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

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#include "internal_shared.hpp"
#include "opencv2/gpu/device/vec_math.hpp"

using namespace cv::gpu;
using namespace cv::gpu::device;

namespace cv { namespace gpu { namespace imgproc {

__device__ __forceinline__ float sum(float v) { return v; }
__device__ __forceinline__ float sum(float2 v) { return v.x + v.y; }
__device__ __forceinline__ float sum(float3 v) { return v.x + v.y + v.z; }
__device__ __forceinline__ float sum(float4 v) { return v.x + v.y + v.z + v.w; }

__device__ __forceinline__ float first(float v) { return v; }
__device__ __forceinline__ float first(float2 v) { return v.x; }
__device__ __forceinline__ float first(float3 v) { return v.x; }
__device__ __forceinline__ float first(float4 v) { return v.x; }

__device__ __forceinline__ float mul(float a, float b) { return a * b; }
__device__ __forceinline__ float2 mul(float2 a, float2 b) { return make_float2(a.x * b.x, a.y * b.y); }
__device__ __forceinline__ float3 mul(float3 a, float3 b) { return make_float3(a.x * b.x, a.y * b.y, a.z * b.z); }
__device__ __forceinline__ float4 mul(float4 a, float4 b) { return make_float4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); }

__device__ __forceinline__ float mul(uchar a, uchar b) { return a * b; }
__device__ __forceinline__ float2 mul(uchar2 a, uchar2 b) { return make_float2(a.x * b.x, a.y * b.y); }
__device__ __forceinline__ float3 mul(uchar3 a, uchar3 b) { return make_float3(a.x * b.x, a.y * b.y, a.z * b.z); }
__device__ __forceinline__ float4 mul(uchar4 a, uchar4 b) { return make_float4(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); }

__device__ __forceinline__ float sub(float a, float b) { return a - b; }
__device__ __forceinline__ float2 sub(float2 a, float2 b) { return make_float2(a.x - b.x, a.y - b.y); }
__device__ __forceinline__ float3 sub(float3 a, float3 b) { return make_float3(a.x - b.x, a.y - b.y, a.z - b.z); }
__device__ __forceinline__ float4 sub(float4 a, float4 b) { return make_float4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); }

__device__ __forceinline__ float sub(uchar a, uchar b) { return a - b; }
__device__ __forceinline__ float2 sub(uchar2 a, uchar2 b) { return make_float2(a.x - b.x, a.y - b.y); }
__device__ __forceinline__ float3 sub(uchar3 a, uchar3 b) { return make_float3(a.x - b.x, a.y - b.y, a.z - b.z); }
__device__ __forceinline__ float4 sub(uchar4 a, uchar4 b) { return make_float4(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w); }


template <typename T, int cn>
__global__ void matchTemplateNaiveKernel_CCORR(
        int w, int h, const PtrStep image, const PtrStep templ, 
        DevMem2Df result)
{
    typedef typename TypeVec<T, cn>::vec_type Type;
    typedef typename TypeVec<float, cn>::vec_type Typef;

    int x = blockDim.x * blockIdx.x + threadIdx.x;
    int y = blockDim.y * blockIdx.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        Typef res = VecTraits<Typef>::all(0);

        for (int i = 0; i < h; ++i)
        {
            const Type* image_ptr = (const Type*)image.ptr(y + i);
            const Type* templ_ptr = (const Type*)templ.ptr(i);
            for (int j = 0; j < w; ++j)
                res = res + mul(image_ptr[x + j], templ_ptr[j]);
        }

