mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2024-11-30 06:10:02 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

ORB

Browse Source
This commit is contained in:
Vladislav Vinogradov 2012-11-12 14:17:48 +04:00
parent 7f97fb481c
commit 19c87d1c9d
1 changed files with 18 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
modules/gpu/src/cuda/orb.cu
View File

@ -50,7 +50,7 @@
#include <thrust/sort.h> #include <thrust/sort.h>
#include "opencv2/gpu/device/common.hpp" #include "opencv2/gpu/device/common.hpp"
#include "opencv2/gpu/device/utility.hpp" #include "opencv2/gpu/device/reduce.hpp"
#include "opencv2/gpu/device/functional.hpp" #include "opencv2/gpu/device/functional.hpp"
namespace cv { namespace gpu { namespace device namespace cv { namespace gpu { namespace device
@ -75,9 +75,9 @@ namespace cv { namespace gpu { namespace device
__global__ void HarrisResponses(const PtrStepb img, const short2* loc_, float* response, const int npoints, const int blockSize, const float harris_k) __global__ void HarrisResponses(const PtrStepb img, const short2* loc_, float* response, const int npoints, const int blockSize, const float harris_k)
{ {
__shared__ int smem[8 * 32]; __shared__ int smem0[8 * 32];
__shared__ int smem1[8 * 32];
volatile int* srow = smem + threadIdx.y * blockDim.x; __shared__ int smem2[8 * 32];
const int ptidx = blockIdx.x * blockDim.y + threadIdx.y; const int ptidx = blockIdx.x * blockDim.y + threadIdx.y;
@ -109,9 +109,12 @@ namespace cv { namespace gpu { namespace device
c += Ix * Iy; c += Ix * Iy;
} }
reduce_old<32>(srow, a, threadIdx.x, plus<volatile int>()); int* srow0 = smem0 + threadIdx.y * blockDim.x;
reduce_old<32>(srow, b, threadIdx.x, plus<volatile int>()); int* srow1 = smem1 + threadIdx.y * blockDim.x;
reduce_old<32>(srow, c, threadIdx.x, plus<volatile int>()); int* srow2 = smem2 + threadIdx.y * blockDim.x;
plus<int> op;
reduce<32>(smem_tuple(srow0, srow1, srow2), thrust::tie(a, b, c), threadIdx.x, thrust::make_tuple(op, op, op));
if (threadIdx.x == 0) if (threadIdx.x == 0)
{ {
@ -151,9 +154,13 @@ namespace cv { namespace gpu { namespace device
__global__ void IC_Angle(const PtrStepb image, const short2* loc_, float* angle, const int npoints, const int half_k) __global__ void IC_Angle(const PtrStepb image, const short2* loc_, float* angle, const int npoints, const int half_k)
{ {
__shared__ int smem[8 * 32]; __shared__ int smem0[8 * 32];
__shared__ int smem1[8 * 32];
volatile int* srow = smem + threadIdx.y * blockDim.x; int* srow0 = smem0 + threadIdx.y * blockDim.x;
int* srow1 = smem1 + threadIdx.y * blockDim.x;
plus<int> op;
const int ptidx = blockIdx.x * blockDim.y + threadIdx.y; const int ptidx = blockIdx.x * blockDim.y + threadIdx.y;
@ -167,7 +174,7 @@ namespace cv { namespace gpu { namespace device
for (int u = threadIdx.x - half_k; u <= half_k; u += blockDim.x) for (int u = threadIdx.x - half_k; u <= half_k; u += blockDim.x)
m_10 += u * image(loc.y, loc.x + u); m_10 += u * image(loc.y, loc.x + u);
reduce_old<32>(srow, m_10, threadIdx.x, plus<volatile int>()); reduce<32>(srow0, m_10, threadIdx.x, op);
for (int v = 1; v <= half_k; ++v) for (int v = 1; v <= half_k; ++v)
{ {
@ -185,8 +192,7 @@ namespace cv { namespace gpu { namespace device
m_sum += u * (val_plus + val_minus); m_sum += u * (val_plus + val_minus);
} }
reduce_old<32>(srow, v_sum, threadIdx.x, plus<volatile int>()); reduce<32>(smem_tuple(srow0, srow1), thrust::tie(v_sum, m_sum), threadIdx.x, thrust::make_tuple(op, op));
reduce_old<32>(srow, m_sum, threadIdx.x, plus<volatile int>());
m_10 += m_sum; m_10 += m_sum;
m_01 += v * v_sum; m_01 += v * v_sum;