Autonomous Space Robotics Lab Speeded Up SURF GpuSurfOctave.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_SURF_OCTAVE_HPP #define ASRL_GPU_SURF_OCTAVE_HPP #include "CudaSynchronizedMemory.hpp" #include "gpu_globals.h" namespace asrl { class GpuSurfOctave { public: 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); void 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); operator SurfOctaveParameters(); float mask_width() {return m_mask_width;} float mask_height(){return m_mask_height;} bool valid(){ return m_valid;} int border(){ return m_border;} int height(){ return m_height;} int width(){ return m_width;} int intervals(){ return m_intervals;} int step() { return m_step; } const float * scales(){ return m_scales; } int stride() { // 128 bytes is 32 floats. int n32s = width() / 32; int n32s_remainder = width() % 32; if(n32s_remainder != 0) n32s++; return n32s * 32; } private: float m_mask_width; float m_mask_height; float m_l1; float m_l2; float m_l3; float m_l4; float m_edge_scale; bool m_valid; int m_border; int m_width; int m_height; int m_intervals; int m_step; // CudaSynchronizedMemory<float> m_hessian; float m_scales[ASRL_SURF_MAX_INTERVALS]; }; } // namespace asrl #endif // ASRL_SURF_OCTAVE_HPP