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


void matchTemplateNaive_CCORR_32F(const DevMem2D image, const DevMem2D templ,
                                  DevMem2Df result, int cn)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));

    switch (cn)
    {
    case 1:
        matchTemplateNaiveKernel_CCORR<float, 1><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 2:
        matchTemplateNaiveKernel_CCORR<float, 2><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 3:
        matchTemplateNaiveKernel_CCORR<float, 3><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 4:
        matchTemplateNaiveKernel_CCORR<float, 4><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    }
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


void matchTemplateNaive_CCORR_8U(const DevMem2D image, const DevMem2D templ,
                                 DevMem2Df result, int cn)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));

    switch (cn)
    {
    case 1:
        matchTemplateNaiveKernel_CCORR<uchar, 1><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 2:
        matchTemplateNaiveKernel_CCORR<uchar, 2><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 3:
        matchTemplateNaiveKernel_CCORR<uchar, 3><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 4:
        matchTemplateNaiveKernel_CCORR<uchar, 4><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    }
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


template <typename T, int cn>
__global__ void matchTemplateNaiveKernel_SQDIFF(
        int w, int h, const PtrStep image, const PtrStep templ, 
        DevMem2Df result)
{
    typedef typename TypeVec<T, cn>::vec_type Type;
    typedef typename TypeVec<float, cn>::vec_type Typef;

    int x = blockDim.x * blockIdx.x + threadIdx.x;
    int y = blockDim.y * blockIdx.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        Typef res = VecTraits<Typef>::all(0);
        Typef delta;

        for (int i = 0; i < h; ++i)
        {
            const Type* image_ptr = (const Type*)image.ptr(y + i);
            const Type* templ_ptr = (const Type*)templ.ptr(i);
            for (int j = 0; j < w; ++j)
            {
                delta = sub(image_ptr[x + j], templ_ptr[j]);
                res = res + delta * delta;
            }
        }

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


void matchTemplateNaive_SQDIFF_32F(const DevMem2D image, const DevMem2D templ,
                                   DevMem2Df result, int cn)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));

    switch (cn)
    {
    case 1:
        matchTemplateNaiveKernel_SQDIFF<float, 1><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 2:
        matchTemplateNaiveKernel_SQDIFF<float, 2><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 3:
        matchTemplateNaiveKernel_SQDIFF<float, 3><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 4:
        matchTemplateNaiveKernel_SQDIFF<float, 4><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    }
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


void matchTemplateNaive_SQDIFF_8U(const DevMem2D image, const DevMem2D templ,
                                  DevMem2Df result, int cn)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));

    switch (cn)
    {
    case 1:
        matchTemplateNaiveKernel_SQDIFF<uchar, 1><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 2:
        matchTemplateNaiveKernel_SQDIFF<uchar, 2><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 3:
        matchTemplateNaiveKernel_SQDIFF<uchar, 3><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    case 4:
        matchTemplateNaiveKernel_SQDIFF<uchar, 4><<<grid, threads>>>(
                templ.cols, templ.rows, image, templ, result);
        break;
    }
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


template <int cn>
__global__ void matchTemplatePreparedKernel_SQDIFF_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) * cn] - image_sqsum.ptr(y)[(x + w) * cn]) -
                (image_sqsum.ptr(y + h)[x * cn] - image_sqsum.ptr(y)[x * cn]));
        float ccorr = result.ptr(y)[x];
        result.ptr(y)[x] = image_sqsum_ - 2.f * ccorr + templ_sqsum;
    }
}


void matchTemplatePrepared_SQDIFF_8U(
        int w, int h, const DevMem2D_<unsigned long long> image_sqsum, 
        unsigned int templ_sqsum, DevMem2Df result, int cn)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    switch (cn)
    {
    case 1:
        matchTemplatePreparedKernel_SQDIFF_8U<1><<<grid, threads>>>(
                w, h, image_sqsum, templ_sqsum, result);
        break;
    case 2:
        matchTemplatePreparedKernel_SQDIFF_8U<2><<<grid, threads>>>(
                w, h, image_sqsum, templ_sqsum, result);
        break;
    case 3:
        matchTemplatePreparedKernel_SQDIFF_8U<3><<<grid, threads>>>(
                w, h, image_sqsum, templ_sqsum, result);
        break;
    case 4:
        matchTemplatePreparedKernel_SQDIFF_8U<4><<<grid, threads>>>(
                w, h, image_sqsum, templ_sqsum, result);
        break;
    }
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


