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@ -600,7 +600,7 @@ void matchTemplatePrepared_CCOFF_NORMED_8U( |
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float weight = 1.f / (w * h); |
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float templ_sum_scale = templ_sum * weight; |
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float templ_sqsum_scale = templ_sqsum - templ_sum * templ_sum * weight; |
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float templ_sqsum_scale = templ_sqsum - weight * templ_sum * templ_sum; |
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matchTemplatePreparedKernel_CCOFF_NORMED_8U<<<grid, threads>>>( |
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w, h, weight, templ_sum_scale, templ_sqsum_scale, |
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image_sum, image_sqsum, result); |
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@ -608,6 +608,231 @@ void matchTemplatePrepared_CCOFF_NORMED_8U( |
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} |
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__global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8UC2( |
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int w, int h, float weight, |
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float templ_sum_scale_r, float templ_sum_scale_g, |
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float templ_sqsum_scale, |
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const PtrStep_<unsigned int> image_sum_r, const PtrStep_<unsigned long long> image_sqsum_r, |
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const PtrStep_<unsigned int> image_sum_g, const PtrStep_<unsigned long long> image_sqsum_g, |
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DevMem2Df result) |
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{ |
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const int x = blockIdx.x * blockDim.x + threadIdx.x; |
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const int y = blockIdx.y * blockDim.y + threadIdx.y; |
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if (x < result.cols && y < result.rows) |
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{ |
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float image_sum_r_ = (float)( |
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(image_sum_r.ptr(y + h)[x + w] - image_sum_r.ptr(y)[x + w]) - |
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(image_sum_r.ptr(y + h)[x] - image_sum_r.ptr(y)[x])); |
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float image_sqsum_r_ = (float)( |
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(image_sqsum_r.ptr(y + h)[x + w] - image_sqsum_r.ptr(y)[x + w]) - |
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(image_sqsum_r.ptr(y + h)[x] - image_sqsum_r.ptr(y)[x])); |
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float image_sum_g_ = (float)( |
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(image_sum_g.ptr(y + h)[x + w] - image_sum_g.ptr(y)[x + w]) - |
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(image_sum_g.ptr(y + h)[x] - image_sum_g.ptr(y)[x])); |
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float image_sqsum_g_ = (float)( |
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(image_sqsum_g.ptr(y + h)[x + w] - image_sqsum_g.ptr(y)[x + w]) - |
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(image_sqsum_g.ptr(y + h)[x] - image_sqsum_g.ptr(y)[x])); |
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float ccorr = result.ptr(y)[x]; |
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float rdenom = rsqrtf(templ_sqsum_scale * (image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ |
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+ image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_)); |
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result.ptr(y)[x] = min(1.f, (ccorr - image_sum_r_ * templ_sum_scale_r |
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- image_sum_g_ * templ_sum_scale_g) * rdenom); |
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} |
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} |
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void matchTemplatePrepared_CCOFF_NORMED_8UC2( |
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int w, int h, |
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const DevMem2D_<unsigned int> image_sum_r, const DevMem2D_<unsigned long long> image_sqsum_r, |
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const DevMem2D_<unsigned int> image_sum_g, const DevMem2D_<unsigned long long> image_sqsum_g, |
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unsigned int templ_sum_r, unsigned int templ_sqsum_r, |
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unsigned int templ_sum_g, unsigned int templ_sqsum_g, |
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DevMem2Df result) |
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{ |
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dim3 threads(32, 8); |
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dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y)); |
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float weight = 1.f / (w * h); |
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float templ_sum_scale_r = templ_sum_r * weight; |
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float templ_sum_scale_g = templ_sum_g * weight; |
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float templ_sqsum_scale = templ_sqsum_r - weight * templ_sum_r * templ_sum_r |
