asrl::GpuSurfDetectorInternal Class Reference

The private implementation of the GPU surf detector. More...

#include <GpuSurfDetectorInternal.hpp>

Public Member Functions
	GpuSurfDetectorInternal (GpuSurfConfiguration config)
virtual	~GpuSurfDetectorInternal ()
void	buildIntegralImage (cv::Mat &image)
void	detectKeypoints ()
void	detectKeypoints (float threshold)
void	findOrientation ()
void	findOrientationFast ()
void	computeDescriptors ()
void	computeUprightDescriptors ()
void	getKeypoints (std::vector< cv::KeyPoint > &outKeypoints)
void	setKeypoints (std::vector< cv::KeyPoint > const &inKeypoints)
void	initDetector (int width, int height)
void	saveIntegralImage (std::string const &basename)
void	getDescriptors (std::vector< float > &outDescriptors)
int	descriptorSize ()
Public Attributes
bool	m_initialized
	Has the detector been initialized?
boost::shared_ptr < GpuIntegralImageProcessor >	m_intProcessor
	A class that processes integral images.
boost::shared_ptr < GpuIntegralImage >	m_intImg
	An integral image.
GpuSurfOctave	m_octaves [ASRL_SURF_MAX_INTERVALS]
	A list of octaves to be processed.
float	m_dxx_width
	A value derived from the mask parameters used to speed up calculation of the masks.
float	m_dxx_height
	A value derived from the mask parameters used to speed up calculation of the masks.
GpuSurfFeatures	m_features
	A class to hold the features on the GPU.
GpuSurfConfiguration	m_config
	The configuration values used to initialize this detector.
cudaDeviceProp	m_deviceProp
	The properties of the device.
CudaSynchronizedMemory< int4 >	m_maxmin
	A temporary buffer for the max/min points.
CudaSynchronizedMemory< float >	m_interest
	a buffer to store the results of the interest operator calculation

Detailed Description

The private implementation of the GPU surf detector.

Definition at line 62 of file GpuSurfDetectorInternal.hpp.

Constructor & Destructor Documentation

asrl::GpuSurfDetectorInternal::GpuSurfDetectorInternal ( GpuSurfConfiguration config )

Constructs a detector based on configuration parameters

Parameters:

config

The set of configuration parameters.

Definition at line 46 of file GpuSurfDetectorInternal.cpp.

asrl::GpuSurfDetectorInternal::~GpuSurfDetectorInternal ( ) [virtual]

The destructor.

Definition at line 72 of file GpuSurfDetectorInternal.cpp.

Member Function Documentation

void asrl::GpuSurfDetectorInternal::buildIntegralImage ( cv::Mat & image )

The first step in the surf pipeline. This builds an integral image from the image argument Only densly packed images images of type CV_8UC1 are supported.

Parameters:

image

The image used to create the integral image.

Definition at line 77 of file GpuSurfDetectorInternal.cpp.

void asrl::GpuSurfDetectorInternal::computeDescriptors ( )

This computes a descriptor for each keypoint on the GPU

Definition at line 148 of file GpuSurfDetectorInternal.cpp.

void asrl::GpuSurfDetectorInternal::computeUprightDescriptors ( )

This computes an upright (not rotation invariant) descriptor for each keypoint on the GPU

Definition at line 160 of file GpuSurfDetectorInternal.cpp.

int asrl::GpuSurfDetectorInternal::descriptorSize ( )

The descriptor size

Returns:

Definition at line 196 of file GpuSurfDetectorInternal.cpp.

void asrl::GpuSurfDetectorInternal::detectKeypoints ( float threshold )

The second step in the SURF pipeline. This detects keypoints using the fast hessian algorithm

Parameters:

threshold

the threshold to use in the detector

Definition at line 111 of file GpuSurfDetectorInternal.cpp.

void asrl::GpuSurfDetectorInternal::detectKeypoints ( )

The second step in the SURF pipeline. This detects keypoints using the fast hessian algorithm This function uses the threshold stored in the configuration.

Definition at line 106 of file GpuSurfDetectorInternal.cpp.

void asrl::GpuSurfDetectorInternal::findOrientation ( )

This computes an orientation for all keypoints currently on the GPU

Definition at line 128 of file GpuSurfDetectorInternal.cpp.

void asrl::GpuSurfDetectorInternal::findOrientationFast ( )

This computes an orientation for all keypoints currently on the GPU This computation is slightly faster than the one described in the SURF paper

Definition at line 138 of file GpuSurfDetectorInternal.cpp.

void asrl::GpuSurfDetectorInternal::getDescriptors ( std::vector< float > & outDescriptors )

This downloads the keypoint descriptors from the GPU and packs them into the vector

Parameters:

outKeypoints

The vector of keypoint descriptors found.