template <int cn>
__global__ void matchTemplatePreparedKernel_SQDIFF_NORMED_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) * cn] - image_sqsum.ptr(y)[(x + w) * cn]) -
                (image_sqsum.ptr(y + h)[x * cn] - image_sqsum.ptr(y)[x * cn]));
        float ccorr = result.ptr(y)[x];
        result.ptr(y)[x] = min(1.f, (image_sqsum_ - 2.f * ccorr + templ_sqsum) * 
                           rsqrtf(image_sqsum_ * templ_sqsum));
    }
}


void matchTemplatePrepared_SQDIFF_NORMED_8U(
        int w, int h, const DevMem2D_<unsigned long long> image_sqsum, 
        unsigned int templ_sqsum, DevMem2Df result, int cn)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    switch (cn)
    {
    case 1:
        matchTemplatePreparedKernel_SQDIFF_NORMED_8U<1><<<grid, threads>>>(
                w, h, image_sqsum, templ_sqsum, result);
        break;
    case 2:
        matchTemplatePreparedKernel_SQDIFF_NORMED_8U<2><<<grid, threads>>>(
                w, h, image_sqsum, templ_sqsum, result);
        break;
    case 3:
        matchTemplatePreparedKernel_SQDIFF_NORMED_8U<3><<<grid, threads>>>(
                w, h, image_sqsum, templ_sqsum, result);
        break;
    case 4:
        matchTemplatePreparedKernel_SQDIFF_NORMED_8U<4><<<grid, threads>>>(
                w, h, image_sqsum, templ_sqsum, result);
        break;
    }
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


__global__ void matchTemplatePreparedKernel_CCOFF_8U(
        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 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 ccorr = result.ptr(y)[x];
        result.ptr(y)[x] = ccorr - image_sum_ * templ_sum_scale;
    }
}


void matchTemplatePrepared_CCOFF_8U(
        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_CCOFF_8U<<<grid, threads>>>(
            w, h, (float)templ_sum / (w * h), image_sum, result);
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


__global__ void matchTemplatePreparedKernel_CCOFF_8UC2(
        int w, int h, float templ_sum_scale_r, float templ_sum_scale_g,
        const PtrStep_<unsigned int> image_sum_r,
        const PtrStep_<unsigned int> image_sum_g,
        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_sum_r_ = (float)(
                (image_sum_r.ptr(y + h)[x + w] - image_sum_r.ptr(y)[x + w]) -
                (image_sum_r.ptr(y + h)[x] - image_sum_r.ptr(y)[x]));
        float image_sum_g_ = (float)(
                (image_sum_g.ptr(y + h)[x + w] - image_sum_g.ptr(y)[x + w]) -
                (image_sum_g.ptr(y + h)[x] - image_sum_g.ptr(y)[x]));
        float ccorr = result.ptr(y)[x];
        result.ptr(y)[x] = ccorr - image_sum_r_ * templ_sum_scale_r 
                                 - image_sum_g_ * templ_sum_scale_g;
    }
}


void matchTemplatePrepared_CCOFF_8UC2(
        int w, int h, 
        const DevMem2D_<unsigned int> image_sum_r, 
        const DevMem2D_<unsigned int> image_sum_g,
        unsigned int templ_sum_r, unsigned int templ_sum_g, 
        DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    matchTemplatePreparedKernel_CCOFF_8UC2<<<grid, threads>>>(
            w, h, (float)templ_sum_r / (w * h), (float)templ_sum_g / (w * h),
            image_sum_r, image_sum_g, result);
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


