Autonomous Space Robotics Lab Speeded Up SURF GpuIntegralImageProcessor.hpp Go to the documentation of this file. /* Copyright (c) 2010, Paul Furgale and Chi Hay Tong All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * The names of its contributors may not be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #ifndef ASRL_GPU_INTEGRAL_IMAGE_PROCESSOR_HPP #define ASRL_GPU_INTEGRAL_IMAGE_PROCESSOR_HPP #include <opencv/cxtypes.h> #include <opencv/cv.h> #include <opencv/cv.hpp> #include <boost/shared_ptr.hpp> // Forward declarations. struct cudaArray; typedef size_t CUDPPHandle; typedef int cudaStream_t; namespace asrl { // Forward declaration class GpuIntegralImage; class GpuIntegralImageProcessor { public: GpuIntegralImageProcessor(int width, int height); ~GpuIntegralImageProcessor(); void upload(cv::Mat & img); void process(cv::Mat & img, GpuIntegralImage & outImage, cudaStream_t stream = 0); void process(GpuIntegralImage & outImage, cudaStream_t stream = 0); int width(){ return m_width; } int height(){ return m_height; } private: boost::shared_ptr<unsigned char> char_data; boost::shared_ptr<float> norm_data; boost::shared_ptr<float> trans_data; size_t char_pitch; size_t norm_pitch; size_t trans_pitch; CUDPPHandle rowPlan; CUDPPHandle colPlan; int m_width; int m_height; }; } // namespace asrl #endif // ASRL_GPU_INTEGRAL_IMAGE_PROCESSOR_HPP