F(buf.imagef, buf.templf, result, buf, stream);

        if (image.channels() == 1)
        {
            buf.image_sums.resize(1);
            gpu::integral(image, buf.image_sums[0], stream);
            buf.image_sqsums.resize(1);
            gpu::sqrIntegral(image, buf.image_sqsums[0], stream);

            unsigned int templ_sum = (unsigned int)gpu::sum(templ)[0];
            unsigned long long templ_sqsum = (unsigned long long)gpu::sqrSum(templ)[0];

            matchTemplatePrepared_CCOFF_NORMED_8U(
                    templ.cols, templ.rows, buf.image_sums[0], buf.image_sqsums[0],
                    templ_sum, templ_sqsum, result, StreamAccessor::getStream(stream));
        }
        else
        {
            gpu::split(image, buf.images);
            buf.image_sums.resize(buf.images.size());
            buf.image_sqsums.resize(buf.images.size());
            for (int i = 0; i < image.channels(); ++i)
            {
                gpu::integral(buf.images[i], buf.image_sums[i], stream);
                gpu::sqrIntegral(buf.images[i], buf.image_sqsums[i], stream);
            }

            Scalar templ_sum = gpu::sum(templ);
            Scalar templ_sqsum = gpu::sqrSum(templ);

            switch (image.channels())
            {
            case 2:
                matchTemplatePrepared_CCOFF_NORMED_8UC2(
                        templ.cols, templ.rows,
                        buf.image_sums[0], buf.image_sqsums[0],
                        buf.image_sums[1], buf.image_sqsums[1],
                        (unsigned int)templ_sum[0], (unsigned long long)templ_sqsum[0],
                        (unsigned int)templ_sum[1], (unsigned long long)templ_sqsum[1],
                        result, StreamAccessor::getStream(stream));
                break;
            case 3:
                matchTemplatePrepared_CCOFF_NORMED_8UC3(
                        templ.cols, templ.rows,
                        buf.image_sums[0], buf.image_sqsums[0],
                        buf.image_sums[1], buf.image_sqsums[1],
                        buf.image_sums[2], buf.image_sqsums[2],
                        (unsigned int)templ_sum[0], (unsigned long long)templ_sqsum[0],
                        (unsigned int)templ_sum[1], (unsigned long long)templ_sqsum[1],
                        (unsigned int)templ_sum[2], (unsigned long long)templ_sqsum[2],
                        result, StreamAccessor::getStream(stream));
                break;
            case 4:
                matchTemplatePrepared_CCOFF_NORMED_8UC4(
                        templ.cols, templ.rows,
                        buf.image_sums[0], buf.image_sqsums[0],
                        buf.image_sums[1], buf.image_sqsums[1],
                        buf.image_sums[2], buf.image_sqsums[2],
                        buf.image_sums[3], buf.image_sqsums[3],
                        (unsigned int)templ_sum[0], (unsigned long long)templ_sqsum[0],
                        (unsigned int)templ_sum[1], (unsigned long long)templ_sqsum[1],
                        (unsigned int)templ_sum[2], (unsigned long long)templ_sqsum[2],
                        (unsigned int)templ_sum[3], (unsigned long long)templ_sqsum[3],
                        result, StreamAccessor::getStream(stream));
                break;
            default:
                CV_Error(cv::Error::StsBadArg, "matchTemplate: unsupported number of channels");
            }
        }
    }
}


void cv::gpu::matchTemplate(const GpuMat& image, const GpuMat& templ, GpuMat& result, int method, Stream& stream)
{
    MatchTemplateBuf buf;
    matchTemplate(image, templ, result, method, buf, stream);
}


void cv::gpu::matchTemplate(
        const GpuMat& image, const GpuMat& templ, GpuMat& result, int method,
        MatchTemplateBuf &buf, Stream& stream)
{
    CV_Assert(image.type() == templ.type());
    CV_Assert(image.cols >= templ.cols && image.rows >= templ.rows);

    typedef void (*Caller)(const GpuMat&, const GpuMat&, GpuMat&, MatchTemplateBuf&, Stream& stream);

    static const Caller callers8U[] = { ::matchTemplate_SQDIFF_8U, ::matchTemplate_SQDIFF_NORMED_8U,
                                        ::matchTemplate_CCORR_8U, ::matchTemplate_CCORR_NORMED_8U,
                                        ::matchTemplate_CCOFF_8U, ::matchTemplate_CCOFF_NORMED_8U };
    static const Caller callers32F[] = { ::matchTemplate_SQDIFF_32F, 0,
                                         ::matchTemplate_CCORR_32F, 0, 0, 0 };

    const Caller* callers = 0;
    switch (image.depth())
    {
        case CV_8U: callers = callers8U; break;
        case CV_32F: callers = callers32F; break;
        default: CV_Error(cv::Error::StsBadArg, "matchTemplate: unsupported data type");
    }

    Caller caller = callers[method];
    CV_Assert(caller);
    caller(image, templ, result, buf, stream);
}

#endif