__global__ void matchTemplatePreparedKernel_CCOFF_8UC3(
        int w, int h, 
        float templ_sum_scale_r, 
        float templ_sum_scale_g,
        float templ_sum_scale_b,
        const PtrStep_<unsigned int> image_sum_r,
        const PtrStep_<unsigned int> image_sum_g,
        const PtrStep_<unsigned int> image_sum_b,
        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_sum_r_ = (float)(
                (image_sum_r.ptr(y + h)[x + w] - image_sum_r.ptr(y)[x + w]) -
                (image_sum_r.ptr(y + h)[x] - image_sum_r.ptr(y)[x]));
        float image_sum_g_ = (float)(
                (image_sum_g.ptr(y + h)[x + w] - image_sum_g.ptr(y)[x + w]) -
                (image_sum_g.ptr(y + h)[x] - image_sum_g.ptr(y)[x]));
        float image_sum_b_ = (float)(
                (image_sum_b.ptr(y + h)[x + w] - image_sum_b.ptr(y)[x + w]) -
                (image_sum_b.ptr(y + h)[x] - image_sum_b.ptr(y)[x]));
        float ccorr = result.ptr(y)[x];
        result.ptr(y)[x] = ccorr - image_sum_r_ * templ_sum_scale_r 
                                 - image_sum_g_ * templ_sum_scale_g
                                 - image_sum_b_ * templ_sum_scale_b;
    }
}


void matchTemplatePrepared_CCOFF_8UC3(
        int w, int h, 
        const DevMem2D_<unsigned int> image_sum_r, 
        const DevMem2D_<unsigned int> image_sum_g,
        const DevMem2D_<unsigned int> image_sum_b,
        unsigned int templ_sum_r, 
        unsigned int templ_sum_g, 
        unsigned int templ_sum_b, 
        DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    matchTemplatePreparedKernel_CCOFF_8UC3<<<grid, threads>>>(
            w, h, 
            (float)templ_sum_r / (w * h), 
            (float)templ_sum_g / (w * h), 
            (float)templ_sum_b / (w * h),
            image_sum_r, image_sum_g, image_sum_b, result);
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


__global__ void matchTemplatePreparedKernel_CCOFF_8UC4(
        int w, int h, 
        float templ_sum_scale_r, 
        float templ_sum_scale_g,
        float templ_sum_scale_b,
        float templ_sum_scale_a,
        const PtrStep_<unsigned int> image_sum_r,
        const PtrStep_<unsigned int> image_sum_g,
        const PtrStep_<unsigned int> image_sum_b,
        const PtrStep_<unsigned int> image_sum_a,
        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_sum_r_ = (float)(
                (image_sum_r.ptr(y + h)[x + w] - image_sum_r.ptr(y)[x + w]) -
                (image_sum_r.ptr(y + h)[x] - image_sum_r.ptr(y)[x]));
        float image_sum_g_ = (float)(
                (image_sum_g.ptr(y + h)[x + w] - image_sum_g.ptr(y)[x + w]) -
                (image_sum_g.ptr(y + h)[x] - image_sum_g.ptr(y)[x]));
        float image_sum_b_ = (float)(
                (image_sum_b.ptr(y + h)[x + w] - image_sum_b.ptr(y)[x + w]) -
                (image_sum_b.ptr(y + h)[x] - image_sum_b.ptr(y)[x]));
        float image_sum_a_ = (float)(
                (image_sum_a.ptr(y + h)[x + w] - image_sum_a.ptr(y)[x + w]) -
                (image_sum_a.ptr(y + h)[x] - image_sum_a.ptr(y)[x]));
        float ccorr = result.ptr(y)[x];
        result.ptr(y)[x] = ccorr - image_sum_r_ * templ_sum_scale_r 
                                 - image_sum_g_ * templ_sum_scale_g
                                 - image_sum_b_ * templ_sum_scale_b
                                 - image_sum_a_ * templ_sum_scale_a;
    }
}


void matchTemplatePrepared_CCOFF_8UC4(
        int w, int h, 
        const DevMem2D_<unsigned int> image_sum_r, 
        const DevMem2D_<unsigned int> image_sum_g,
        const DevMem2D_<unsigned int> image_sum_b,
        const DevMem2D_<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, 
        DevMem2Df result)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    matchTemplatePreparedKernel_CCOFF_8UC4<<<grid, threads>>>(
            w, h, 
            (float)templ_sum_r / (w * h), 
            (float)templ_sum_g / (w * h), 
            (float)templ_sum_b / (w * h),
            (float)templ_sum_a / (w * h),
            image_sum_r, image_sum_g, image_sum_b, image_sum_a,
            result);
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