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+ templ_sqsum_g - weight * templ_sum_g * templ_sum_g; |
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matchTemplatePreparedKernel_CCOFF_NORMED_8UC2<<<grid, threads>>>( |
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w, h, weight, |
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templ_sum_scale_r, templ_sum_scale_g, |
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templ_sqsum_scale, |
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image_sum_r, image_sqsum_r, |
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image_sum_g, image_sqsum_g, |
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result); |
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cudaSafeCall(cudaThreadSynchronize()); |
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} |
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__global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8UC3( |
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int w, int h, float weight, |
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float templ_sum_scale_r, float templ_sum_scale_g, float templ_sum_scale_b, |
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float templ_sqsum_scale, |
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const PtrStep_<unsigned int> image_sum_r, const PtrStep_<unsigned long long> image_sqsum_r, |
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const PtrStep_<unsigned int> image_sum_g, const PtrStep_<unsigned long long> image_sqsum_g, |
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const PtrStep_<unsigned int> image_sum_b, const PtrStep_<unsigned long long> image_sqsum_b, |
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DevMem2Df result) |
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{ |
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const int x = blockIdx.x * blockDim.x + threadIdx.x; |
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const int y = blockIdx.y * blockDim.y + threadIdx.y; |
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if (x < result.cols && y < result.rows) |
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{ |
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float image_sum_r_ = (float)( |
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(image_sum_r.ptr(y + h)[x + w] - image_sum_r.ptr(y)[x + w]) - |
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(image_sum_r.ptr(y + h)[x] - image_sum_r.ptr(y)[x])); |
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float image_sqsum_r_ = (float)( |
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(image_sqsum_r.ptr(y + h)[x + w] - image_sqsum_r.ptr(y)[x + w]) - |
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(image_sqsum_r.ptr(y + h)[x] - image_sqsum_r.ptr(y)[x])); |
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float image_sum_g_ = (float)( |
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(image_sum_g.ptr(y + h)[x + w] - image_sum_g.ptr(y)[x + w]) - |
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(image_sum_g.ptr(y + h)[x] - image_sum_g.ptr(y)[x])); |
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float image_sqsum_g_ = (float)( |
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(image_sqsum_g.ptr(y + h)[x + w] - image_sqsum_g.ptr(y)[x + w]) - |
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(image_sqsum_g.ptr(y + h)[x] - image_sqsum_g.ptr(y)[x])); |
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float image_sum_b_ = (float)( |
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(image_sum_b.ptr(y + h)[x + w] - image_sum_b.ptr(y)[x + w]) - |
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(image_sum_b.ptr(y + h)[x] - image_sum_b.ptr(y)[x])); |
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float image_sqsum_b_ = (float)( |
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(image_sqsum_b.ptr(y + h)[x + w] - image_sqsum_b.ptr(y)[x + w]) - |
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(image_sqsum_b.ptr(y + h)[x] - image_sqsum_b.ptr(y)[x])); |
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float ccorr = result.ptr(y)[x]; |
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float rdenom = rsqrtf(templ_sqsum_scale * (image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ |
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+ image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_ |
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+ image_sqsum_b_ - weight * image_sum_b_ * image_sum_b_)); |
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result.ptr(y)[x] = min(1.f, (ccorr - image_sum_r_ * templ_sum_scale_r |
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- image_sum_g_ * templ_sum_scale_g |
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- image_sum_b_ * templ_sum_scale_b) * rdenom); |
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} |
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} |
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void matchTemplatePrepared_CCOFF_NORMED_8UC3( |
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int w, int h, |
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const DevMem2D_<unsigned int> image_sum_r, const DevMem2D_<unsigned long long> image_sqsum_r, |
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const DevMem2D_<unsigned int> image_sum_g, const DevMem2D_<unsigned long long> image_sqsum_g, |
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const DevMem2D_<unsigned int> image_sum_b, const DevMem2D_<unsigned long long> image_sqsum_b, |
