Autonomous Space Robotics Lab Speeded Up SURF GpuSurfOctave.cpp 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. */ #include "GpuSurfOctave.hpp" #include <cmath> namespace asrl { GpuSurfOctave::GpuSurfOctave(){ init(0,0,1.f,1.f,1.f,1.f,1.f,1.f,0,1,1); } GpuSurfOctave::GpuSurfOctave(int img_width, int img_height, float l1, float l2, float l3, float l4, float edge_scale, float base_scale, int octave, int baseStep, int nIntervals) { init(img_width, img_height, l1, l2, l3, l4, edge_scale, base_scale, octave, baseStep, nIntervals); } void GpuSurfOctave::init(int img_width, int img_height, float l1, float l2, float l3, float l4, float edge_scale, float base_scale, int octave, int baseStep, int nIntervals) { // Compute Dxx and Dyy filter half-widths m_mask_width = l2*0.5f; m_mask_height = 1.f + l1; // Compute step size m_step = baseStep * (1<<octave); // Compute scales float d = (base_scale * (1<<octave))/(nIntervals-2); for(int i = 0; i < nIntervals; i++) { m_scales[i] = base_scale * (1<<octave) + d * (i - 1.f) + 0.5f; // scales with SURF-style overlap } // Compute border required such that the filters don't overstep the image boundaries float smax = m_scales[nIntervals-1]; m_border = (int) ceil(smax * std::max(std::max(m_mask_width, m_mask_height), l3+l4*0.5f)); // Hessian buffer size m_width = (img_width - 2*m_border)/m_step; m_height = (img_height - 2*m_border)/m_step; m_valid = m_width > 0 && m_height > 0; // Ensure we have a valid Hessian before creating it //if(m_valid) //{ // m_hessian.init(m_width*m_height*nIntervals); //} m_intervals = nIntervals; // Store the filter parameters for weight computation m_l1 = l1; m_l2 = l2; m_l3 = l3; m_l4 = l4; m_edge_scale = edge_scale; } GpuSurfOctave::operator SurfOctaveParameters(){ SurfOctaveParameters s; s.x_size = m_width; s.y_size = m_height; s.nIntervals = m_intervals; s.border = m_border; s.step = m_step; s.mask_width = m_mask_width; s.mask_height = m_mask_height; s.dxy_center_offset = 0.5f*(m_l4 + m_l3); // Dxy gap half-width s.dxy_half_width = 0.5f*m_l3; // Dxy squares half-width s.dxy_scale = m_edge_scale * pow((2.f + 2.f*m_l1) * m_l2 / (4.f*m_l3*m_l3), 2.f); // rescale edge_scale to fit with the filter dimensions return s; } // Lookup to m_hessian // float & GpuSurfOctave::operator()(int row, int col, int interval) // { // ASRL_ASSERT_GE_LT(row,0,height(),"row out of bounds"); // ASRL_ASSERT_GE_LT(col,0,width(),"col out of bounds"); // ASRL_ASSERT_GE_LT(interval,0,intervals(),"interval out of bounds"); // return m_hessian[col + row * width() + interval * width() * height()]; // } } // namespace asrl