__global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8U(
        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 * max(1e-3f, image_sqsum_ - weight * image_sum_ * image_sum_));
    }
}


void matchTemplatePrepared_CCOFF_NORMED_8U(
            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 - weight * templ_sum * templ_sum;
    matchTemplatePreparedKernel_CCOFF_NORMED_8U<<<grid, threads>>>(
            w, h, weight, templ_sum_scale, templ_sqsum_scale, 
            image_sum, image_sqsum, result);
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


__global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8UC2(
        int w, int h, float weight, 
        float templ_sum_scale_r, float templ_sum_scale_g, 
        float templ_sqsum_scale,
        const PtrStep_<unsigned int> image_sum_r, const PtrStep_<unsigned long long> image_sqsum_r,
        const PtrStep_<unsigned int> image_sum_g, const PtrStep_<unsigned long long> image_sqsum_g,
        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_sum_r_ = (float)(
                (image_sum_r.ptr(y + h)[x + w] - image_sum_r.ptr(y)[x + w]) -
                (image_sum_r.ptr(y + h)[x] - image_sum_r.ptr(y)[x]));
        float image_sqsum_r_ = (float)(
                (image_sqsum_r.ptr(y + h)[x + w] - image_sqsum_r.ptr(y)[x + w]) -
                (image_sqsum_r.ptr(y + h)[x] - image_sqsum_r.ptr(y)[x]));
        float image_sum_g_ = (float)(
                (image_sum_g.ptr(y + h)[x + w] - image_sum_g.ptr(y)[x + w]) -
                (image_sum_g.ptr(y + h)[x] - image_sum_g.ptr(y)[x]));
        float image_sqsum_g_ = (float)(
                (image_sqsum_g.ptr(y + h)[x + w] - image_sqsum_g.ptr(y)[x + w]) -
                (image_sqsum_g.ptr(y + h)[x] - image_sqsum_g.ptr(y)[x]));
        float ccorr = result.ptr(y)[x];
        float rdenom = rsqrtf(templ_sqsum_scale * max(1e-3f, image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ 
                                                             + image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_));
        result.ptr(y)[x] = (ccorr - image_sum_r_ * templ_sum_scale_r
                                  - image_sum_g_ * templ_sum_scale_g) * rdenom;
    }
}


void matchTemplatePrepared_CCOFF_NORMED_8UC2(
            int w, int h, 
            const DevMem2D_<unsigned int> image_sum_r, const DevMem2D_<unsigned long long> image_sqsum_r,
            const DevMem2D_<unsigned int> image_sum_g, const DevMem2D_<unsigned long long> image_sqsum_g,
            unsigned int templ_sum_r, unsigned int templ_sqsum_r,
            unsigned int templ_sum_g, unsigned int templ_sqsum_g,
            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_r = templ_sum_r * weight;
    float templ_sum_scale_g = templ_sum_g * weight;
    float templ_sqsum_scale = templ_sqsum_r - weight * templ_sum_r * templ_sum_r 
                               + templ_sqsum_g - weight * templ_sum_g * templ_sum_g;
    matchTemplatePreparedKernel_CCOFF_NORMED_8UC2<<<grid, threads>>>(
            w, h, weight, 
            templ_sum_scale_r, templ_sum_scale_g,
            templ_sqsum_scale,
            image_sum_r, image_sqsum_r, 
            image_sum_g, image_sqsum_g, 
            result);
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


