Autonomous Space Robotics LabSpeeded Up SURF |
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detector.cpp
Go to the documentation of this file.00001 /* 00002 Copyright (c) 2010, Paul Furgale and Chi Hay Tong 00003 All rights reserved. 00004 00005 Redistribution and use in source and binary forms, with or without 00006 modification, are permitted provided that the following conditions are 00007 met: 00008 00009 * Redistributions of source code must retain the above copyright notice, 00010 this list of conditions and the following disclaimer. 00011 * Redistributions in binary form must reproduce the above copyright 00012 notice, this list of conditions and the following disclaimer in the 00013 documentation and/or other materials provided with the distribution. 00014 * The names of its contributors may not be used to endorse or promote 00015 products derived from this software without specific prior written 00016 permission. 00017 00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00019 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 00020 TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 00021 PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER 00022 OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00023 EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00024 PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 00025 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 00026 LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 00027 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00029 */ 00030 00031 #include "detector.h" 00032 #include "fasthessian.h" 00033 #include "non_max_suppression.h" 00034 #include "keypoint_interpolation.h" 00035 #include "GpuSurfFeatures.hpp" 00036 #include "GpuSurfOctave.hpp" 00037 00038 namespace asrl { 00039 void run_surf_detector(float * d_hessianBuffer, GpuSurfOctave & octave, int octaveIdx, GpuSurfFeatures & features, 00040 float threshold, int fh_x_threads, int fh_y_threads, 00041 int nonmax_x_threads, int nonmax_y_threads) 00042 { 00044 // FASTHESSIAN // 00046 dim3 threads; 00047 00048 threads.x = fh_x_threads; 00049 threads.y = fh_y_threads; 00050 threads.z = octave.intervals(); 00051 00052 dim3 grid; 00053 grid.x = ( (octave.width() + threads.x - 1) / threads.x); 00054 grid.y = ( (octave.height() + threads.y - 1) / threads.y); 00055 grid.z = 1; 00056 00057 if(octave.valid()) { 00058 run_fasthessian_kernel(grid, threads, d_hessianBuffer, octaveIdx); 00059 ASRL_CHECK_CUDA_ERROR("Finding fasthessian"); 00060 } 00061 00062 // Reset the candidate count. 00063 features.featureCounterMem().pullFromDevice(); 00064 features.featureCounterMem().h_get()[1] = 0; 00065 features.featureCounterMem().pushToDevice(); 00066 00067 00069 // NONMAX // 00071 00072 threads.x = nonmax_x_threads; 00073 threads.y = nonmax_y_threads; 00074 threads.z = octave.intervals(); 00075 00076 grid.x = ( (octave.width() + (threads.x-2) - 1) / (threads.x-2)); 00077 grid.y = ( (octave.height() + (threads.y-2) - 1) / (threads.y-2)); 00078 grid.z = 1; 00079 00080 size_t sharedBytes = threads.x*threads.y*threads.z*sizeof(float); 00081 run_surf_nonmaxonly_kernel(grid, threads, sharedBytes, d_hessianBuffer, 00082 octaveIdx, features.rawFeatureMem().d_get(), features.featureCounterMem().d_get() + 1, 00083 threshold); 00084 ASRL_CHECK_CUDA_ERROR("Running Nonmax, octave " << octaveIdx); 00085 00086 00088 // INTERPOLATION // 00090 00091 00092 run_fh_interp_extremum(d_hessianBuffer, 00093 features.deviceFeatures(), 00094 features.rawFeatureMem().d_get(), 00095 features.featureCounterMem().d_get(), 00096 features.featureCounterMem().d_get() + 1); 00097 00098 features.featureCounterMem().pullFromDevice(); 00099 features.setDirty(); 00100 00101 00102 } // run_surf_detector() 00103 00104 } // namespace asrl
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