Autonomous Space Robotics Lab Speeded Up SURF gpu_area.cu 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 "gpu_area.h" texture<float, 2, cudaReadModeElementType> d_integralTex; // global variable namespace asrl { // Bind the cudaArray integral image to a texture cudaError_t texturize_integral_image_c(cudaArray* intImg) { // set texture parameters (reference: sample code - simpleTexture) d_integralTex.addressMode[0] = cudaAddressModeClamp; // clamped to valid region d_integralTex.addressMode[1] = cudaAddressModeClamp; // (for both u and v dimensions) d_integralTex.filterMode = cudaFilterModeLinear;//cudaFilterModePoint;// // linear interpolation d_integralTex.normalized = false; // access with regular texture coordinates // reference: pg 46 of CUDA Programming Guide 2.1 cudaError_t err = cudaBindTextureToArray(d_integralTex, intImg); return err; } // unbind a texture from an array cudaError_t fh_untexturizeIntegral_c() { cudaError_t err = cudaUnbindTexture(d_integralTex); return err; } __device__ float iiAreaLookupCDHalfWH(float cx, float cy, float halfWidth, float halfHeight) { float result = 0.f; // A result += tex2D(d_integralTex, cx - halfWidth, cy - halfHeight); // B result -= tex2D(d_integralTex, cx + halfWidth, cy - halfHeight); // C result -= tex2D(d_integralTex, cx - halfWidth, cy + halfHeight); // D result += tex2D(d_integralTex, cx + halfWidth, cy + halfHeight); return result; } __device__ float iiAreaLookupCD(float cx, float cy, float width, float height) { return iiAreaLookupCDHalfWH(cx,cy,width*0.5f,height*0.5f); } __global__ void iiAreaLookupCDKernel(float * d_result, float cx, float cy, float width, float height) { d_result[0] = iiAreaLookupCD(cx,cy,width,height); } void run_iiAreaLookupCDKernel(dim3 grid, dim3 threads, float * d_result, float cx, float cy, float width, float height) { iiAreaLookupCDKernel<<< grid, threads >>>(d_result, cx, cy, width, height); } }