__global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8UC3(
        int w, int h, float weight, 
        float templ_sum_scale_r, float templ_sum_scale_g, float templ_sum_scale_b, 
        float templ_sqsum_scale,
        const PtrStep_<unsigned int> image_sum_r, const PtrStep_<unsigned long long> image_sqsum_r,
        const PtrStep_<unsigned int> image_sum_g, const PtrStep_<unsigned long long> image_sqsum_g,
        const PtrStep_<unsigned int> image_sum_b, const PtrStep_<unsigned long long> image_sqsum_b,
        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_sum_r_ = (float)(
                (image_sum_r.ptr(y + h)[x + w] - image_sum_r.ptr(y)[x + w]) -
                (image_sum_r.ptr(y + h)[x] - image_sum_r.ptr(y)[x]));
        float image_sqsum_r_ = (float)(
                (image_sqsum_r.ptr(y + h)[x + w] - image_sqsum_r.ptr(y)[x + w]) -
                (image_sqsum_r.ptr(y + h)[x] - image_sqsum_r.ptr(y)[x]));
        float image_sum_g_ = (float)(
                (image_sum_g.ptr(y + h)[x + w] - image_sum_g.ptr(y)[x + w]) -
                (image_sum_g.ptr(y + h)[x] - image_sum_g.ptr(y)[x]));
        float image_sqsum_g_ = (float)(
                (image_sqsum_g.ptr(y + h)[x + w] - image_sqsum_g.ptr(y)[x + w]) -
                (image_sqsum_g.ptr(y + h)[x] - image_sqsum_g.ptr(y)[x]));
        float image_sum_b_ = (float)(
                (image_sum_b.ptr(y + h)[x + w] - image_sum_b.ptr(y)[x + w]) -
                (image_sum_b.ptr(y + h)[x] - image_sum_b.ptr(y)[x]));
        float image_sqsum_b_ = (float)(
                (image_sqsum_b.ptr(y + h)[x + w] - image_sqsum_b.ptr(y)[x + w]) -
                (image_sqsum_b.ptr(y + h)[x] - image_sqsum_b.ptr(y)[x]));
        float ccorr = result.ptr(y)[x];
        float rdenom = rsqrtf(templ_sqsum_scale * max(1e-3f, image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ 
                                                             + image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_
                                                             + image_sqsum_b_ - weight * image_sum_b_ * image_sum_b_));
        result.ptr(y)[x] = (ccorr - image_sum_r_ * templ_sum_scale_r
                                  - image_sum_g_ * templ_sum_scale_g
                                  - image_sum_b_ * templ_sum_scale_b) * rdenom;
    }
}


void matchTemplatePrepared_CCOFF_NORMED_8UC3(
            int w, int h, 
            const DevMem2D_<unsigned int> image_sum_r, const DevMem2D_<unsigned long long> image_sqsum_r,
            const DevMem2D_<unsigned int> image_sum_g, const DevMem2D_<unsigned long long> image_sqsum_g,
            const DevMem2D_<unsigned int> image_sum_b, const DevMem2D_<unsigned long long> image_sqsum_b,
            unsigned int templ_sum_r, unsigned int templ_sqsum_r,
            unsigned int templ_sum_g, unsigned int templ_sqsum_g,
            unsigned int templ_sum_b, unsigned int templ_sqsum_b,
            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_r = templ_sum_r * weight;
    float templ_sum_scale_g = templ_sum_g * weight;
    float templ_sum_scale_b = templ_sum_b * weight;
    float templ_sqsum_scale = templ_sqsum_r - weight * templ_sum_r * templ_sum_r 
                              + templ_sqsum_g - weight * templ_sum_g * templ_sum_g
                              + templ_sqsum_b - weight * templ_sum_b * templ_sum_b;
    matchTemplatePreparedKernel_CCOFF_NORMED_8UC3<<<grid, threads>>>(
            w, h, weight, 
            templ_sum_scale_r, templ_sum_scale_g, templ_sum_scale_b, 
            templ_sqsum_scale, 
            image_sum_r, image_sqsum_r, 
            image_sum_g, image_sqsum_g, 
            image_sum_b, image_sqsum_b, 
            result);
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