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unsigned int templ_sum_r, unsigned int templ_sqsum_r, |
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unsigned int templ_sum_g, unsigned int templ_sqsum_g, |
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unsigned int templ_sum_b, unsigned int templ_sqsum_b, |
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DevMem2Df result) |
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{ |
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dim3 threads(32, 8); |
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dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y)); |
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float weight = 1.f / (w * h); |
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float templ_sum_scale_r = templ_sum_r * weight; |
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float templ_sum_scale_g = templ_sum_g * weight; |
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float templ_sum_scale_b = templ_sum_b * weight; |
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float templ_sqsum_scale = templ_sqsum_r - weight * templ_sum_r * templ_sum_r |
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+ templ_sqsum_g - weight * templ_sum_g * templ_sum_g |
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+ templ_sqsum_b - weight * templ_sum_b * templ_sum_b; |
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matchTemplatePreparedKernel_CCOFF_NORMED_8UC3<<<grid, threads>>>( |
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w, h, weight, |
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templ_sum_scale_r, templ_sum_scale_g, templ_sum_scale_b, |
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templ_sqsum_scale, |
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image_sum_r, image_sqsum_r, |
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image_sum_g, image_sqsum_g, |
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image_sum_b, image_sqsum_b, |
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result); |
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cudaSafeCall(cudaThreadSynchronize()); |
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} |
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__global__ void matchTemplatePreparedKernel_CCOFF_NORMED_8UC4( |
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int w, int h, float weight, |
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float templ_sum_scale_r, float templ_sum_scale_g, float templ_sum_scale_b, |
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float templ_sum_scale_a, float templ_sqsum_scale, |
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const PtrStep_<unsigned int> image_sum_r, const PtrStep_<unsigned long long> image_sqsum_r, |
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const PtrStep_<unsigned int> image_sum_g, const PtrStep_<unsigned long long> image_sqsum_g, |
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const PtrStep_<unsigned int> image_sum_b, const PtrStep_<unsigned long long> image_sqsum_b, |
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const PtrStep_<unsigned int> image_sum_a, const PtrStep_<unsigned long long> image_sqsum_a, |
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DevMem2Df result) |
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{ |
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const int x = blockIdx.x * blockDim.x + threadIdx.x; |
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const int y = blockIdx.y * blockDim.y + threadIdx.y; |
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if (x < result.cols && y < result.rows) |
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{ |
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float image_sum_r_ = (float)( |
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(image_sum_r.ptr(y + h)[x + w] - image_sum_r.ptr(y)[x + w]) - |
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(image_sum_r.ptr(y + h)[x] - image_sum_r.ptr(y)[x])); |
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float image_sqsum_r_ = (float)( |
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(image_sqsum_r.ptr(y + h)[x + w] - image_sqsum_r.ptr(y)[x + w]) - |
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(image_sqsum_r.ptr(y + h)[x] - image_sqsum_r.ptr(y)[x])); |
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float image_sum_g_ = (float)( |
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(image_sum_g.ptr(y + h)[x + w] - image_sum_g.ptr(y)[x + w]) - |
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(image_sum_g.ptr(y + h)[x] - image_sum_g.ptr(y)[x])); |
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float image_sqsum_g_ = (float)( |
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(image_sqsum_g.ptr(y + h)[x + w] - image_sqsum_g.ptr(y)[x + w]) - |
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(image_sqsum_g.ptr(y + h)[x] - image_sqsum_g.ptr(y)[x])); |
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float image_sum_b_ = (float)( |
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(image_sum_b.ptr(y + h)[x + w] - image_sum_b.ptr(y)[x + w]) - |
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(image_sum_b.ptr(y + h)[x] - image_sum_b.ptr(y)[x])); |
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float image_sqsum_b_ = (float)( |
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(image_sqsum_b.ptr(y + h)[x + w] - image_sqsum_b.ptr(y)[x + w]) - |
