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ORB

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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
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30
modules/gpu/src/cuda/orb.cu
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@ -50,7 +50,7 @@
#include <thrust/sort.h>
#include "opencv2/gpu/device/common.hpp"
#include "opencv2/gpu/device/utility.hpp"
#include "opencv2/gpu/device/reduce.hpp"
#include "opencv2/gpu/device/functional.hpp"
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)
{
__shared__ int smem[8 * 32];
volatile int* srow = smem + threadIdx.y * blockDim.x;
__shared__ int smem0[8 * 32];
__shared__ int smem1[8 * 32];
__shared__ int smem2[8 * 32];
const int ptidx = blockIdx.x * blockDim.y + threadIdx.y;
@ -109,9 +109,12 @@ namespace cv { namespace gpu { namespace device
c += Ix * Iy;
}
reduce_old<32>(srow, a, threadIdx.x, plus<volatile int>());
reduce_old<32>(srow, b, threadIdx.x, plus<volatile int>());
reduce_old<32>(srow, c, threadIdx.x, plus<volatile int>());
int* srow0 = smem0 + threadIdx.y * blockDim.x;
int* srow1 = smem1 + threadIdx.y * blockDim.x;
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)
{
@ -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)
{
__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;
@ -167,7 +174,7 @@ namespace cv { namespace gpu { namespace device
for (int u = threadIdx.x - half_k; u <= half_k; u += blockDim.x)
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)
{
@ -185,8 +192,7 @@ namespace cv { namespace gpu { namespace device
m_sum += u * (val_plus + val_minus);
}
reduce_old<32>(srow, v_sum, threadIdx.x, plus<volatile int>());
reduce_old<32>(srow, m_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));
m_10 += m_sum;
m_01 += v * v_sum;