__global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8UC4(
        int w, int h, float weight, 
        float templ_sum_scale_r, float templ_sum_scale_g, float templ_sum_scale_b, 
        float templ_sum_scale_a, float templ_sqsum_scale,
        const PtrStep_<unsigned int> image_sum_r, const PtrStep_<unsigned long long> image_sqsum_r,
        const PtrStep_<unsigned int> image_sum_g, const PtrStep_<unsigned long long> image_sqsum_g,
        const PtrStep_<unsigned int> image_sum_b, const PtrStep_<unsigned long long> image_sqsum_b,
        const PtrStep_<unsigned int> image_sum_a, const PtrStep_<unsigned long long> image_sqsum_a,
        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_sum_r_ = (float)(
                (image_sum_r.ptr(y + h)[x + w] - image_sum_r.ptr(y)[x + w]) -
                (image_sum_r.ptr(y + h)[x] - image_sum_r.ptr(y)[x]));
        float image_sqsum_r_ = (float)(
                (image_sqsum_r.ptr(y + h)[x + w] - image_sqsum_r.ptr(y)[x + w]) -
                (image_sqsum_r.ptr(y + h)[x] - image_sqsum_r.ptr(y)[x]));
        float image_sum_g_ = (float)(
                (image_sum_g.ptr(y + h)[x + w] - image_sum_g.ptr(y)[x + w]) -
                (image_sum_g.ptr(y + h)[x] - image_sum_g.ptr(y)[x]));
        float image_sqsum_g_ = (float)(
                (image_sqsum_g.ptr(y + h)[x + w] - image_sqsum_g.ptr(y)[x + w]) -
                (image_sqsum_g.ptr(y + h)[x] - image_sqsum_g.ptr(y)[x]));
        float image_sum_b_ = (float)(
                (image_sum_b.ptr(y + h)[x + w] - image_sum_b.ptr(y)[x + w]) -
                (image_sum_b.ptr(y + h)[x] - image_sum_b.ptr(y)[x]));
        float image_sqsum_b_ = (float)(
                (image_sqsum_b.ptr(y + h)[x + w] - image_sqsum_b.ptr(y)[x + w]) -
                (image_sqsum_b.ptr(y + h)[x] - image_sqsum_b.ptr(y)[x]));
        float image_sum_a_ = (float)(
                (image_sum_a.ptr(y + h)[x + w] - image_sum_a.ptr(y)[x + w]) -
                (image_sum_a.ptr(y + h)[x] - image_sum_a.ptr(y)[x]));
        float image_sqsum_a_ = (float)(
                (image_sqsum_a.ptr(y + h)[x + w] - image_sqsum_a.ptr(y)[x + w]) -
                (image_sqsum_a.ptr(y + h)[x] - image_sqsum_a.ptr(y)[x]));
        float ccorr = result.ptr(y)[x];
        float rdenom = rsqrtf(templ_sqsum_scale * max(1e-3f, image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_
                                                             + image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_
                                                             + image_sqsum_b_ - weight * image_sum_b_ * image_sum_b_
                                                             + image_sqsum_a_ - weight * image_sum_a_ * image_sum_a_));
        result.ptr(y)[x] = (ccorr - image_sum_r_ * templ_sum_scale_r
                                  - image_sum_g_ * templ_sum_scale_g
                                  - image_sum_b_ * templ_sum_scale_b
                                  - image_sum_a_ * templ_sum_scale_a) * rdenom;
    }
}


