Autonomous Space Robotics Lab Speeded Up SURF gpu_globals.h 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_GLOBALS_FTK_H #define ASRL_GPU_GLOBALS_FTK_H #define ASRL_SURF_MAX_INTERVALS 8 #define ASRL_SURF_MAX_OCTAVES 8 #define ASRL_SURF_MAX_FEATURES 4096 #define ASRL_SURF_MAX_CANDIDATES 6120 #define ASRL_SURF_DESCRIPTOR_DIM 64 namespace asrl { // Forward declaration class GpuSurfOctave; struct SurfOctaveParameters { int x_size; int y_size; int nIntervals; int border; int step; float mask_width; float mask_height; float dxy_center_offset; float dxy_half_width; float dxy_scale; }; class Keypoint { public: Keypoint(): x(0.f), y(0.f),size(0.f),response(0.f),angle(0.f),octave(0){} float x; float y; float size; float response; float angle; int octave; }; enum KeypointLayout { SF_X, SF_Y, SF_SIZE, SF_RESPONSE, SF_ANGLE, SF_OCTAVE, SF_FEATURE_STRIDE }; void init_globals(int imWidth, int imHeight, GpuSurfOctave * octaves, int nOctaves); bool & get_s_initialized(); int & get_s_initWidth(); int & get_s_initHeight(); SurfOctaveParameters * get_d_octave_params(); float * get_d_hessian_scale(); int * get_d_hessian_stride(); } // namespace asrl #endif // ASRL_GPU_GLOBALS_FTK_H