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(image_sqsum_b.ptr(y + h)[x] - image_sqsum_b.ptr(y)[x])); |
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float image_sum_a_ = (float)( |
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(image_sum_a.ptr(y + h)[x + w] - image_sum_a.ptr(y)[x + w]) - |
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(image_sum_a.ptr(y + h)[x] - image_sum_a.ptr(y)[x])); |
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float image_sqsum_a_ = (float)( |
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(image_sqsum_a.ptr(y + h)[x + w] - image_sqsum_a.ptr(y)[x + w]) - |
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(image_sqsum_a.ptr(y + h)[x] - image_sqsum_a.ptr(y)[x])); |
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float ccorr = result.ptr(y)[x]; |
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float rdenom = rsqrtf(templ_sqsum_scale * (image_sqsum_r_ - weight * image_sum_r_ * image_sum_r_ |
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+ image_sqsum_g_ - weight * image_sum_g_ * image_sum_g_ |
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+ image_sqsum_b_ - weight * image_sum_b_ * image_sum_b_ |
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+ image_sqsum_a_ - weight * image_sum_a_ * image_sum_a_)); |
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result.ptr(y)[x] = min(1.f, (ccorr - image_sum_r_ * templ_sum_scale_r |
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- image_sum_g_ * templ_sum_scale_g |
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- image_sum_b_ * templ_sum_scale_b |
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- image_sum_a_ * templ_sum_scale_a) * rdenom); |
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} |
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} |
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void matchTemplatePrepared_CCOFF_NORMED_8UC4( |
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int w, int h, |
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const DevMem2D_<unsigned int> image_sum_r, const DevMem2D_<unsigned long long> image_sqsum_r, |
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const DevMem2D_<unsigned int> image_sum_g, const DevMem2D_<unsigned long long> image_sqsum_g, |
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const DevMem2D_<unsigned int> image_sum_b, const DevMem2D_<unsigned long long> image_sqsum_b, |
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const DevMem2D_<unsigned int> image_sum_a, const DevMem2D_<unsigned long long> image_sqsum_a, |
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unsigned int templ_sum_r, unsigned int templ_sqsum_r, |
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unsigned int templ_sum_g, unsigned int templ_sqsum_g, |
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unsigned int templ_sum_b, unsigned int templ_sqsum_b, |
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unsigned int templ_sum_a, unsigned int templ_sqsum_a, |
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DevMem2Df result) |
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{ |
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dim3 threads(32, 8); |
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dim3 grid(divUp(result.cols, threads.x), divUp(result.rows, threads.y)); |
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float weight = 1.f / (w * h); |
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float templ_sum_scale_r = templ_sum_r * weight; |
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float templ_sum_scale_g = templ_sum_g * weight; |
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float templ_sum_scale_b = templ_sum_b * weight; |
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float templ_sum_scale_a = templ_sum_a * weight; |
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float templ_sqsum_scale = templ_sqsum_r - weight * templ_sum_r * templ_sum_r |
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+ templ_sqsum_g - weight * templ_sum_g * templ_sum_g |
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+ templ_sqsum_b - weight * templ_sum_b * templ_sum_b |
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+ templ_sqsum_a - weight * templ_sum_a * templ_sum_a; |
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matchTemplatePreparedKernel_CCOFF_NORMED_8UC4<<<grid, threads>>>( |
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w, h, weight, |
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templ_sum_scale_r, templ_sum_scale_g, templ_sum_scale_b, templ_sum_scale_a, |
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templ_sqsum_scale, |
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image_sum_r, image_sqsum_r, |
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image_sum_g, image_sqsum_g, |
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image_sum_b, image_sqsum_b, |
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image_sum_a, image_sqsum_a, |
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result); |
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cudaSafeCall(cudaThreadSynchronize()); |
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} |
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template <int cn> |
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__global__ void normalizeKernel_8U( |
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int w, int h, const PtrStep_<unsigned long long> image_sqsum, |
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Alexey Spizhevoy
14 years ago