void matchTemplatePrepared_CCOFF_NORMED_8UC4(
            int w, int h, 
            const DevMem2D_<unsigned int> image_sum_r, const DevMem2D_<unsigned long long> image_sqsum_r,
            const DevMem2D_<unsigned int> image_sum_g, const DevMem2D_<unsigned long long> image_sqsum_g,
            const DevMem2D_<unsigned int> image_sum_b, const DevMem2D_<unsigned long long> image_sqsum_b,
            const DevMem2D_<unsigned int> image_sum_a, const DevMem2D_<unsigned long long> image_sqsum_a,
            unsigned int templ_sum_r, unsigned int templ_sqsum_r,
            unsigned int templ_sum_g, unsigned int templ_sqsum_g,
            unsigned int templ_sum_b, unsigned int templ_sqsum_b,
            unsigned int templ_sum_a, unsigned int templ_sqsum_a,
            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_r = templ_sum_r * weight;
    float templ_sum_scale_g = templ_sum_g * weight;
    float templ_sum_scale_b = templ_sum_b * weight;
    float templ_sum_scale_a = templ_sum_a * weight;
    float templ_sqsum_scale = templ_sqsum_r - weight * templ_sum_r * templ_sum_r
                              + templ_sqsum_g - weight * templ_sum_g * templ_sum_g
                              + templ_sqsum_b - weight * templ_sum_b * templ_sum_b
                              + templ_sqsum_a - weight * templ_sum_a * templ_sum_a;
    matchTemplatePreparedKernel_CCOFF_NORMED_8UC4<<<grid, threads>>>(
            w, h, weight, 
            templ_sum_scale_r, templ_sum_scale_g, templ_sum_scale_b, templ_sum_scale_a, 
            templ_sqsum_scale, 
            image_sum_r, image_sqsum_r, 
            image_sum_g, image_sqsum_g, 
            image_sum_b, image_sqsum_b, 
            image_sum_a, image_sqsum_a, 
            result);
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


template <int cn>
__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) * cn] - image_sqsum.ptr(y)[(x + w) * cn]) -
                (image_sqsum.ptr(y + h)[x * cn] - image_sqsum.ptr(y)[x * cn]));
        result.ptr(y)[x] = result.ptr(y)[x] * rsqrtf(max(1.f, image_sqsum_) * templ_sqsum);
    }
}


void normalize_8U(int w, int h, const DevMem2D_<unsigned long long> image_sqsum, 
                  unsigned int templ_sqsum, DevMem2Df result, int cn)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));
    switch (cn)
    {
    case 1:
        normalizeKernel_8U<1><<<grid, threads>>>(w, h, image_sqsum, templ_sqsum, result);
        break;
    case 2:
        normalizeKernel_8U<2><<<grid, threads>>>(w, h, image_sqsum, templ_sqsum, result);
        break;
    case 3:
        normalizeKernel_8U<3><<<grid, threads>>>(w, h, image_sqsum, templ_sqsum, result);
        break;
    case 4:
        normalizeKernel_8U<4><<<grid, threads>>>(w, h, image_sqsum, templ_sqsum, result);
        break;
    }
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


template <int cn>
__global__ void extractFirstChannel_32F(const PtrStep image, DevMem2Df result)
{
    typedef typename TypeVec<float, cn>::vec_type Typef;

    int x = blockDim.x * blockIdx.x + threadIdx.x;
    int y = blockDim.y * blockIdx.y + threadIdx.y;

    if (x < result.cols && y < result.rows)
    {
        Typef val = ((const Typef*)image.ptr(y))[x];
        result.ptr(y)[x] = first(val);
    }
}


void extractFirstChannel_32F(const DevMem2D image, DevMem2Df result, int cn)
{
    dim3 threads(32, 8);
    dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y));

    switch (cn)
    {
    case 1:
        extractFirstChannel_32F<1><<<grid, threads>>>(image, result);
        break;
    case 2:
        extractFirstChannel_32F<2><<<grid, threads>>>(image, result);
        break;
    case 3:
        extractFirstChannel_32F<3><<<grid, threads>>>(image, result);
        break;
    case 4:
        extractFirstChannel_32F<4><<<grid, threads>>>(image, result);
        break;
    }
    cudaSafeCall( cudaGetLastError() );

    cudaSafeCall( cudaDeviceSynchronize() );
}


}}}